+ python -m lidar_slam --result /working/result.json --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters Centerline goodness : 0.221282 with order 1 Centerline is valid? [0, False] SLAMing on 0.070888479 meters Centerline goodness : 0.226021 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.01 [[ 9.99976135e-01 -6.90562255e-03 2.03485066e-04 4.65490515e-03] [ 6.90664606e-03 9.99960733e-01 -5.55246645e-03 -2.32105175e-03] [-1.65133839e-04 5.55373934e-03 9.99984564e-01 -6.39543903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters Centerline goodness : 0.194611 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99995306 -0.00672435 0.00697526 0.0174592 ] [ 0.00671098 0.9999756 0.00193818 0.00512641] [-0.00698812 -0.00189128 0.99997379 -0.00967839] [ 0. 0. 0. 1. ]] SLAMing on 0.19088847900000003 meters Centerline goodness : 0.174273 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99997273 -0.00335624 0.00657795 0.02014119] [ 0.00333219 0.99998773 0.00366432 0.01523969] [-0.00659017 -0.00364231 0.99997165 -0.01129563] [ 0. 0. 0. 1. ]] SLAMing on 0.250888479 meters Centerline goodness : 0.183640 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99986208e-01 8.92109597e-04 5.17571075e-03 2.95460358e-02] [-9.17690633e-04 9.99987366e-01 4.94224872e-03 2.67220207e-02] [-5.17123634e-03 -4.94693026e-03 9.99974393e-01 -1.92493515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31088847900000005 meters Centerline goodness : 0.184538 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.03 [[ 0.99997057 0.00685562 0.00344241 0.03852408] [-0.00688318 0.99994383 0.00805972 0.04046301] [-0.00338696 -0.00808317 0.99996159 -0.02583688] [ 0. 0. 0. 1. ]] SLAMing on 0.37088847900000005 meters Centerline goodness : 0.195608 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 0.99994512 0.01027605 0.00203745 0.04514885] [-0.01029558 0.9998988 0.00981811 0.05303449] [-0.00193635 -0.00983855 0.99994973 -0.03006023] [ 0. 0. 0. 1. ]] SLAMing on 0.43088847900000005 meters Centerline goodness : 0.199581 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.03 [[ 0.99995485 0.00936249 0.00162417 0.04873137] [-0.00937506 0.99992477 0.0079093 0.06048228] [-0.00155 -0.00792417 0.9999674 -0.03236647] [ 0. 0. 0. 1. ]] SLAMing on 0.49088847900000004 meters Centerline goodness : 0.203373 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99998595 0.00336575 0.00409498 0.04701036] [-0.00337635 0.99999096 0.00258364 0.06610393] [-0.00408625 -0.00259743 0.99998828 -0.0306746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.550888479 meters Centerline goodness : 0.124546 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 9.99999138e-01 -7.68413503e-04 1.06510144e-03 5.39661936e-02] [ 7.66142978e-04 9.99997437e-01 2.13051653e-03 7.45178245e-02] [-1.06673583e-03 -2.12969867e-03 9.99997163e-01 -2.99277214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6108884790000001 meters Centerline goodness : 0.122960 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.08, Z:-0.03 [[ 9.99994042e-01 -3.15618762e-03 1.39807782e-03 5.72608690e-02] [ 3.15530766e-03 9.99994823e-01 6.31167842e-04 7.51777939e-02] [-1.40006267e-03 -6.26752716e-04 9.99998824e-01 -3.30367796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.670888479 meters Centerline goodness : 0.901054 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:0.08, Z:-0.04 [[ 0.99996104 -0.00853532 0.00224914 0.06035932] [ 0.00853961 0.99996172 -0.00190437 0.07595688] [-0.0022328 0.0019235 0.99999566 -0.03512198] [ 0. 0. 0. 1. ]] SLAMing on 0.7308884790000001 meters Centerline goodness : 0.902576 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:0.08, Z:-0.04 [[ 0.99995199 -0.00954808 0.00220363 0.06123089] [ 0.00955179 0.99995297 -0.00167898 0.07608599] [-0.0021875 0.00169995 0.99999616 -0.03508393] [ 0. 0. 0. 1. ]] SLAMing on 0.790888479 meters Centerline goodness : 0.900481 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 9.99686323e-01 -2.47277674e-02 3.97395486e-03 7.64691189e-02] [ 2.47276045e-02 9.99694222e-01 9.01267153e-05 7.95160784e-02] [-3.97496835e-03 8.16793939e-06 9.99992100e-01 -3.85656572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8508884790000001 meters Centerline goodness : 0.899124 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99943502 -0.03346486 0.00312216 0.08593639] [ 0.03348444 0.99941845 -0.00644602 0.07970548] [-0.00290463 0.00654693 0.99997435 -0.04634638] [ 0. 0. 0. 1. ]] SLAMing on 0.910888479 meters Centerline goodness : 0.134836 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.08, Z:-0.05 [[ 0.99905926 -0.04213417 0.01026218 0.10115967] [ 0.04215228 0.99910999 -0.00155447 0.08241202] [-0.01018755 0.00198558 0.99994613 -0.05408748] [ 0. 0. 0. 1. ]] SLAMing on 0.9708884790000001 meters Centerline goodness : 0.910852 with order 2 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.05 [[ 0.99886566 -0.04460611 0.01666412 0.11370105] [ 0.04452524 0.99899476 0.00519314 0.08691194] [-0.01687901 -0.00444528 0.99984766 -0.05451368] [ 0. 0. 0. 1. ]] SLAMing on 1.030888479 meters SLAMing on 1.090888479 meters Centerline goodness : 0.916960 with order 2 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.06 [[ 0.99795849 -0.06032074 0.0209823 0.17896314] [ 0.06036183 0.99817568 -0.0013297 0.09659753] [-0.02086381 0.00259352 0.99977896 -0.06225178] [ 0. 0. 0. 1. ]] SLAMing on 1.150888479 meters Centerline goodness : 0.919217 with order 2 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.07 [[ 0.99748544 -0.06515222 0.02789232 0.18837255] [ 0.06499774 0.99786482 0.00641097 0.09886921] [-0.02825046 -0.00458191 0.99959038 -0.06704559] [ 0. 0. 0. 1. ]] SLAMing on 1.210888479 meters Centerline goodness : 0.914750 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.10, Z:-0.07 [[ 0.99675242 -0.07222436 0.03561247 0.20214281] [ 0.07197155 0.99737188 0.00833195 0.10476538] [-0.03612065 -0.0057418 0.99933094 -0.06826058] [ 0. 0. 0. 1. ]] SLAMing on 1.270888479 meters Centerline goodness : 0.931604 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.11, Z:-0.07 [[ 0.99665973 -0.07382851 0.03491045 0.20902527] [ 0.07359738 0.99725705 0.00786169 0.10746721] [-0.03539511 -0.00526611 0.99935952 -0.07387877] [ 0. 0. 0. 1. ]] SLAMing on 1.330888479 meters Centerline goodness : 0.933458 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.12, Z:-0.08 [[ 0.99718856 -0.06864255 0.03005284 0.23858116] [ 0.06835675 0.99760634 0.0104375 0.11720817] [-0.03069736 -0.00835385 0.99949381 -0.07839909] [ 0. 0. 0. 1. ]] SLAMing on 1.390888479 meters Centerline goodness : 0.937754 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:-0.08 [[ 0.99808124 -0.05265307 0.03258066 0.26805861] [ 0.05242525 0.99859432 0.00780823 0.12966536] [-0.03294599 -0.00608519 0.99943861 -0.07780217] [ 0. 0. 0. 1. ]] SLAMing on 1.450888479 meters Centerline goodness : 0.939792 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:-0.08 [[ 0.99829013 -0.04887843 0.03205811 0.27351198] [ 0.0485141 0.99874985 0.01204628 0.13169924] [-0.03260684 -0.01047041 0.99941341 -0.08185373] [ 0. 0. 0. 1. ]] SLAMing on 1.5108884790000001 meters Centerline goodness : 0.943520 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.08 [[ 0.99839626 -0.04828839 0.02954884 0.28639074] [ 0.04799869 0.99879287 0.0104368 0.13126578] [-0.03001715 -0.00900176 0.99950885 -0.08496499] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters Centerline goodness : 0.945801 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.09 [[ 0.99823258 -0.0514564 0.02973127 0.28962901] [ 0.05121446 0.99864853 0.00884298 0.12897016] [-0.03014611 -0.00730468 0.99951881 -0.08762508] [ 0. 0. 0. 1. ]] SLAMing on 1.630888479 meters Centerline goodness : 0.949593 with order 2 Centerline is valid? [False, False] Translation: X:0.30, Y:0.12, Z:-0.09 [[ 0.9975126 -0.06044382 0.03626516 0.30238376] [ 0.06008964 0.99813479 0.01077893 0.12203717] [-0.03684903 -0.00857295 0.99928407 -0.08858944] [ 0. 0. 0. 1. ]] SLAMing on 1.690888479 meters Centerline goodness : 0.951469 with order 1 Centerline is valid? [False, True] Translation: X:0.30, Y:0.12, Z:-0.09 [[ 0.99725049 -0.0644478 0.03657788 0.30417313] [ 0.06412116 0.99789167 0.01003499 0.11501608] [-0.0371475 -0.00766198 0.99928042 -0.088652 ] [ 0. 0. 0. 1. ]] SLAMing on 1.750888479 meters Centerline goodness : 0.954459 with order 1 Centerline is valid? [True, True] Translation: X:0.37, Y:0.11, Z:-0.12 [[ 0.99887225 -0.02945675 0.03723615 0.36544171] [ 0.02925917 0.9995548 0.00583999 0.10610902] [-0.0373916 -0.00474391 0.99928943 -0.11969574] [ 0. 0. 0. 1. ]] SLAMing on 1.810888479 meters Centerline goodness : 0.958943 with order 1 Centerline is valid? [True, True] Translation: X:0.43, Y:0.11, Z:-0.11 [[ 0.99763089 -0.05784517 0.03723622 0.42691501] [ 0.05766709 0.99831879 0.00583959 0.11011224] [-0.03751141 -0.00367845 0.99928943 -0.10733842] [ 0. 0. 0. 1. ]] SLAMing on 1.870888479 meters Centerline goodness : 0.963461 with order 1 Centerline is valid? [True, True] Translation: X:0.49, Y:0.10, Z:-0.12 [[ 0.99867722 -0.03545799 0.03723627 0.49006444] [ 0.03526455 0.99936095 0.00583927 0.09582573] [-0.03741952 -0.00451842 0.99928943 -0.12462106] [ 0. 0. 0. 1. ]] SLAMing on 1.930888479 meters Centerline goodness : 0.966731 with order 1 Centerline is valid? [True, True] Translation: X:0.55, Y:0.09, Z:-0.12 [[ 0.99787088 -0.05354591 0.03723633 0.55241537] [ 0.0533649 0.99855801 0.00583888 0.09071151] [-0.03749528 -0.00383933 0.99928943 -0.12051805] [ 0. 0. 0. 1. ]] SLAMing on 1.990888479 meters Centerline goodness : 0.966389 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:0.10, Z:-0.13 [[ 0.99827466 -0.0454 0.03723639 0.61203367] [ 0.0452134 0.99896029 0.00583849 0.09502046] [-0.03746274 -0.00414483 0.99928943 -0.12698317] [ 0. 0. 0. 1. ]] SLAMing on 2.050888479 meters Centerline goodness : 0.970498 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:0.09, Z:-0.14 [[ 0.99880883 -0.03153369 0.03723644 0.67438667] [ 0.03133761 0.99949181 0.00583814 0.08531482] [-0.03740162 -0.00466428 0.99928943 -0.13770325] [ 0. 0. 0. 1. ]] SLAMing on 2.110888479 meters Centerline goodness : 0.970637 with order 1 Centerline is valid? [True, True] Translation: X:0.74, Y:0.07, Z:-0.15 [[ 0.99886243 -0.02978744 0.03723654 0.73814837] [ 0.02959018 0.99954507 0.00583754 0.07303356] [-0.03739348 -0.00472906 0.99928943 -0.14951595] [ 0. 0. 0. 1. ]] SLAMing on 2.1708884790000003 meters Centerline goodness : 0.969851 with order 1 Centerline is valid? [True, True] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99878199 -0.03237241 0.03723672 0.80120501] [ 0.03217696 0.99946515 0.00583639 0.06985207] [-0.03740574 -0.00463111 0.99928943 -0.15651847] [ 0. 0. 0. 1. ]] SLAMing on 2.2308884790000003 meters Centerline goodness : 0.974284 with order 1 Centerline is valid? [True, True] Translation: X:0.87, Y:0.05, Z:-0.14 [[ 0.99862146 -0.03699411 0.03723717 0.86615373] [ 0.03680192 0.99930555 0.00583352 0.0522008 ] [-0.03742711 -0.00445508 0.99928943 -0.13660194] [ 0. 0. 0. 1. ]] SLAMing on 2.2908884790000004 meters Centerline goodness : 0.976759 with order 1 Centerline is valid? [True, True] Translation: X:0.93, Y:0.05, Z:-0.15 [[ 0.9986008 -0.03754761 0.03723722 0.92587627] [ 0.03735582 0.999285 0.00583319 0.05386008] [-0.03742962 -0.00443401 0.99928943 -0.14636044] [ 0. 0. 0. 1. ]] SLAMing on 2.3508884790000004 meters Centerline goodness : 0.978217 with order 1 Centerline is valid? [True, True] Translation: X:0.99, Y:0.05, Z:-0.14 [[ 0.99814605 -0.04814394 0.03723738 0.98912866] [ 0.04795946 0.99883226 0.00583216 0.05103974] [-0.03747468 -0.00403546 0.99928943 -0.14261088] [ 0. 0. 0. 1. ]] SLAMing on 2.4108884790000005 meters Centerline goodness : 0.978894 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:0.06, Z:-0.15 [[ 0.99794438 -0.05215649 0.03723869 1.05041679] [ 0.05197508 0.9986314 0.0058238 0.05501273] [-0.03749147 -0.00387635 0.99928943 -0.147583 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4708884790000005 meters Centerline goodness : 0.982552 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.15 [[ 0.99801743 -0.05073841 0.03723996 1.11158505] [ 0.05055632 0.99870428 0.00581565 0.05494141] [-0.03748678 -0.00392141 0.99928943 -0.14674772] [ 0. 0. 0. 1. ]] SLAMing on 2.530888479 meters Centerline goodness : 0.983921 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:-0.16 [[ 0.9967441 -0.07151476 0.03724015 1.17175259] [ 0.07134707 0.9974346 0.00581443 0.06324782] [-0.03756043 -0.00313852 0.99928943 -0.15501 ] [ 0. 0. 0. 1. ]] SLAMing on 2.590888479 meters Centerline goodness : 0.988694 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:0.07, Z:-0.14 [[ 0.99540118 -0.08825905 0.03724019 1.23360263] [ 0.088103 0.9960944 0.00581419 0.0658718 ] [-0.0376079 -0.00250648 0.99928943 -0.1416318 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6508884790000002 meters Centerline goodness : 0.986723 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:0.08, Z:-0.14 [[ 0.99478275 -0.094976 0.03724029 1.29328551] [ 0.09482465 0.99547702 0.00581356 0.0771896 ] [-0.037624 -0.00225193 0.99928943 -0.14407384] [ 0. 0. 0. 1. ]] SLAMing on 2.7108884790000003 meters Centerline goodness : 0.992146 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:0.09, Z:-0.14 [[ 0.99301405 -0.11196538 0.03724048 1.35367319] [ 0.11182597 0.99371081 0.00581233 0.09039636] [-0.03765705 -0.00160728 0.99928943 -0.139124 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7708884790000003 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:0.10, Z:-0.14 [[ 0.99249926 -0.11644037 0.03724067 1.41418801] [ 0.11630414 0.99319665 0.00581112 0.09837534] [-0.03766396 -0.00143629 0.99928943 -0.13656506] [ 0. 0. 0. 1. ]] SLAMing on 2.8308884790000004 meters Centerline goodness : 0.992913 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:0.12, Z:-0.13 [[ 9.92078085e-01 -1.19975481e-01 3.72418764e-02 1.47432701e+00] [ 1.19842030e-01 9.92776011e-01 5.80336610e-03 1.16324414e-01] [-3.76691031e-02 -1.29425027e-03 9.99289429e-01 -1.27316657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8908884790000005 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:0.15, Z:-0.13 [[ 9.92489860e-01 -1.16519665e-01 3.72430589e-02 1.53206789e+00] [ 1.16384069e-01 9.93187373e-01 5.79576716e-03 1.46913812e-01] [-3.76646567e-02 -1.41774141e-03 9.99289429e-01 -1.32112345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9508884790000005 meters Centerline goodness : 0.995797 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:0.17, Z:-0.13 [[ 0.99321663 -0.11015257 0.03724433 1.59215829] [ 0.11001281 0.99391332 0.0057876 0.16881355] [-0.03765515 -0.00165098 0.99928943 -0.13477459] [ 0. 0. 0. 1. ]] SLAMing on 3.0108884790000006 meters Centerline goodness : 0.996623 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:0.20, Z:-0.13 [[ 0.99422408 -0.100654 0.03724577 1.65177649] [ 0.10050794 0.99491948 0.00577827 0.19519691] [-0.03763815 -0.0020014 0.99928943 -0.12987125] [ 0. 0. 0. 1. ]] SLAMing on 3.070888479 meters Centerline goodness : 0.996035 with order 1 Centerline is valid? [True, True] Translation: X:1.71, Y:0.22, Z:-0.10 [[ 0.99485049 -0.09426109 0.03724721 1.71030076] [ 0.0941109 0.995545 0.00576901 0.22006195] [-0.03762507 -0.00223393 0.99928943 -0.10104595] [ 0. 0. 0. 1. ]] SLAMing on 3.1308884790000002 meters Centerline goodness : 0.997652 with order 1 Centerline is valid? [True, True] Translation: X:1.77, Y:0.24, Z:-0.13 [[ 0.99461779 -0.09668552 0.0372472 1.76728993] [ 0.09653703 0.99531267 0.00576908 0.23804659] [-0.0376304 -0.00214229 0.99928943 -0.1321356 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1908884790000003 meters Centerline goodness : 0.998025 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:0.25, Z:-0.12 [[ 0.99443527 -0.09854508 0.03724724 1.82862536] [ 0.0983979 0.99513043 0.00576885 0.25221087] [-0.03763435 -0.00207169 0.99928943 -0.11865774] [ 0. 0. 0. 1. ]] SLAMing on 3.2508884790000003 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:0.27, Z:-0.11 [[ 0.99455684 -0.09731003 0.03724854 1.88874497] [ 0.09716229 0.99525188 0.00576038 0.27017514] [-0.03763223 -0.00210987 0.99928943 -0.1061645 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3108884790000004 meters Centerline goodness : 0.998191 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:0.29, Z:-0.10 [[ 0.99549523 -0.08718767 0.03724988 1.94844513] [ 0.08703319 0.99618881 0.0057517 0.2898781 ] [-0.0376094 -0.00248382 0.99928943 -0.10262991] [ 0. 0. 0. 1. ]] SLAMing on 3.3708884790000004 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:0.30, Z:-0.11 [[ 0.99565029 -0.08539813 0.03725139 2.00824832] [ 0.08524277 0.99634367 0.00574195 0.30174231] [-0.03760554 -0.00254156 0.99928943 -0.11116094] [ 0. 0. 0. 1. ]] SLAMing on 3.4308884790000005 meters Centerline goodness : 0.995913 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:0.32, Z:-0.12 [[ 0.9962114 -0.07858171 0.03725276 2.06882637] [ 0.07842195 0.99690377 0.00573301 0.31681798] [-0.03758793 -0.00278985 0.99928943 -0.12084534] [ 0. 0. 0. 1. ]] SLAMing on 3.4908884790000005 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:0.33, Z:-0.12 [[ 0.99654831 -0.07418608 0.03725443 2.12968356] [ 0.07402366 0.99724007 0.00572216 0.32545493] [-0.03757611 -0.0029447 0.99928943 -0.11896335] [ 0. 0. 0. 1. ]] SLAMing on 3.5508884790000006 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:0.32, Z:-0.12 [[ 0.9964498 -0.07549696 0.03725597 2.1938765 ] [ 0.07533583 0.99714186 0.00571208 0.32466138] [-0.03758074 -0.00288509 0.99928943 -0.11909061] [ 0. 0. 0. 1. ]] SLAMing on 3.610888479 meters Centerline goodness : 0.996847 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.32, Z:-0.12 [[ 0.99570168 -0.08479404 0.03725783 2.25744615] [ 0.08463982 0.99639531 0.00569999 0.32027012] [-0.03760685 -0.00252199 0.99928943 -0.11925419] [ 0. 0. 0. 1. ]] SLAMing on 3.6708884790000003 meters Centerline goodness : 0.996816 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:0.32, Z:-0.12 [[ 0.99537242 -0.08857498 0.03725892 2.32015866] [ 0.08842367 0.99606669 0.0056928 0.32217865] [-0.03761661 -0.00237188 0.99928943 -0.12045792] [ 0. 0. 0. 1. ]] SLAMing on 3.7308884790000003 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:0.32, Z:-0.13 [[ 9.95354516e-01 -8.87751309e-02 3.72607645e-02 2.38441388e+00] [ 8.86244081e-02 9.96048916e-01 5.68072487e-03 3.16019062e-01] [-3.76178512e-02 -2.35212195e-03 9.99289430e-01 -1.25834585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7908884790000004 meters Centerline goodness : 0.997766 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:0.31, Z:-0.13 [[ 9.94920531e-01 -9.35131960e-02 3.72615040e-02 2.44762983e+00] [ 9.33659623e-02 9.95615680e-01 5.67586976e-03 3.10878569e-01] [-3.76289064e-02 -2.16808317e-03 9.99289430e-01 -1.30125881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8508884790000004 meters Centerline goodness : 0.997777 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:0.31, Z:-0.13 [[ 9.94469794e-01 -9.81900740e-02 3.72630961e-02 2.51029642e+00] [ 9.80465016e-02 9.95165708e-01 5.66539814e-03 3.14365041e-01] [-3.76392413e-02 -1.98055110e-03 9.99289430e-01 -1.28888236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9108884790000005 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:0.31, Z:-0.13 [[ 9.93579387e-01 -1.06823942e-01 3.72645458e-02 2.57351864e+00] [ 1.06686777e-01 9.94276593e-01 5.65584676e-03 3.10953664e-01] [-3.76554455e-02 -1.64389847e-03 9.99289430e-01 -1.34630135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9708884790000005 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:0.31, Z:-0.13 [[ 9.93249637e-01 -1.09847194e-01 3.72659588e-02 2.63602429e+00] [ 1.09712501e-01 9.93947325e-01 5.64652094e-03 3.12161997e-01] [-3.76606546e-02 -1.51986333e-03 9.99289430e-01 -1.33326043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479000001 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:0.32, Z:-0.13 [[ 9.93422320e-01 -1.08274242e-01 3.72663660e-02 2.69799833e+00] [ 1.08138544e-01 9.94119813e-01 5.64383226e-03 3.15979961e-01] [-3.76583145e-02 -1.57677836e-03 9.99289430e-01 -1.31821628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090888479 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:0.32, Z:-0.13 [[ 9.93643041e-01 -1.06229441e-01 3.72667749e-02 2.75893199e+00] [ 1.06092410e-01 9.94340273e-01 5.64113125e-03 3.21177834e-01] [-3.76551093e-02 -1.65154886e-03 9.99289430e-01 -1.25387694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150888479000001 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:0.33, Z:-0.12 [[ 9.94244066e-01 -1.00448554e-01 3.72669437e-02 2.82124698e+00] [ 1.00307512e-01 9.94940497e-01 5.64001591e-03 3.27471733e-01] [-3.76449229e-02 -1.86939796e-03 9.99289430e-01 -1.22469538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210888479 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:0.34, Z:-0.12 [[ 9.95226284e-01 -9.01982932e-02 3.72680924e-02 2.88319789e+00] [ 9.00503656e-02 9.95921286e-01 5.63241490e-03 3.35653215e-01] [-3.76241207e-02 -2.24952201e-03 9.99289430e-01 -1.22837611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.270888479000001 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:0.34, Z:-0.13 [[ 9.95650768e-01 -8.53846504e-02 3.72694203e-02 2.94465224e+00] [ 8.52336918e-02 9.96345117e-01 5.62361464e-03 3.42391841e-01] [-3.76133753e-02 -2.42254595e-03 9.99289430e-01 -1.28022896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330888479 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.34, Z:-0.13 [[ 9.95854178e-01 -8.29779884e-02 3.72707495e-02 3.00731242e+00] [ 8.28256807e-02 9.96548233e-01 5.61479135e-03 3.41520701e-01] [-3.76080037e-02 -2.50453822e-03 9.99289430e-01 -1.31242077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390888479000001 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.35, Z:-0.13 [[ 9.95996977e-01 -8.12452059e-02 3.72724888e-02 3.06919709e+00] [ 8.10921218e-02 9.96690861e-01 5.60322192e-03 3.49329116e-01] [-3.76043838e-02 -2.55828689e-03 9.99289430e-01 -1.33300645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4508884790000005 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:0.35, Z:-0.14 [[ 9.96112885e-01 -7.98107041e-02 3.72742799e-02 3.13102444e+00] [ 7.96570655e-02 9.96806646e-01 5.59128143e-03 3.52267735e-01] [-3.76014940e-02 -2.60038772e-03 9.99289430e-01 -1.36024682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510888479 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:0.35, Z:-0.14 [[ 9.96037730e-01 -8.07426555e-02 3.72755268e-02 3.19392442e+00] [ 8.05899761e-02 9.96731702e-01 5.58295605e-03 3.49868932e-01] [-3.76044820e-02 -2.55680105e-03 9.99289430e-01 -1.36467795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570888479000001 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:0.36, Z:-0.14 [[ 9.96120163e-01 -7.97185994e-02 3.72768698e-02 3.25625968e+00] [ 7.95655411e-02 9.96814053e-01 5.57397475e-03 3.59162691e-01] [-3.76024571e-02 -2.58639433e-03 9.99289430e-01 -1.39677315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630888479 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:0.37, Z:-0.14 [[ 9.96407211e-01 -7.60459887e-02 3.72783813e-02 3.31832755e+00] [ 7.58907504e-02 9.97100616e-01 5.56384763e-03 3.70071382e-01] [-3.75934052e-02 -2.71477356e-03 9.99289430e-01 -1.41270056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.690888479000001 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:0.37, Z:-0.15 [[ 9.96437446e-01 -7.56480441e-02 3.72798842e-02 3.38112512e+00] [ 7.54929043e-02 9.97130873e-01 5.55375932e-03 3.69180006e-01] [-3.75930545e-02 -2.71960702e-03 9.99289431e-01 -1.51588789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750888479 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:0.37, Z:-0.15 [[ 9.96021930e-01 -8.09347025e-02 3.72812254e-02 3.44375018e+00] [ 8.07835806e-02 9.96716243e-01 5.54474142e-03 3.65965562e-01] [-3.76075649e-02 -2.51097317e-03 9.99289431e-01 -1.46211165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810888479000001 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:0.37, Z:-0.15 [[ 9.95300354e-01 -8.93712671e-02 3.72824553e-02 3.50680749e+00] [ 8.92263428e-02 9.95995988e-01 5.53645964e-03 3.70441920e-01] [-3.76279763e-02 -2.18386310e-03 9.99289431e-01 -1.46834983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870888479 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:0.37, Z:-0.16 [[ 9.94939218e-01 -9.33052004e-02 3.72839450e-02 3.56890660e+00] [ 9.31634027e-02 9.95635495e-01 5.52640916e-03 3.71599393e-01] [-3.76368617e-02 -2.02494203e-03 9.99289431e-01 -1.62401554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930888479000001 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:0.37, Z:-0.16 [[ 9.94389607e-01 -9.89908153e-02 3.72844247e-02 3.63251577e+00] [ 9.88531211e-02 9.95086707e-01 5.52317109e-03 3.69962954e-01] [-3.76479786e-02 -1.80650219e-03 9.99289431e-01 -1.57310793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9908884790000005 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:0.38, Z:-0.16 [[ 9.93910413e-01 -1.03691031e-01 3.72862167e-02 3.69522425e+00] [ 1.03557088e-01 9.94608243e-01 5.51104693e-03 3.79461860e-01] [-3.76566246e-02 -1.61623492e-03 9.99289431e-01 -1.56635968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050888479 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:0.39, Z:-0.16 [[ 9.93494519e-01 -1.07602680e-01 3.72867746e-02 3.75807222e+00] [ 1.07471627e-01 9.94192899e-01 5.50726949e-03 3.88950277e-01] [-3.76628435e-02 -1.46417173e-03 9.99289431e-01 -1.56003752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479000001 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:0.40, Z:-0.16 [[ 9.92894816e-01 -1.13002062e-01 3.72883196e-02 3.82025932e+00] [ 1.12875200e-01 9.93593969e-01 5.49678893e-03 3.97184566e-01] [-3.76705979e-02 -1.24880668e-03 9.99289431e-01 -1.55931695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:0.41, Z:-0.15 [[ 9.92477113e-01 -1.16613574e-01 3.72888043e-02 3.88102155e+00] [ 1.16489380e-01 9.93176744e-01 5.49349898e-03 4.10986200e-01] [-3.76749898e-02 -1.10842231e-03 9.99289431e-01 -1.51686732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479000001 meters Centerline goodness : 0.998403 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:0.43, Z:-0.16 [[ 9.93453126e-01 -1.07983349e-01 3.72891869e-02 3.94118727e+00] [ 1.07853177e-01 9.94151670e-01 5.49090058e-03 4.30793797e-01] [-3.76640332e-02 -1.43319508e-03 9.99289431e-01 -1.55831240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.290888479 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.44, Z:-0.16 [[ 9.94876671e-01 -9.39671420e-02 3.72905472e-02 4.00176880e+00] [ 9.38274806e-02 9.95573380e-01 5.48164647e-03 4.44365496e-01] [-3.76405708e-02 -1.95468410e-03 9.99289431e-01 -1.60678345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350888479000001 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.46, Z:-0.16 [[ 9.96385187e-01 -7.63276020e-02 3.72915064e-02 4.06253341e+00] [ 7.61758632e-02 9.97079365e-01 5.47511369e-03 4.56888288e-01] [-3.76004938e-02 -2.61460949e-03 9.99289431e-01 -1.58664004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4108884790000005 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.47, Z:-0.16 [[ 9.96852963e-01 -6.99534581e-02 3.72918822e-02 4.12395094e+00] [ 6.97973779e-02 9.97546178e-01 5.47255257e-03 4.70440571e-01] [-3.75831985e-02 -2.85245465e-03 9.99289431e-01 -1.62085669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470888479000001 meters Centerline goodness : 0.998570 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:0.48, Z:-0.17 [[ 9.96904397e-01 -6.92157781e-02 3.72934085e-02 4.18593023e+00] [ 6.90595726e-02 9.97597584e-01 5.46213160e-03 4.76281353e-01] [-3.75818799e-02 -2.86975617e-03 9.99289431e-01 -1.70899851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530888479000001 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:0.47, Z:-0.18 [[ 9.96432942e-01 -7.57000353e-02 3.72947398e-02 4.24815329e+00] [ 7.55486819e-02 9.97127204e-01 5.45302636e-03 4.73089007e-01] [-3.76003939e-02 -2.61600667e-03 9.99289431e-01 -1.79489745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590888479 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.48, Z:-0.18 [[ 9.95960453e-01 -8.16810088e-02 3.72959545e-02 4.31041367e+00] [ 8.15341366e-02 9.96655678e-01 5.44470565e-03 4.81149568e-01] [-3.76159539e-02 -2.38181806e-03 9.99289431e-01 -1.75167647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650888479000001 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:0.48, Z:-0.18 [[ 9.94851166e-01 -9.42341452e-02 3.72972323e-02 4.37330890e+00] [ 9.40963798e-02 9.95548252e-01 5.43593831e-03 4.79724812e-01] [-3.76434455e-02 -1.89841503e-03 9.99289431e-01 -1.77154915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710888479 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:0.48, Z:-0.18 [[ 9.94139339e-01 -1.01468204e-01 3.72985100e-02 4.43589796e+00] [ 1.01335842e-01 9.94837471e-01 5.42715754e-03 4.77722033e-01] [-3.76566393e-02 -1.61567491e-03 9.99289431e-01 -1.82059147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.770888479000001 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:0.48, Z:-0.18 [[ 9.93626020e-01 -1.06377079e-01 3.72994579e-02 4.49689393e+00] [ 1.06248411e-01 9.94324842e-01 5.42063488e-03 4.82240604e-01] [-3.76644089e-02 -1.42307574e-03 9.99289431e-01 -1.78703050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830888479 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:0.49, Z:-0.18 [[ 9.93453759e-01 -1.07973801e-01 3.72999586e-02 4.55832628e+00] [ 1.07846386e-01 9.94152811e-01 5.41718754e-03 4.90717664e-01] [-3.76667730e-02 -1.35905961e-03 9.99289431e-01 -1.79802866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479000001 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:0.49, Z:-0.18 [[ 9.93626568e-01 -1.06371607e-01 3.73004574e-02 4.62049176e+00] [ 1.06243193e-01 9.94325437e-01 5.41375042e-03 4.92480002e-01] [-3.76646630e-02 -1.41632657e-03 9.99289431e-01 -1.83760678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9508884790000005 meters Centerline goodness : 0.998230 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:0.51, Z:-0.19 [[ 9.93776316e-01 -1.04963237e-01 3.73008462e-02 4.68076897e+00] [ 1.04833933e-01 9.94475021e-01 5.41107032e-03 5.06390742e-01] [-3.76627233e-02 -1.46699911e-03 9.99289431e-01 -1.91121921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479000001 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:0.52, Z:-0.19 [[ 9.94169180e-01 -1.01174397e-01 3.73012330e-02 4.74125831e+00] [ 1.01042531e-01 9.94867406e-01 5.40840259e-03 5.18121926e-01] [-3.76569728e-02 -1.60785618e-03 9.99289431e-01 -1.89296682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479000001 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:0.53, Z:-0.19 [[ 9.94160666e-01 -1.01257574e-01 3.73024630e-02 4.80394408e+00] [ 1.01126084e-01 9.94858963e-01 5.39990575e-03 5.26132600e-01] [-3.76574711e-02 -1.59612187e-03 9.99289431e-01 -1.90204375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters Centerline goodness : 0.997879 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:0.54, Z:-0.19 [[ 9.94126110e-01 -1.01596073e-01 3.73030296e-02 4.86449052e+00] [ 1.01464968e-01 9.94824479e-01 5.39598923e-03 5.35481182e-01] [-3.76581783e-02 -1.57934309e-03 9.99289431e-01 -1.85509205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479000001 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:0.55, Z:-0.19 [[ 9.94174419e-01 -1.01122123e-01 3.73033756e-02 4.92482731e+00] [ 1.00990774e-01 9.94872742e-01 5.39359616e-03 5.49720681e-01] [-3.76575234e-02 -1.59487854e-03 9.99289431e-01 -1.94262097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.56, Z:-0.19 [[ 9.94496767e-01 -9.79009965e-02 3.73038339e-02 4.98587985e+00] [ 9.77675051e-02 9.95194684e-01 5.39042474e-03 5.62477159e-01] [-3.76523051e-02 -1.71365721e-03 9.99289431e-01 -1.94370167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479000001 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.58, Z:-0.20 [[ 9.94878138e-01 -9.39461991e-02 3.73041923e-02 5.04788955e+00] [ 9.38100268e-02 9.95575537e-01 5.38794310e-03 5.75033029e-01] [-3.76453180e-02 -1.86083952e-03 9.99289431e-01 -1.95069451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370888479 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.58, Z:-0.20 [[ 9.95177820e-01 -9.07163921e-02 3.73047229e-02 5.10962124e+00] [ 9.05780941e-02 9.95874801e-01 5.38426703e-03 5.83468514e-01] [-3.76392747e-02 -1.97931243e-03 9.99289431e-01 -2.03251317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479000001 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.60, Z:-0.21 [[ 9.95520652e-01 -8.68732419e-02 3.73050975e-02 5.17170455e+00] [ 8.67323509e-02 9.96217113e-01 5.38166992e-03 5.95658605e-01] [-3.76314997e-02 -2.12200474e-03 9.99289431e-01 -2.06772434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4908884790000005 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.60, Z:-0.22 [[ 9.96004405e-01 -8.11388496e-02 3.73056606e-02 5.23200566e+00] [ 8.09940959e-02 9.96700073e-01 5.37776356e-03 6.02915415e-01] [-3.76189002e-02 -2.33473794e-03 9.99289431e-01 -2.17511384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550888479000001 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:0.61, Z:-0.22 [[ 9.96337794e-01 -7.69365557e-02 3.73063943e-02 5.29456084e+00] [ 7.67890586e-02 9.97032886e-01 5.37266947e-03 6.08010376e-01] [-3.76090566e-02 -2.48827075e-03 9.99289431e-01 -2.19299373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610888479000001 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:0.61, Z:-0.22 [[ 9.96753817e-01 -7.13443234e-02 3.73070465e-02 5.35711948e+00] [ 7.11930968e-02 9.97448107e-01 5.36813647e-03 6.08258732e-01] [-3.75948290e-02 -2.69470634e-03 9.99289431e-01 -2.18184473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670888479 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:5.42, Y:0.61, Z:-0.22 [[ 9.96950532e-01 -6.85404496e-02 3.73074301e-02 5.42025187e+00] [ 6.83873700e-02 9.97644415e-01 5.36546969e-03 6.14432908e-01] [-3.75873009e-02 -2.79775084e-03 9.99289431e-01 -2.17713612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.730888479000001 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:5.48, Y:0.61, Z:-0.22 [[ 9.96914891e-01 -6.90565961e-02 3.73080014e-02 5.48310952e+00] [ 6.89040237e-02 9.97608886e-01 5.36149378e-03 6.09800776e-01] [-3.75890403e-02 -2.77428157e-03 9.99289431e-01 -2.18160604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790888479 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:0.60, Z:-0.21 [[ 9.96498787e-01 -7.48211910e-02 3.73089333e-02 5.54636931e+00] [ 7.46728769e-02 9.97193705e-01 5.35500136e-03 6.02703026e-01] [-3.76049010e-02 -2.55028697e-03 9.99289431e-01 -2.14397576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850888479000001 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:5.61, Y:0.61, Z:-0.21 [[ 9.96445499e-01 -7.55269706e-02 3.73101131e-02 5.60827581e+00] [ 7.53794556e-02 9.97140587e-01 5.34676879e-03 6.09513822e-01] [-3.76072533e-02 -2.51534768e-03 9.99289431e-01 -2.14131653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9108884790000005 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:5.67, Y:0.61, Z:-0.22 [[ 9.96964766e-01 -6.83314272e-02 3.73104827e-02 5.66981907e+00] [ 6.81789940e-02 9.97658792e-01 5.34418844e-03 6.08580405e-01] [-3.75883071e-02 -2.78417640e-03 9.99289431e-01 -2.20877875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970888479000001 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:5.73, Y:0.61, Z:-0.23 [[ 9.97419296e-01 -6.13404814e-02 3.73107558e-02 5.73215120e+00] [ 6.11832574e-02 9.98112253e-01 5.34228073e-03 6.08331685e-01] [-3.75680206e-02 -3.04570031e-03 9.99289431e-01 -2.32000107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030888479000001 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:0.61, Z:-0.23 [[ 9.97797744e-01 -5.48410598e-02 3.73111184e-02 5.79414060e+00] [ 5.46794186e-02 9.98489684e-01 5.33974717e-03 6.11024982e-01] [-3.75476042e-02 -3.28783742e-03 9.99289431e-01 -2.30975361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090888479000001 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:0.60, Z:-0.23 [[ 9.98003649e-01 -5.09566209e-02 3.73113864e-02 5.85754605e+00] [ 5.07923569e-02 9.98694970e-01 5.33787429e-03 6.04500708e-01] [-3.75346939e-02 -3.43208477e-03 9.99289431e-01 -2.27349575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479000001 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:0.60, Z:-0.24 [[ 9.97636316e-01 -5.77027641e-02 3.73118287e-02 5.92070170e+00] [ 5.75432926e-02 9.98328758e-01 5.33478081e-03 5.96988688e-01] [-3.75573032e-02 -3.17512560e-03 9.99289431e-01 -2.35752031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210888479 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:5.98, Y:0.59, Z:-0.24 [[ 9.97355462e-01 -6.23689192e-02 3.73122100e-02 5.98401006e+00] [ 6.22127878e-02 9.98048665e-01 5.33211229e-03 5.92608841e-01] [-3.75719595e-02 -2.99671471e-03 9.99289431e-01 -2.36066178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.270888479000001 meters Centerline goodness : 0.996683 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.58, Z:-0.24 [[ 9.97044165e-01 -6.71617757e-02 3.73125920e-02 6.04850920e+00] [ 6.70090773e-02 9.97738132e-01 5.32943756e-03 5.83501721e-01] [-3.75861304e-02 -2.81340225e-03 9.99289431e-01 -2.36531297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330888479 meters Centerline goodness : 0.996541 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:0.58, Z:-0.24 [[ 9.96971391e-01 -6.82332269e-02 3.73131713e-02 6.11291888e+00] [ 6.80814255e-02 9.97665555e-01 5.32537854e-03 5.77753692e-01] [-3.75894336e-02 -2.76891615e-03 9.99289431e-01 -2.39870327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390888479000001 meters Centerline goodness : 0.996432 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:0.58, Z:-0.24 [[ 9.97182754e-01 -6.50710357e-02 3.73137410e-02 6.17571035e+00] [ 6.49171821e-02 9.97876466e-01 5.32138411e-03 5.79659742e-01] [-3.75807720e-02 -2.88408955e-03 9.99289431e-01 -2.44455966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4508884790000005 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:0.58, Z:-0.25 [[ 9.97444176e-01 -6.09325301e-02 3.73141181e-02 6.23861900e+00] [ 6.07758975e-02 9.98137266e-01 5.31873823e-03 5.84072822e-01] [-3.75686960e-02 -3.03734545e-03 9.99289431e-01 -2.47986360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510888479000001 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:6.30, Y:0.58, Z:-0.25 [[ 9.97930234e-01 -5.23723433e-02 3.73146858e-02 6.30153848e+00] [ 5.22099177e-02 9.98621989e-01 5.31475291e-03 5.82877457e-01] [-3.75416118e-02 -3.35555594e-03 9.99289431e-01 -2.49431521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570888479000001 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:6.36, Y:0.59, Z:-0.25 [[ 9.98167717e-01 -4.76318665e-02 3.73150638e-02 6.36486372e+00] [ 4.74662554e-02 9.98858717e-01 5.31209728e-03 5.85118113e-01] [-3.75255019e-02 -3.53115766e-03 9.99289431e-01 -2.53211026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630888479000001 meters Centerline goodness : 0.994916 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:0.59, Z:-0.25 [[ 9.98099626e-01 -4.90375379e-02 3.73156391e-02 6.42852028e+00] [ 4.88730500e-02 9.98790894e-01 5.30805308e-03 5.85574226e-01] [-3.75308144e-02 -3.47423670e-03 9.99289431e-01 -2.54924558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.690888479000001 meters Centerline goodness : 0.990780 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:0.58, Z:-0.26 [[ 9.97906935e-01 -5.28133459e-02 3.73162058e-02 6.49281438e+00] [ 5.26516224e-02 9.98598855e-01 5.30406594e-03 5.80299467e-01] [-3.75440459e-02 -3.32820540e-03 9.99289431e-01 -2.57837415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750888479 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:0.58, Z:-0.25 [[ 9.97725870e-01 -5.61295875e-02 3.73169822e-02 6.55650497e+00] [ 5.59703675e-02 9.98418371e-01 5.29859823e-03 5.77076803e-01] [-3.75553687e-02 -3.19790332e-03 9.99289431e-01 -2.49347633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810888479000001 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:0.58, Z:-0.26 [[ 9.97695120e-01 -5.66732387e-02 3.73174371e-02 6.61861728e+00] [ 5.65145151e-02 9.98387735e-01 5.29539243e-03 5.75659488e-01] [-3.75573785e-02 -3.17421033e-03 9.99289431e-01 -2.57182762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870888479 meters Centerline goodness : 0.993625 with order 1 Centerline is valid? [True, True] Translation: X:6.68, Y:0.58, Z:-0.27 [[ 9.97618788e-01 -5.80010352e-02 3.73180012e-02 6.68161975e+00] [ 5.78433813e-02 9.98311647e-01 5.29141413e-03 5.75392991e-01] [-3.75619027e-02 -3.12021478e-03 9.99289431e-01 -2.65244007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930888479000001 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:0.58, Z:-0.26 [[ 9.97580783e-01 -5.86508437e-02 3.73183588e-02 6.74369936e+00] [ 5.84937349e-02 9.98273765e-01 5.28889088e-03 5.81157537e-01] [-3.75641365e-02 -3.09320572e-03 9.99289431e-01 -2.62133226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9908884790000005 meters Centerline goodness : 0.993353 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:0.58, Z:-0.26 [[ 9.97668339e-01 -5.71419019e-02 3.73187334e-02 6.80658931e+00] [ 5.69838433e-02 9.98361106e-01 5.28624606e-03 5.79611399e-01] [-3.75596381e-02 -3.14735546e-03 9.99289431e-01 -2.61236896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050888479000001 meters Centerline goodness : 0.993544 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:0.58, Z:-0.26 [[ 9.97919206e-01 -5.25789173e-02 3.73191076e-02 6.86887539e+00] [ 5.24177904e-02 9.98611265e-01 5.28360340e-03 5.84138947e-01] [-3.75450874e-02 -3.31642415e-03 9.99289431e-01 -2.61842574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479000002 meters Centerline goodness : 0.993550 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:0.60, Z:-0.26 [[ 9.98076719e-01 -4.94986569e-02 3.73195098e-02 6.92922619e+00] [ 4.93355001e-02 9.98768302e-01 5.28076094e-03 5.97438357e-01] [-3.75349340e-02 -3.42942788e-03 9.99289431e-01 -2.63601925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170888479 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:0.60, Z:-0.26 [[ 9.97969205e-01 -5.16206451e-02 3.73199091e-02 6.99281820e+00] [ 5.14590639e-02 9.98661158e-01 5.27793772e-03 5.95721282e-01] [-3.75423941e-02 -3.34677173e-03 9.99289431e-01 -2.63135779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230888479 meters Centerline goodness : 0.993514 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:0.60, Z:-0.27 [[ 9.97873162e-01 -5.34447575e-02 3.73203774e-02 7.05564375e+00] [ 5.32845643e-02 9.98565438e-01 5.27462404e-03 5.96853523e-01] [-3.75487400e-02 -3.27480571e-03 9.99289431e-01 -2.66266833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290888479000001 meters Centerline goodness : 0.993994 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:0.61, Z:-0.27 [[ 9.97915649e-01 -5.26452222e-02 3.73207506e-02 7.11726811e+00] [ 5.24845725e-02 9.98607819e-01 5.27198236e-03 6.07174294e-01] [-3.75463380e-02 -3.30223006e-03 9.99289431e-01 -2.71071147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters Centerline goodness : 0.993650 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:0.62, Z:-0.27 [[ 9.97950380e-01 -5.19824159e-02 3.73211330e-02 7.17862033e+00] [ 5.18214070e-02 9.98642467e-01 5.26927366e-03 6.17066564e-01] [-3.75443779e-02 -3.32444003e-03 9.99289431e-01 -2.74342692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410888479 meters Centerline goodness : 0.993859 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:0.62, Z:-0.28 [[ 9.98034239e-01 -5.03464191e-02 3.73215114e-02 7.23989620e+00] [ 5.01843753e-02 9.98726084e-01 5.26659208e-03 6.22944461e-01] [-3.75391210e-02 -3.38328248e-03 9.99289431e-01 -2.81535672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470888479000001 meters Centerline goodness : 0.994758 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:0.63, Z:-0.28 [[ 9.97968671e-01 -5.16293924e-02 3.73220691e-02 7.30183910e+00] [ 5.14683848e-02 9.98660758e-01 5.26263703e-03 6.28695075e-01] [-3.75437926e-02 -3.33104027e-03 9.99289431e-01 -2.80873562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530888479000001 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:7.36, Y:0.64, Z:-0.28 [[ 9.97868840e-01 -5.35239598e-02 3.73224441e-02 7.36191120e+00] [ 5.33643653e-02 9.98561254e-01 5.25997644e-03 6.41340587e-01] [-3.75502813e-02 -3.25707805e-03 9.99289431e-01 -2.81806240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590888479 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:0.65, Z:-0.28 [[ 9.97867515e-01 -5.35484464e-02 3.73227213e-02 7.42401441e+00] [ 5.33889419e-02 9.98559950e-01 5.25800844e-03 6.47470665e-01] [-3.75505329e-02 -3.25417521e-03 9.99289431e-01 -2.78506851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650888479 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:0.65, Z:-0.28 [[ 9.97739209e-01 -5.58878839e-02 3.73231174e-02 7.48594212e+00] [ 5.57301078e-02 9.98432040e-01 5.25519559e-03 6.52901725e-01] [-3.75582980e-02 -3.16329333e-03 9.99289431e-01 -2.81640959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710888479000001 meters Centerline goodness : 0.994321 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:0.66, Z:-0.29 [[ 9.97437610e-01 -6.10341713e-02 3.73235124e-02 7.54714266e+00] [ 6.08800758e-02 9.98131268e-01 5.25238830e-03 6.58481628e-01] [-3.75743400e-02 -2.96667137e-03 9.99289431e-01 -2.88403945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770888479000002 meters Centerline goodness : 0.993693 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:0.67, Z:-0.29 [[ 9.97318074e-01 -6.29570175e-02 3.73239002e-02 7.60859739e+00] [ 6.28043621e-02 9.98012051e-01 5.24963092e-03 6.69353283e-01] [-3.75802033e-02 -2.89144805e-03 9.99289431e-01 -2.87210894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830888479 meters Centerline goodness : 0.993708 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:0.68, Z:-0.29 [[ 9.97441988e-01 -6.09621079e-02 3.73242809e-02 7.67009539e+00] [ 6.08081654e-02 9.98135681e-01 5.24692345e-03 6.78017639e-01] [-3.75745600e-02 -2.96388071e-03 9.99289431e-01 -2.91147760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890888479000001 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:0.69, Z:-0.29 [[ 9.97921022e-01 -5.25404842e-02 3.73246677e-02 7.73031149e+00] [ 5.23807939e-02 9.98613414e-01 5.24417020e-03 6.87639824e-01] [-3.75484451e-02 -3.27817196e-03 9.99289431e-01 -2.93007476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950888479000001 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:7.79, Y:0.70, Z:-0.30 [[ 9.98160540e-01 -4.77740185e-02 3.73253078e-02 7.79173937e+00] [ 4.76111923e-02 9.98852202e-01 5.23961025e-03 6.98538437e-01] [-3.75327831e-02 -3.45286979e-03 9.99289431e-01 -3.02279445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:7.85, Y:0.70, Z:-0.30 [[ 9.98257164e-01 -4.57101897e-02 3.73257746e-02 7.85281426e+00] [ 4.55460572e-02 9.98948516e-01 5.23628255e-03 7.02226049e-01] [-3.75258787e-02 -3.52711470e-03 9.99289431e-01 -3.02513729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters Centerline goodness : 0.994762 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:0.71, Z:-0.31 [[ 9.98063482e-01 -4.97597154e-02 3.73263547e-02 7.91397842e+00] [ 4.95985425e-02 9.98755530e-01 5.23214436e-03 7.14584046e-01] [-3.75402532e-02 -3.37067943e-03 9.99289432e-01 -3.07397557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479000001 meters Centerline goodness : 0.994782 with order 1 Centerline is valid? [True, True] Translation: X:7.97, Y:0.73, Z:-0.32 [[ 9.98068260e-01 -4.96634990e-02 3.73267285e-02 7.97488480e+00] [ 4.95023584e-02 9.98760316e-01 5.22947621e-03 7.28200477e-01] [-3.75401692e-02 -3.37161313e-03 9.99289432e-01 -3.15241998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479000002 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:0.74, Z:-0.30 [[ 9.98219166e-01 -4.65315290e-02 3.73271051e-02 8.03675787e+00] [ 4.63683173e-02 9.98910737e-01 5.22678685e-03 7.36286345e-01] [-3.75296564e-02 -3.48668376e-03 9.99289432e-01 -3.04918494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250888479 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:0.75, Z:-0.31 [[ 9.98276500e-01 -4.52845058e-02 3.73275161e-02 8.09766244e+00] [ 4.51205392e-02 9.98967892e-01 5.22384986e-03 7.45652638e-01] [-3.75255495e-02 -3.53060890e-03 9.99289432e-01 -3.09002614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310888479 meters Centerline goodness : 0.994392 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:0.75, Z:-0.32 [[ 9.98400756e-01 -4.24565431e-02 3.73279113e-02 8.15787417e+00] [ 4.22907233e-02 9.99091705e-01 5.22102478e-03 7.53286652e-01] [-3.75156732e-02 -3.63405072e-03 9.99289432e-01 -3.20652108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370888479000001 meters Centerline goodness : 0.994903 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:0.76, Z:-0.32 [[ 9.98231966e-01 -4.62550097e-02 3.73284778e-02 8.22004409e+00] [ 4.60919704e-02 9.98923577e-01 5.21697069e-03 7.55101064e-01] [-3.75296077e-02 -3.48720381e-03 9.99289432e-01 -3.17102012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters Centerline goodness : 0.995010 with order 1 Centerline is valid? [True, True] Translation: X:8.28, Y:0.76, Z:-0.32 [[ 9.97957203e-01 -5.18457884e-02 3.73287573e-02 8.28141054e+00] [ 5.16866998e-02 9.98649733e-01 5.21497016e-03 7.61173755e-01] [-3.75487278e-02 -3.27491676e-03 9.99289432e-01 -3.20502310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:8.34, Y:0.76, Z:-0.32 [[ 9.98050597e-01 -5.00150109e-02 3.73296637e-02 8.34347120e+00] [ 4.98548932e-02 9.98742891e-01 5.20847410e-03 7.64257647e-01] [-3.75432381e-02 -3.33725429e-03 9.99289432e-01 -3.21310089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479000001 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:0.77, Z:-0.32 [[ 9.98113037e-01 -4.87527866e-02 3.73300372e-02 8.40607893e+00] [ 4.85918929e-02 9.98805150e-01 5.20579558e-03 7.69077603e-01] [-3.75392305e-02 -3.38203526e-03 9.99289432e-01 -3.22254313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479000002 meters Centerline goodness : 0.995404 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:0.78, Z:-0.32 [[ 9.98154971e-01 -4.78861880e-02 3.73305034e-02 8.46732609e+00] [ 4.77248176e-02 9.98846973e-01 5.20245064e-03 7.79974683e-01] [-3.75365859e-02 -3.41126051e-03 9.99289432e-01 -3.23869379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters Centerline goodness : 0.996112 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:0.78, Z:-0.32 [[ 9.98244100e-01 -4.59904713e-02 3.73308759e-02 8.52953216e+00] [ 4.58278861e-02 9.98935817e-01 5.19977601e-03 7.83084794e-01] [-3.75302892e-02 -3.47985059e-03 9.99289432e-01 -3.23254552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888479 meters Centerline goodness : 0.996548 with order 1 Centerline is valid? [True, True] Translation: X:8.59, Y:0.79, Z:-0.32 [[ 9.98223279e-01 -4.64398966e-02 3.73312491e-02 8.59127964e+00] [ 4.62777222e-02 9.98915093e-01 5.19709515e-03 7.89971414e-01] [-3.75321008e-02 -3.46025618e-03 9.99289432e-01 -3.24253085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479000001 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:0.81, Z:-0.33 [[ 9.98118333e-01 -4.86430242e-02 3.73316210e-02 8.65037438e+00] [ 4.84824762e-02 9.98810526e-01 5.19442271e-03 8.05426502e-01] [-3.75398884e-02 -3.37471911e-03 9.99289432e-01 -3.33167070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479000002 meters Centerline goodness : 0.996484 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:0.80, Z:-0.34 [[ 9.97998934e-01 -5.10336432e-02 3.73322221e-02 8.71339068e+00] [ 5.08749142e-02 9.98691547e-01 5.19009930e-03 8.02209578e-01] [-3.75482443e-02 -3.28043997e-03 9.99289432e-01 -3.35423208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:0.81, Z:-0.33 [[ 9.97935693e-01 -5.22554283e-02 3.73325877e-02 8.77606325e+00] [ 5.20976451e-02 9.98628522e-01 5.18746773e-03 8.05953408e-01] [-3.75524603e-02 -3.23181930e-03 9.99289432e-01 -3.33043999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479000001 meters Centerline goodness : 0.996022 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:0.82, Z:-0.33 [[ 9.97882333e-01 -5.32644273e-02 3.73329583e-02 8.83647259e+00] [ 5.31074437e-02 9.98575344e-01 5.18479913e-03 8.21441574e-01] [-3.75559371e-02 -3.19116146e-03 9.99289432e-01 -3.33495212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479000001 meters Centerline goodness : 0.996133 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:0.82, Z:-0.34 [[ 9.97724281e-01 -5.61469765e-02 3.73333240e-02 8.89746223e+00] [ 5.59920936e-02 9.98417764e-01 5.18216505e-03 8.23852667e-01] [-3.75652167e-02 -3.08000093e-03 9.99289432e-01 -3.40708871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090888479 meters Centerline goodness : 0.996835 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:0.82, Z:-0.34 [[ 9.97744246e-01 -5.57909418e-02 3.73335072e-02 8.95885217e+00] [ 5.56358605e-02 9.98437685e-01 5.18084458e-03 8.24348669e-01] [-3.75642247e-02 -3.09207607e-03 9.99289432e-01 -3.41175599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888479 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:0.84, Z:-0.34 [[ 9.97747770e-01 -5.57276995e-02 3.73337778e-02 9.01890515e+00] [ 5.55726467e-02 9.98441215e-01 5.17889431e-03 8.38131239e-01] [-3.75641903e-02 -3.09249341e-03 9.99289432e-01 -3.37033579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210888479000001 meters Centerline goodness : 0.996384 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:0.85, Z:-0.35 [[ 9.97830013e-01 -5.42350510e-02 3.73339624e-02 9.07902337e+00] [ 5.40790104e-02 9.98523236e-01 5.17756304e-03 8.48479617e-01] [-3.75596343e-02 -3.14734406e-03 9.99289432e-01 -3.45843646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479000002 meters Centerline goodness : 0.996365 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.85, Z:-0.35 [[ 9.97850032e-01 -5.38652865e-02 3.73342376e-02 9.14004682e+00] [ 5.37090629e-02 9.98543214e-01 5.17557764e-03 8.53023680e-01] [-3.75586336e-02 -3.15926339e-03 9.99289432e-01 -3.48982520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330888479 meters Centerline goodness : 0.996197 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:0.86, Z:-0.35 [[ 9.98079903e-01 -4.94230962e-02 3.73344946e-02 9.20200905e+00] [ 4.92638573e-02 9.98772399e-01 5.17372346e-03 8.55857772e-01] [-3.75443641e-02 -3.32454820e-03 9.99289432e-01 -3.48036062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390888479000001 meters Centerline goodness : 0.995469 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:0.87, Z:-0.35 [[ 9.97844225e-01 -5.39723752e-02 3.73347685e-02 9.26286442e+00] [ 5.38163682e-02 9.98537456e-01 5.17174608e-03 8.68546401e-01] [-3.75592962e-02 -3.15137531e-03 9.99289432e-01 -3.50525247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450888479000001 meters Centerline goodness : 0.995769 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:0.87, Z:-0.35 [[ 9.97804365e-01 -5.47040915e-02 3.73351350e-02 9.32389109e+00] [ 5.45486913e-02 9.98497732e-01 5.16909899e-03 8.73569775e-01] [-3.75618184e-02 -3.12116679e-03 9.99289432e-01 -3.49699492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters Centerline goodness : 0.996919 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:0.88, Z:-0.35 [[ 9.97824628e-01 -5.43331012e-02 3.73353165e-02 9.38539692e+00] [ 5.41774919e-02 9.98517948e-01 5.16778732e-03 8.75054925e-01] [-3.75607656e-02 -3.13381165e-03 9.99289432e-01 -3.51300827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570888479 meters Centerline goodness : 0.995785 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:0.88, Z:-0.36 [[ 9.97713157e-01 -5.63428474e-02 3.73355007e-02 9.44661970e+00] [ 5.61886845e-02 9.98406801e-01 5.16645612e-03 8.84278450e-01] [-3.75671107e-02 -3.05680858e-03 9.99289432e-01 -3.57176612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479000001 meters Centerline goodness : 0.996528 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:0.89, Z:-0.36 [[ 9.97867976e-01 -5.35306750e-02 3.73358974e-02 9.50646912e+00] [ 5.33746643e-02 9.98561206e-01 5.16358774e-03 8.88302178e-01] [-3.75585891e-02 -3.15978785e-03 9.99289432e-01 -3.59727519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479000002 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:0.90, Z:-0.36 [[ 9.97998895e-01 -5.10316532e-02 3.73359940e-02 9.56646099e+00] [ 5.08739329e-02 9.98691738e-01 5.16288933e-03 8.99367314e-01] [-3.75506195e-02 -3.25312899e-03 9.99289432e-01 -3.63405505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750888479 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:0.91, Z:-0.37 [[ 9.97868838e-01 -5.35143426e-02 3.73362656e-02 9.62761827e+00] [ 5.33584195e-02 9.98562088e-01 5.16092487e-03 9.12225773e-01] [-3.75587628e-02 -3.15772199e-03 9.99289432e-01 -3.71652873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888479 meters Centerline goodness : 0.996522 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:0.92, Z:-0.37 [[ 9.97726190e-01 -5.61108150e-02 3.73366548e-02 9.68892865e+00] [ 5.59568011e-02 9.98419867e-01 5.15810727e-03 9.18444376e-01] [-3.75670835e-02 -3.05713895e-03 9.99289432e-01 -3.72683631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479000001 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:0.92, Z:-0.37 [[ 9.97671466e-01 -5.70753713e-02 3.73369400e-02 9.75065230e+00] [ 5.69221049e-02 9.98365308e-01 5.15604239e-03 9.19475792e-01] [-3.75701886e-02 -3.01873916e-03 9.99289432e-01 -3.69927560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930888479000002 meters Centerline goodness : 0.996158 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:0.93, Z:-0.37 [[ 9.97441526e-01 -6.09618061e-02 3.73371218e-02 9.81042095e+00] [ 6.08112930e-02 9.98135970e-01 5.15472493e-03 9.31929369e-01] [-3.75817657e-02 -2.87101805e-03 9.99289432e-01 -3.74212902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990888479 meters Centerline goodness : 0.996653 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:0.93, Z:-0.37 [[ 9.97456389e-01 -6.07180109e-02 3.73373132e-02 9.87072438e+00] [ 6.05673797e-02 9.98150808e-01 5.15333822e-03 9.31717962e-01] [-3.75811698e-02 -2.87880691e-03 9.99289432e-01 -3.71421056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050888479000001 meters Centerline goodness : 0.997237 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:0.93, Z:-0.37 [[ 9.97037458e-01 -6.72475944e-02 3.73372192e-02 9.93161114e+00] [ 6.71014878e-02 9.97732843e-01 5.15401927e-03 9.33651366e-01] [-3.75991653e-02 -2.63336731e-03 9.99289432e-01 -3.73185725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479000002 meters Centerline goodness : 0.996947 with order 1 Centerline is valid? [True, True] Translation: X:9.99, Y:0.94, Z:-0.37 [[ 9.96627613e-01 -7.30707418e-02 3.73372192e-02 9.99014790e+00] [ 7.29286998e-02 9.97323839e-01 5.15401927e-03 9.42407645e-01] [-3.76139068e-02 -2.41368307e-03 9.99289432e-01 -3.74786739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:10.05, Y:0.95, Z:-0.38 [[ 9.96327445e-01 -7.70561378e-02 3.73359586e-02 1.00469854e+01] [ 7.69165411e-02 9.97024166e-01 5.16313541e-03 9.53445152e-01] [-3.76227042e-02 -2.27242072e-03 9.99289432e-01 -3.76584727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888479 meters Centerline goodness : 0.996947 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:0.96, Z:-0.38 [[ 9.95920654e-01 -8.21473642e-02 3.73344419e-02 1.01040351e+01] [ 8.20109213e-02 9.96618000e-01 5.17407943e-03 9.61446377e-01] [-3.76332138e-02 -2.09114059e-03 9.99289432e-01 -3.76819442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479000001 meters Centerline goodness : 0.996741 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:0.97, Z:-0.38 [[ 9.95902900e-01 -8.23625343e-02 3.73339787e-02 1.01608251e+01] [ 8.22261172e-02 9.96600251e-01 5.17741935e-03 9.72426282e-01] [-3.76334779e-02 -2.08637884e-03 9.99289432e-01 -3.76750506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350888479000002 meters Centerline goodness : 0.996382 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:0.98, Z:-0.38 [[ 9.96094534e-01 -8.00122635e-02 3.73325128e-02 1.02190049e+01] [ 7.98738074e-02 9.96791483e-01 5.18796792e-03 9.78978475e-01] [-3.76278318e-02 -2.18581656e-03 9.99289432e-01 -3.77948184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters Centerline goodness : 0.996933 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:0.99, Z:-0.38 [[ 9.96487768e-01 -7.49567486e-02 3.73311301e-02 1.02758668e+01] [ 7.48143871e-02 9.97183930e-01 5.19789820e-03 9.87707297e-01] [-3.76156206e-02 -2.38673635e-03 9.99289432e-01 -3.83541526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470888479000001 meters Centerline goodness : 0.996933 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:0.99, Z:-0.38 [[ 9.96460392e-01 -7.53205236e-02 3.73296796e-02 1.03343761e+01] [ 7.51780284e-02 9.97156526e-01 5.20829477e-03 9.94113767e-01] [-3.76158251e-02 -2.38348774e-03 9.99289432e-01 -3.83669115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479000001 meters Centerline goodness : 0.996348 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:1.01, Z:-0.39 [[ 9.96662020e-01 -7.26045340e-02 3.73282683e-02 1.03917342e+01] [ 7.24597657e-02 9.97357684e-01 5.21839032e-03 1.00596803e+00] [-3.76085140e-02 -2.49617386e-03 9.99289432e-01 -3.89667333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590888479 meters Centerline goodness : 0.997203 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:1.01, Z:-0.39 [[ 9.97058094e-01 -6.69467227e-02 3.73268426e-02 1.04507717e+01] [ 6.67976294e-02 9.97752845e-01 5.22856798e-03 1.00967404e+00] [-3.75929989e-02 -2.71984143e-03 9.99289432e-01 -3.91316529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650888479 meters Centerline goodness : 0.996157 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:1.02, Z:-0.39 [[ 9.96980023e-01 -6.81002620e-02 3.73254420e-02 1.05088002e+01] [ 6.79516009e-02 9.97674866e-01 5.23854746e-03 1.02355606e+00] [-3.75954018e-02 -2.68640362e-03 9.99289432e-01 -3.91603733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479000001 meters Centerline goodness : 0.995780 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:1.03, Z:-0.39 [[ 9.97134102e-01 -6.58065356e-02 3.73240204e-02 1.05676252e+01] [ 6.56559001e-02 9.97828520e-01 5.24865676e-03 1.03372051e+00] [-3.75883680e-02 -2.78307249e-03 9.99289432e-01 -3.88464300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479000002 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:1.04, Z:-0.39 [[ 9.97196038e-01 -6.48613417e-02 3.73238354e-02 1.06262166e+01] [ 6.47099991e-02 9.97890301e-01 5.24997244e-03 1.04166853e+00] [-3.75856136e-02 -2.82002636e-03 9.99289432e-01 -3.91160706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830888479 meters Centerline goodness : 0.995154 with order 1 Centerline is valid? [True, True] Translation: X:10.68, Y:1.05, Z:-0.40 [[ 9.97123821e-01 -6.59623454e-02 3.73236486e-02 1.06849487e+01] [ 6.58117200e-02 9.97818241e-01 5.25130007e-03 1.05169538e+00] [-3.75886054e-02 -2.77986288e-03 9.99289432e-01 -3.97392174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890888479000001 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:1.06, Z:-0.39 [[ 9.97140306e-01 -6.57127747e-02 3.73234619e-02 1.07435710e+01] [ 6.55619262e-02 9.97834678e-01 5.25262644e-03 1.06315165e+00] [-3.75878092e-02 -2.79060749e-03 9.99289432e-01 -3.93940138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479000001 meters Centerline goodness : 0.995860 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:1.07, Z:-0.40 [[ 9.97247663e-01 -6.40630345e-02 3.73232696e-02 1.08015893e+01] [ 6.39109866e-02 9.97941773e-01 5.25399244e-03 1.07162742e+00] [-3.75830365e-02 -2.85416470e-03 9.99289432e-01 -3.96885649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479000002 meters Centerline goodness : 0.996807 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:1.08, Z:-0.40 [[ 9.97262094e-01 -6.38381580e-02 3.73229862e-02 1.08612063e+01] [ 6.36858787e-02 9.97956153e-01 5.25600503e-03 1.07663644e+00] [-3.75822374e-02 -2.86466741e-03 9.99289432e-01 -4.00165374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070888479 meters Centerline goodness : 0.990463 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:1.09, Z:-0.41 [[ 9.97045823e-01 -6.71314791e-02 3.73227885e-02 1.09176761e+01] [ 6.69814407e-02 9.97740370e-01 5.25740826e-03 1.09161960e+00] [-3.75913904e-02 -2.74194280e-03 9.99289432e-01 -4.13548221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130888479000001 meters Centerline goodness : 0.996031 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:1.10, Z:-0.40 [[ 9.97110635e-01 -6.61619942e-02 3.73225431e-02 1.09768466e+01] [ 6.60112157e-02 9.97805021e-01 5.25914986e-03 1.09919278e+00] [-3.75885768e-02 -2.78024781e-03 9.99289432e-01 -4.03755530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479000002 meters Centerline goodness : 0.995954 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:1.11, Z:-0.41 [[ 9.97036728e-01 -6.72674999e-02 3.73208499e-02 1.10355420e+01] [ 6.71170450e-02 9.97731185e-01 5.27113818e-03 1.10611968e+00] [-3.75907521e-02 -2.75065320e-03 9.99289432e-01 -4.07474723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250888479 meters Centerline goodness : 0.996263 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:1.12, Z:-0.41 [[ 9.97305070e-01 -6.31645971e-02 3.73206612e-02 1.10947185e+01] [ 6.30112365e-02 9.97998890e-01 5.27247422e-03 1.11556940e+00] [-3.75790121e-02 -2.90664426e-03 9.99289432e-01 -4.07704977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310888479 meters Centerline goodness : 0.995996 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:1.13, Z:-0.41 [[ 9.97616690e-01 -5.80355234e-02 3.73204737e-02 1.11534854e+01] [ 5.78785478e-02 9.98309702e-01 5.27380048e-03 1.13022545e+00] [-3.75634588e-02 -3.10117656e-03 9.99289432e-01 -4.11177461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479000001 meters Centerline goodness : 0.992423 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:1.14, Z:-0.41 [[ 9.97660527e-01 -5.72770042e-02 3.73204737e-02 1.12133183e+01] [ 5.71195018e-02 9.98353419e-01 5.27380048e-03 1.13658494e+00] [-3.75610901e-02 -3.12973570e-03 9.99289432e-01 -4.13631086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479000002 meters Centerline goodness : 0.993704 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:1.15, Z:-0.41 [[ 9.97497050e-01 -6.00567206e-02 3.73205876e-02 1.12731412e+01] [ 5.99011794e-02 9.98190385e-01 5.27299488e-03 1.14536942e+00] [-3.75697304e-02 -3.02424962e-03 9.99289432e-01 -4.07795224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters Centerline goodness : 0.995785 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:1.16, Z:-0.42 [[ 9.97312856e-01 -6.30415760e-02 3.73205876e-02 1.13320968e+01] [ 6.28881105e-02 9.98006654e-01 5.27299488e-03 1.15721323e+00] [-3.75786126e-02 -2.91180435e-03 9.99289432e-01 -4.16917973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479000001 meters Centerline goodness : 0.995535 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:1.17, Z:-0.42 [[ 9.97124537e-01 -6.59532517e-02 3.73205876e-02 1.13908226e+01] [ 6.58018125e-02 9.97818780e-01 5.27299488e-03 1.16725298e+00] [-3.75869543e-02 -2.80207027e-03 9.99289432e-01 -4.24490297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479000002 meters Centerline goodness : 0.993586 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:1.17, Z:-0.43 [[ 9.97116262e-01 -6.60782332e-02 3.73205876e-02 1.14492017e+01] [ 6.59268811e-02 9.97810524e-01 5.27299488e-03 1.17499134e+00] [-3.75873052e-02 -2.79735901e-03 9.99289432e-01 -4.30604171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters Centerline goodness : 0.995497 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:1.18, Z:-0.43 [[ 9.96998398e-01 -6.78338454e-02 3.73197383e-02 1.15083125e+01] [ 6.76834924e-02 9.97692877e-01 5.27899896e-03 1.18121140e+00] [-3.75917318e-02 -2.73722328e-03 9.99289432e-01 -4.33783777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888479 meters Centerline goodness : 0.993135 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:1.19, Z:-0.43 [[ 9.96577985e-01 -7.37534673e-02 3.73195148e-02 1.15670684e+01] [ 7.36071824e-02 9.97273332e-01 5.28057795e-03 1.18893625e+00] [-3.76072178e-02 -2.51552339e-03 9.99289432e-01 -4.31787637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479000001 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:1.19, Z:-0.43 [[ 9.96850947e-01 -6.99682224e-02 3.73180491e-02 1.16252743e+01] [ 6.98189127e-02 9.97545651e-01 5.29091644e-03 1.19419127e+00] [-3.75966536e-02 -2.66874945e-03 9.99289432e-01 -4.31968181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479000002 meters Centerline goodness : 0.995884 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:1.20, Z:-0.44 [[ 9.97020293e-01 -6.75132914e-02 3.73160969e-02 1.16820925e+01] [ 6.73617603e-02 9.97714515e-01 5.30464882e-03 1.20287688e+00] [-3.75889459e-02 -2.77516454e-03 9.99289432e-01 -4.38386012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters Centerline goodness : 0.996534 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:1.21, Z:-0.45 [[ 9.97214934e-01 -6.45755067e-02 3.73146021e-02 1.17409504e+01] [ 6.44215406e-02 9.97908620e-01 5.31514308e-03 1.21095115e+00] [-3.75797912e-02 -2.89647590e-03 9.99289432e-01 -4.45624131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970888479000001 meters Centerline goodness : 0.996431 with order 1 Centerline is valid? [True, True] Translation: X:11.80, Y:1.22, Z:-0.45 [[ 9.97298098e-01 -6.32782746e-02 3.73143955e-02 1.18011317e+01] [ 6.31233523e-02 9.97991571e-01 5.31659306e-03 1.21780454e+00] [-3.75758771e-02 -2.94681841e-03 9.99289432e-01 -4.46391742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479000001 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:11.86, Y:1.22, Z:-0.44 [[ 9.97246421e-01 -6.40875314e-02 3.73143955e-02 1.18612794e+01] [ 6.39331720e-02 9.97940020e-01 5.31659306e-03 1.22440216e+00] [-3.75782560e-02 -2.91632573e-03 9.99289432e-01 -4.42526683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479000002 meters Centerline goodness : 0.996783 with order 1 Centerline is valid? [True, True] Translation: X:11.92, Y:1.23, Z:-0.45 [[ 9.96904857e-01 -6.91978462e-02 3.73143955e-02 1.19207604e+01] [ 6.90470436e-02 9.97599238e-01 5.31659306e-03 1.23189097e+00] [-3.75927093e-02 -2.72368874e-03 9.99289432e-01 -4.48452274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888479 meters Centerline goodness : 0.996601 with order 1 Centerline is valid? [True, True] Translation: X:11.98, Y:1.24, Z:-0.44 [[ 9.96587069e-01 -7.36332141e-02 3.73143955e-02 1.19802580e+01] [ 7.34855029e-02 9.97282114e-01 5.31659306e-03 1.23688199e+00] [-3.76044571e-02 -2.55638077e-03 9.99289432e-01 -4.44375220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479000001 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:1.24, Z:-0.45 [[ 9.96296164e-01 -7.74700125e-02 3.73142034e-02 1.20369768e+01] [ 7.73249284e-02 9.96991763e-01 5.31794119e-03 1.24436194e+00] [-3.76139344e-02 -2.41292630e-03 9.99289432e-01 -4.51849666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479000002 meters Centerline goodness : 0.997057 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:1.26, Z:-0.45 [[ 9.96489111e-01 -7.49476766e-02 3.73135147e-02 1.20950040e+01] [ 7.48006521e-02 9.97184301e-01 5.32276947e-03 1.25534833e+00] [-3.76073802e-02 -2.51300659e-03 9.99289432e-01 -4.54033037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters Centerline goodness : 0.997283 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:1.26, Z:-0.46 [[ 9.96302911e-01 -7.73841704e-02 3.73121808e-02 1.21527853e+01] [ 7.72384982e-02 9.96998387e-01 5.33210352e-03 1.26398042e+00] [-3.76128044e-02 -2.43045345e-03 9.99289432e-01 -4.59671529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479000001 meters Centerline goodness : 0.997136 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:1.27, Z:-0.46 [[ 9.96697324e-01 -7.21273128e-02 3.73107774e-02 1.22102835e+01] [ 7.19776087e-02 9.97391943e-01 5.34190521e-03 1.27380076e+00] [-3.75987661e-02 -2.63872210e-03 9.99289433e-01 -4.58414904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450888479000001 meters Centerline goodness : 0.997092 with order 1 Centerline is valid? [True, True] Translation: X:12.27, Y:1.28, Z:-0.47 [[ 9.96913846e-01 -6.90704412e-02 3.73102867e-02 1.22677810e+01] [ 6.89184802e-02 9.97607974e-01 5.34533047e-03 1.28285678e+00] [-3.75902439e-02 -2.75746571e-03 9.99289433e-01 -4.65477075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479000002 meters Centerline goodness : 0.996990 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:1.29, Z:-0.47 [[ 9.97130227e-01 -6.58737783e-02 3.73089305e-02 1.23268829e+01] [ 6.57192410e-02 9.97823786e-01 5.35477972e-03 1.28503230e+00] [-3.75804779e-02 -2.88749812e-03 9.99289433e-01 -4.69080774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888479 meters Centerline goodness : 0.996613 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:1.29, Z:-0.47 [[ 9.97035329e-01 -6.72950109e-02 3.73086449e-02 1.23866258e+01] [ 6.71413884e-02 9.97729091e-01 5.35676887e-03 1.29478974e+00] [-3.75844042e-02 -2.83593359e-03 9.99289433e-01 -4.67562338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479000001 meters Centerline goodness : 0.996551 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:1.30, Z:-0.47 [[ 9.97300239e-01 -6.32479139e-02 3.73086449e-02 1.24447414e+01] [ 6.30914770e-02 9.97993372e-01 5.35676887e-03 1.30497683e+00] [-3.75725848e-02 -2.98844936e-03 9.99289433e-01 -4.70141309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690888479000002 meters Centerline goodness : 0.996953 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:1.31, Z:-0.47 [[ 9.97520465e-01 -5.96740669e-02 3.73085456e-02 1.25045302e+01] [ 5.95151218e-02 9.98213027e-01 5.35746065e-03 1.30736256e+00] [-3.75615777e-02 -3.12375401e-03 9.99289433e-01 -4.69119616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:1.31, Z:-0.47 [[ 9.97429375e-01 -6.11778506e-02 3.73083545e-02 1.25650104e+01] [ 6.10199003e-02 9.98122164e-01 5.35879079e-03 1.31372669e+00] [-3.75661349e-02 -3.06846328e-03 9.99289433e-01 -4.73400042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888479 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:1.32, Z:-0.47 [[ 9.97637272e-01 -5.76884782e-02 3.73083545e-02 1.26252132e+01] [ 5.75281055e-02 9.98329505e-01 5.35879079e-03 1.32368554e+00] [-3.75551716e-02 -3.19985047e-03 9.99289433e-01 -4.74746529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870888479000001 meters Centerline goodness : 0.996076 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:1.33, Z:-0.48 [[ 9.97652825e-01 -5.74189154e-02 3.73082907e-02 1.26853996e+01] [ 5.72583392e-02 9.98345011e-01 5.35923479e-03 1.33101365e+00] [-3.75542674e-02 -3.21044497e-03 9.99289433e-01 -4.76716311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930888479000002 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:1.33, Z:-0.47 [[ 9.97473440e-01 -6.04551104e-02 3.73083913e-02 1.27466834e+01] [ 6.02966677e-02 9.98166117e-01 5.35853483e-03 1.32741566e+00] [-3.75639229e-02 -3.09542451e-03 9.99289433e-01 -4.73162288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990888479 meters Centerline goodness : 0.996489 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:1.34, Z:-0.48 [[ 9.97433524e-01 -6.11102052e-02 3.73082940e-02 1.28045509e+01] [ 6.09521923e-02 9.98126299e-01 5.35921223e-03 1.34463284e+00] [-3.75658919e-02 -3.07143563e-03 9.99289433e-01 -4.82298871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050888479000001 meters Centerline goodness : 0.996790 with order 1 Centerline is valid? [True, True] Translation: X:12.86, Y:1.35, Z:-0.48 [[ 9.97459083e-01 -6.06915838e-02 3.73082940e-02 1.28648231e+01] [ 6.05332801e-02 9.98151792e-01 5.35921223e-03 1.34764972e+00] [-3.75645996e-02 -3.08720151e-03 9.99289433e-01 -4.82535396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479000002 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:1.35, Z:-0.48 [[ 9.97420458e-01 -6.13232092e-02 3.73080966e-02 1.29256789e+01] [ 6.11652931e-02 9.98113256e-01 5.36058594e-03 1.35145457e+00] [-3.75664341e-02 -3.06479742e-03 9.99289433e-01 -4.83201151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479000002 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:1.36, Z:-0.49 [[ 9.97276309e-01 -6.36244387e-02 3.73080966e-02 1.29848396e+01] [ 6.34681216e-02 9.97969469e-01 5.36058594e-03 1.35843671e+00] [-3.75734056e-02 -2.97811055e-03 9.99289433e-01 -4.86212304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888479 meters Centerline goodness : 0.997555 with order 1 Centerline is valid? [True, True] Translation: X:13.04, Y:1.37, Z:-0.49 [[ 9.97305867e-01 -6.31594125e-02 3.73081269e-02 1.30419911e+01] [ 6.30027801e-02 9.97998956e-01 5.36037489e-03 1.37001762e+00] [-3.75720298e-02 -2.99541761e-03 9.99289433e-01 -4.89566533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479000001 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:13.10, Y:1.38, Z:-0.49 [[ 9.97431196e-01 -6.11484495e-02 3.73078482e-02 1.31015458e+01] [ 6.09903479e-02 9.98123952e-01 5.36231400e-03 1.37777926e+00] [-3.75657541e-02 -3.07312063e-03 9.99289433e-01 -4.86329854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479000002 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:13.16, Y:1.38, Z:-0.48 [[ 9.97325381e-01 -6.28508025e-02 3.73076596e-02 1.31610586e+01] [ 6.26938348e-02 9.98018394e-01 5.36362558e-03 1.38018037e+00] [-3.75708387e-02 -3.01031967e-03 9.99289433e-01 -4.79386494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888479 meters Centerline goodness : 0.996908 with order 1 Centerline is valid? [True, True] Translation: X:13.22, Y:1.39, Z:-0.48 [[ 9.97282110e-01 -6.35338742e-02 3.73073789e-02 1.32196826e+01] [ 6.33773086e-02 9.97975214e-01 5.36557738e-03 1.39235215e+00] [-3.75727354e-02 -2.98655307e-03 9.99289433e-01 -4.84303243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479000001 meters Centerline goodness : 0.997124 with order 1 Centerline is valid? [True, True] Translation: X:13.28, Y:1.40, Z:-0.49 [[ 9.97023982e-01 -6.74637140e-02 3.73071794e-02 1.32785071e+01] [ 6.73098296e-02 9.97717687e-01 5.36696410e-03 1.39733455e+00] [-3.75841081e-02 -2.83985203e-03 9.99289433e-01 -4.86572654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530888479000001 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:13.34, Y:1.40, Z:-0.49 [[ 9.96778457e-01 -7.09998966e-02 3.73058035e-02 1.33370954e+01] [ 7.08481184e-02 9.97472625e-01 5.37651141e-03 1.40200496e+00] [-3.75932495e-02 -2.71614477e-03 9.99289433e-01 -4.88927450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590888479000002 meters Centerline goodness : 0.996241 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:1.42, Z:-0.50 [[ 9.96528945e-01 -7.44207027e-02 3.73044450e-02 1.33942450e+01] [ 7.42709574e-02 9.97223554e-01 5.38592054e-03 1.41602539e+00] [-3.76016952e-02 -2.59658886e-03 9.99289433e-01 -5.00559871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888479 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:1.42, Z:-0.51 [[ 9.96789116e-01 -7.08515198e-02 3.73030947e-02 1.34529392e+01] [ 7.06989405e-02 9.97483108e-01 5.39525653e-03 1.42239118e+00] [-3.75914690e-02 -2.74064371e-03 9.99289433e-01 -5.05398560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479000001 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:1.43, Z:-0.50 [[ 9.96930709e-01 -6.88312428e-02 3.73017552e-02 1.35116786e+01] [ 6.86769135e-02 9.97624315e-01 5.40450178e-03 1.42602558e+00] [-3.75851365e-02 -2.82614438e-03 9.99289433e-01 -5.03407722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479000002 meters Centerline goodness : 0.996263 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:1.44, Z:-0.51 [[ 9.97250494e-01 -6.40322936e-02 3.73003569e-02 1.35688159e+01] [ 6.38742698e-02 9.97943267e-01 5.41413513e-03 1.43711041e+00] [-3.75703196e-02 -3.01671587e-03 9.99289433e-01 -5.05369960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:1.45, Z:-0.52 [[ 9.97406512e-01 -6.15546061e-02 3.72998655e-02 1.36261731e+01] [ 6.13947360e-02 9.98098861e-01 5.41751856e-03 1.45046687e+00] [-3.75624265e-02 -3.11345289e-03 9.99289433e-01 -5.15644505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479000001 meters Centerline goodness : 0.997533 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:1.46, Z:-0.51 [[ 9.97652101e-01 -5.74378500e-02 3.72985159e-02 1.36850645e+01] [ 5.72747799e-02 9.98343703e-01 5.42679430e-03 1.45718260e+00] [-3.75484419e-02 -3.27778844e-03 9.99289433e-01 -5.10449333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479000001 meters Centerline goodness : 0.996803 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:1.46, Z:-0.51 [[ 9.97540246e-01 -5.93496290e-02 3.72971650e-02 1.37456908e+01] [ 5.91875406e-02 9.98232079e-01 5.43606346e-03 1.46366153e+00] [-3.75538549e-02 -3.21516462e-03 9.99289433e-01 -5.13426451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479000002 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:1.48, Z:-0.52 [[ 9.97366227e-01 -6.22054875e-02 3.72972689e-02 1.38049718e+01] [ 6.20454070e-02 9.98058528e-01 5.43534999e-03 1.47514098e+00] [-3.75629659e-02 -3.10691028e-03 9.99289433e-01 -5.20866824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888479 meters Centerline goodness : 0.996701 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:1.48, Z:-0.53 [[ 9.97227685e-01 -6.43883446e-02 3.72972689e-02 1.38640031e+01] [ 6.42297798e-02 9.97920334e-01 5.43534999e-03 1.48044014e+00] [-3.75696762e-02 -3.02468611e-03 9.99289433e-01 -5.25704098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479000001 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:13.92, Y:1.48, Z:-0.53 [[ 9.97050721e-01 -6.70729605e-02 3.72971672e-02 1.39226924e+01] [ 6.69162352e-02 9.97743788e-01 5.43604779e-03 1.48466020e+00] [-3.75776287e-02 -2.92422936e-03 9.99289433e-01 -5.29934386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479000002 meters Centerline goodness : 0.995098 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:1.49, Z:-0.52 [[ 9.97065295e-01 -6.68567260e-02 3.72957947e-02 1.39814603e+01] [ 6.66995009e-02 9.97758249e-01 5.44544824e-03 1.49032306e+00] [-3.75762517e-02 -2.94185656e-03 9.99289433e-01 -5.24084131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250888479000002 meters Centerline goodness : 0.997391 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:1.51, Z:-0.53 [[ 9.96744663e-01 -7.14787450e-02 3.72943173e-02 1.40378121e+01] [ 7.13243586e-02 9.97438255e-01 5.45554757e-03 1.50504189e+00] [-3.75887345e-02 -2.77779466e-03 9.99289433e-01 -5.27072296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888479 meters Centerline goodness : 0.997161 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:1.51, Z:-0.53 [[ 9.96893482e-01 -6.93726241e-02 3.72937492e-02 1.40973788e+01] [ 6.92166283e-02 9.97586715e-01 5.45942826e-03 1.50612038e+00] [-3.75824836e-02 -2.86112088e-03 9.99289433e-01 -5.34793584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479000001 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:1.52, Z:-0.53 [[ 9.97191819e-01 -6.49442186e-02 3.72924205e-02 1.41553168e+01] [ 6.47848087e-02 9.97884274e-01 5.46848953e-03 1.51520049e+00] [-3.75686667e-02 -3.03715070e-03 9.99289433e-01 -5.33146077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479000002 meters Centerline goodness : 0.997308 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:1.53, Z:-0.54 [[ 9.97211955e-01 -6.46350928e-02 3.72910363e-02 1.42124338e+01] [ 6.44751182e-02 9.97904280e-01 5.47791253e-03 1.53384097e+00] [-3.75669501e-02 -3.05829589e-03 9.99289433e-01 -5.37673385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888479 meters Centerline goodness : 0.997492 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:1.54, Z:-0.54 [[ 9.97211269e-01 -6.46457969e-02 3.72908376e-02 1.42718079e+01] [ 6.44857796e-02 9.97903583e-01 5.47926484e-03 1.53750743e+00] [-3.75668719e-02 -3.05925591e-03 9.99289433e-01 -5.39225659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479000001 meters Centerline goodness : 0.997596 with order 1 Centerline is valid? [True, True] Translation: X:14.33, Y:1.54, Z:-0.54 [[ 9.96985943e-01 -6.80326267e-02 3.72906293e-02 1.43309483e+01] [ 6.78749092e-02 9.97678785e-01 5.48068250e-03 1.53724655e+00] [-3.75769349e-02 -2.93306534e-03 9.99289433e-01 -5.35603130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479000002 meters Centerline goodness : 0.997256 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:1.55, Z:-0.55 [[ 9.96653704e-01 -7.27381703e-02 3.72901147e-02 1.43872341e+01] [ 7.25835948e-02 9.97347254e-01 5.48418098e-03 1.55259887e+00] [-3.75901028e-02 -2.75917871e-03 9.99289433e-01 -5.48797386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479000002 meters Centerline goodness : 0.997447 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:1.56, Z:-0.55 [[ 9.96652907e-01 -7.27497882e-02 3.72887424e-02 1.44449684e+01] [ 7.25948742e-02 9.97346382e-01 5.49349646e-03 1.56086947e+00] [-3.75894430e-02 -2.76813766e-03 9.99289433e-01 -5.48001291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888479 meters Centerline goodness : 0.997654 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:1.56, Z:-0.55 [[ 9.96692279e-01 -7.22092486e-02 3.72870560e-02 1.45030997e+01] [ 7.20535336e-02 9.97385574e-01 5.50491893e-03 1.56463800e+00] [-3.75870778e-02 -2.80004606e-03 9.99289433e-01 -5.46495264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479000001 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:1.57, Z:-0.54 [[ 9.96735883e-01 -7.16051296e-02 3.72865377e-02 1.45614359e+01] [ 7.14488640e-02 9.97429054e-01 5.50842750e-03 1.57417110e+00] [-3.75851076e-02 -2.82636659e-03 9.99289433e-01 -5.44089326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479000002 meters Centerline goodness : 0.997326 with order 1 Centerline is valid? [True, True] Translation: X:14.62, Y:1.58, Z:-0.55 [[ 9.96820920e-01 -7.04121412e-02 3.72851570e-02 1.46186076e+01] [ 7.02546992e-02 9.97513825e-01 5.51775690e-03 1.58487419e+00] [-3.75809767e-02 -2.88075802e-03 9.99289433e-01 -5.47349261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888479000002 meters Centerline goodness : 0.997067 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:1.59, Z:-0.55 [[ 9.96859943e-01 -6.98580181e-02 3.72841840e-02 1.46762100e+01] [ 6.96999468e-02 9.97552705e-01 5.52432397e-03 1.58912342e+00] [-3.75788569e-02 -2.90827164e-03 9.99289433e-01 -5.52772454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479000001 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:1.60, Z:-0.55 [[ 9.96813479e-01 -7.05187759e-02 3.72825641e-02 1.47344198e+01] [ 7.03607581e-02 9.97506253e-01 5.53523472e-03 1.59503773e+00] [-3.75799288e-02 -2.89436711e-03 9.99289433e-01 -5.53306101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:1.60, Z:-0.55 [[ 9.96634617e-01 -7.30038429e-02 3.72810765e-02 1.47921147e+01] [ 7.28471809e-02 9.97327699e-01 5.54523633e-03 1.60250915e+00] [-3.75862737e-02 -2.81075316e-03 9.99289433e-01 -5.54350898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888479 meters Centerline goodness : 0.996939 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:1.61, Z:-0.56 [[ 9.96548409e-01 -7.41716171e-02 3.72805551e-02 1.48507334e+01] [ 7.40156371e-02 9.97241644e-01 5.54873930e-03 1.60990676e+00] [-3.75892810e-02 -2.77024329e-03 9.99289433e-01 -5.55430483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150888479 meters Centerline goodness : 0.996893 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:1.61, Z:-0.55 [[ 9.96567205e-01 -7.39193579e-02 3.72791395e-02 1.49087186e+01] [ 7.37628491e-02 9.97260321e-01 5.55823346e-03 1.61348021e+00] [-3.75878677e-02 -2.78933764e-03 9.99289433e-01 -5.54923052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888479 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:1.62, Z:-0.56 [[ 9.96360982e-01 -7.66491717e-02 3.72786431e-02 1.49665978e+01] [ 7.64944385e-02 9.97054497e-01 5.56156108e-03 1.62315466e+00] [-3.75951278e-02 -2.68971359e-03 9.99289433e-01 -5.57732552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888479 meters Centerline goodness : 0.997550 with order 1 Centerline is valid? [True, True] Translation: X:15.02, Y:1.64, Z:-0.56 [[ 9.96349287e-01 -7.68017200e-02 3.72772482e-02 1.50234841e+01] [ 7.66467455e-02 9.97042748e-01 5.57089483e-03 1.63537963e+00] [-3.75948643e-02 -2.69337733e-03 9.99289433e-01 -5.59946786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters Centerline goodness : 0.997278 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:1.64, Z:-0.56 [[ 9.96416997e-01 -7.59184561e-02 3.72767573e-02 1.50814804e+01] [ 7.57627449e-02 9.97110292e-01 5.57417754e-03 1.64395022e+00] [-3.75922213e-02 -2.73001579e-03 9.99289434e-01 -5.60429629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888479 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:1.66, Z:-0.57 [[ 9.96571067e-01 -7.38691914e-02 3.72753458e-02 1.51379898e+01] [ 7.37117043e-02 9.97263961e-01 5.58360087e-03 1.65545086e+00] [-3.75858151e-02 -2.81682581e-03 9.99289434e-01 -5.67526304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450888479 meters Centerline goodness : 0.997279 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:1.66, Z:-0.56 [[ 9.96481916e-01 -7.50624858e-02 3.72748487e-02 1.51969018e+01] [ 7.49057051e-02 9.97174970e-01 5.58691739e-03 1.66244817e+00] [-3.75889140e-02 -2.77516332e-03 9.99289434e-01 -5.60679431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:1.67, Z:-0.56 [[ 9.95578419e-01 -8.62224230e-02 3.72733763e-02 1.52544616e+01] [ 8.60730516e-02 9.96273108e-01 5.59672330e-03 1.66824492e+00] [-3.76170255e-02 -2.36374370e-03 9.99289434e-01 -5.64767482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570888479 meters Centerline goodness : 0.996919 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:1.69, Z:-0.57 [[ 9.95140007e-01 -9.11434003e-02 3.72726055e-02 1.53112673e+01] [ 9.09972737e-02 9.95835386e-01 5.60185173e-03 1.68576151e+00] [-3.76279513e-02 -2.18292129e-03 9.99289434e-01 -5.73185047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters Centerline goodness : 0.996862 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:1.69, Z:-0.58 [[ 9.95319603e-01 -8.91608835e-02 3.72723100e-02 1.53689112e+01] [ 8.90132987e-02 9.96014674e-01 5.60381741e-03 1.69362745e+00] [-3.76234090e-02 -2.25985805e-03 9.99289434e-01 -5.75768608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690888478999998 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:1.70, Z:-0.57 [[ 9.95277124e-01 -8.96344818e-02 3.72707240e-02 1.54275658e+01] [ 8.94868348e-02 9.95972181e-01 5.61434587e-03 1.70279114e+00] [-3.76238433e-02 -2.25259089e-03 9.99289434e-01 -5.74857661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750888479 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:1.72, Z:-0.58 [[ 9.95459822e-01 -8.75828301e-02 3.72691558e-02 1.54833382e+01] [ 8.74333633e-02 9.96154491e-01 5.62473701e-03 1.71826614e+00] [-3.76184673e-02 -2.34063207e-03 9.99289434e-01 -5.82818191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters Centerline goodness : 0.997266 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:1.74, Z:-0.58 [[ 9.96040637e-01 -8.07099556e-02 3.72686595e-02 1.55404506e+01] [ 8.05555753e-02 9.96734230e-01 5.62802343e-03 1.73614873e+00] [-3.76011861e-02 -2.60354174e-03 9.99289434e-01 -5.80748368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888479 meters Centerline goodness : 0.997264 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:1.75, Z:-0.58 [[ 9.96335102e-01 -7.69904126e-02 3.72671576e-02 1.55973455e+01] [ 7.68330744e-02 9.97028030e-01 5.63795108e-03 1.74552794e+00] [-3.75904689e-02 -2.75393828e-03 9.99289434e-01 -5.80985402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888479 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:1.75, Z:-0.58 [[ 9.96304092e-01 -7.73909241e-02 3.72666255e-02 1.56550109e+01] [ 7.72337336e-02 9.96997053e-01 5.64146595e-03 1.75190817e+00] [-3.75913141e-02 -2.74237498e-03 9.99289434e-01 -5.79530834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters Centerline goodness : 0.997183 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:1.77, Z:-0.59 [[ 9.95807742e-01 -8.35354908e-02 3.72660996e-02 1.57106815e+01] [ 8.33824488e-02 9.96501632e-01 5.64493768e-03 1.76817206e+00] [-3.76072817e-02 -2.51393401e-03 9.99289434e-01 -5.88365354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888479 meters Centerline goodness : 0.997310 with order 1 Centerline is valid? [True, True] Translation: X:15.77, Y:1.78, Z:-0.59 [[ 9.95686351e-01 -8.49708882e-02 3.72644467e-02 1.57665459e+01] [ 8.48184408e-02 9.96380371e-01 5.65582792e-03 1.77843987e+00] [-3.76101440e-02 -2.47071839e-03 9.99289434e-01 -5.88653212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888479 meters Centerline goodness : 0.997288 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:1.79, Z:-0.59 [[ 9.95646119e-01 -8.54413201e-02 3.72637367e-02 1.58242598e+01] [ 8.52890264e-02 9.96340173e-01 5.66050206e-03 1.79118575e+00] [-3.76109987e-02 -2.45766908e-03 9.99289434e-01 -5.91676313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:15.88, Y:1.80, Z:-0.59 [[ 9.95688350e-01 -8.49484091e-02 3.72622734e-02 1.58808352e+01] [ 8.47954136e-02 9.96382250e-01 5.67011876e-03 1.80284162e+00] [-3.76091353e-02 -2.48600131e-03 9.99289434e-01 -5.90014168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888479 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:15.94, Y:1.82, Z:-0.59 [[ 9.95647104e-01 -8.54307110e-02 3.72617602e-02 1.59367169e+01] [ 8.52779260e-02 9.96341049e-01 5.67348905e-03 1.81601147e+00] [-3.76101115e-02 -2.47118731e-03 9.99289434e-01 -5.93553119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters Centerline goodness : 0.997432 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:1.83, Z:-0.60 [[ 9.96144388e-01 -7.94231703e-02 3.72601433e-02 1.59939312e+01] [ 7.92658078e-02 9.96837310e-01 5.68408786e-03 1.83072751e+00] [-3.75937493e-02 -2.70871686e-03 9.99289434e-01 -6.00987310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:1.84, Z:-0.60 [[ 9.96498539e-01 -7.48495404e-02 3.72586715e-02 1.60516830e+01] [ 7.46886406e-02 9.97190648e-01 5.69371943e-03 1.84413222e+00] [-3.75801710e-02 -2.89098357e-03 9.99289434e-01 -6.00362286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888479 meters Centerline goodness : 0.996958 with order 1 Centerline is valid? [True, True] Translation: X:16.11, Y:1.86, Z:-0.60 [[ 9.96797493e-01 -7.07578701e-02 3.72569585e-02 1.61080902e+01] [ 7.05937149e-02 9.97488838e-01 5.70490661e-03 1.85598438e+00] [-3.75670672e-02 -3.05652950e-03 9.99289434e-01 -5.99180538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470888479 meters Centerline goodness : 0.996523 with order 1 Centerline is valid? [True, True] Translation: X:16.17, Y:1.86, Z:-0.60 [[ 9.96239177e-01 -7.82271362e-02 3.72561025e-02 1.61664059e+01] [ 7.80679598e-02 9.96931685e-01 5.71049133e-03 1.86473183e+00] [-3.75885044e-02 -2.78050727e-03 9.99289434e-01 -6.01283446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888479 meters Centerline goodness : 0.997123 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:1.87, Z:-0.60 [[ 9.95875135e-01 -8.27334201e-02 3.72544794e-02 1.62244546e+01] [ 8.25769849e-02 9.96568267e-01 5.72106046e-03 1.86869131e+00] [-3.75999549e-02 -2.62109928e-03 9.99289434e-01 -6.04101628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888479 meters Centerline goodness : 0.997173 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:1.88, Z:-0.61 [[ 9.95558925e-01 -8.64560784e-02 3.72528269e-02 1.62824080e+01] [ 8.63018356e-02 9.96252548e-01 5.73180029e-03 1.88017964e+00] [-3.76087727e-02 -2.49135759e-03 9.99289434e-01 -6.13342480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:1.89, Z:-0.61 [[ 9.95752147e-01 -8.42018333e-02 3.72520312e-02 1.63406258e+01] [ 8.40458280e-02 9.96445375e-01 5.73696732e-03 1.88693843e+00] [-3.76026774e-02 -2.58171971e-03 9.99289434e-01 -6.10863927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888479 meters Centerline goodness : 0.996963 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:1.90, Z:-0.61 [[ 9.95969659e-01 -8.15894112e-02 3.72505891e-02 1.63980490e+01] [ 8.14312401e-02 9.96662397e-01 5.74631569e-03 1.89687487e+00] [-3.75950999e-02 -2.68979441e-03 9.99289434e-01 -6.11909689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770888479 meters Centerline goodness : 0.997093 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:1.91, Z:-0.62 [[ 9.96162108e-01 -7.92058582e-02 3.72489687e-02 1.64548940e+01] [ 7.90456400e-02 9.96854376e-01 5.75680069e-03 1.90618623e+00] [-3.75877697e-02 -2.79033815e-03 9.99289434e-01 -6.15236394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830888479 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:16.51, Y:1.92, Z:-0.63 [[ 9.96193633e-01 -7.88092182e-02 3.72471763e-02 1.65118833e+01] [ 7.86482942e-02 9.96885737e-01 5.76837392e-03 1.91775370e+00] [-3.75857799e-02 -2.81699049e-03 9.99289434e-01 -6.26183792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888479 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:1.93, Z:-0.63 [[ 9.95827786e-01 -8.33053211e-02 3.72457201e-02 1.65681332e+01] [ 8.31471735e-02 9.96520529e-01 5.77776174e-03 1.92817526e+00] [-3.75974430e-02 -2.65677933e-03 9.99289434e-01 -6.33533750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888479 meters Centerline goodness : 0.997332 with order 1 Centerline is valid? [True, True] Translation: X:16.63, Y:1.94, Z:-0.63 [[ 9.96525677e-01 -7.44942119e-02 3.72449702e-02 1.66260385e+01] [ 7.43297640e-02 9.97216951e-01 5.78259130e-03 1.93858985e+00] [-3.75720852e-02 -2.99409086e-03 9.99289434e-01 -6.32895032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:16.69, Y:1.94, Z:-0.63 [[ 9.96612453e-01 -7.33249442e-02 3.72434074e-02 1.66851709e+01] [ 7.31593125e-02 9.97303444e-01 5.79263916e-03 1.93527488e+00] [-3.75677235e-02 -3.04831424e-03 9.99289435e-01 -6.30013580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888479 meters Centerline goodness : 0.997348 with order 1 Centerline is valid? [True, True] Translation: X:16.74, Y:1.94, Z:-0.63 [[ 9.96342324e-01 -7.69086677e-02 3.72428618e-02 1.67424821e+01] [ 7.67453918e-02 9.97033876e-01 5.79614518e-03 1.94145486e+00] [-3.75781686e-02 -2.91672673e-03 9.99289435e-01 -6.32597099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters Centerline goodness : 0.997077 with order 1 Centerline is valid? [True, True] Translation: X:16.80, Y:1.95, Z:-0.64 [[ 9.95188728e-01 -9.06227068e-02 3.72413757e-02 1.68001495e+01] [ 9.04686150e-02 9.95882385e-01 5.80567821e-03 1.95256247e+00] [-3.76141563e-02 -2.40856983e-03 9.99289435e-01 -6.37444382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters Centerline goodness : 0.997135 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:1.96, Z:-0.64 [[ 9.95003589e-01 -9.26339836e-02 3.72398113e-02 1.68590129e+01] [ 9.24809207e-02 9.95697473e-01 5.81569562e-03 1.95628556e+00] [-3.76183170e-02 -2.34266598e-03 9.99289435e-01 -6.41439188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250888479 meters Centerline goodness : 0.996776 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:1.96, Z:-0.65 [[ 9.94620351e-01 -9.66626244e-02 3.72383437e-02 1.69171326e+01] [ 9.65120226e-02 9.95314773e-01 5.82507731e-03 1.96276121e+00] [-3.76269409e-02 -2.19979257e-03 9.99289435e-01 -6.45007853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:16.97, Y:1.97, Z:-0.64 [[ 9.94553307e-01 -9.73505976e-02 3.72368138e-02 1.69738749e+01] [ 9.72001120e-02 9.95247755e-01 5.83484087e-03 1.96957061e+00] [-3.76278806e-02 -2.18363781e-03 9.99289435e-01 -6.39801244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888479 meters Centerline goodness : 0.996626 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:1.98, Z:-0.65 [[ 9.94880603e-01 -9.39471802e-02 3.72359047e-02 1.70305384e+01] [ 9.37941033e-02 9.95574484e-01 5.84063688e-03 1.98359482e+00] [-3.76198280e-02 -2.31822805e-03 9.99289435e-01 -6.45310310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888479 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:1.99, Z:-0.64 [[ 9.95443897e-01 -8.77786755e-02 3.72337388e-02 1.70882271e+01] [ 8.76207878e-02 9.96136699e-01 5.85441152e-03 1.98625451e+00] [-3.76037862e-02 -2.56528869e-03 9.99289435e-01 -6.43387774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters Centerline goodness : 0.994387 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:1.99, Z:-0.64 [[ 9.95433595e-01 -8.78959398e-02 3.72325481e-02 1.71446302e+01] [ 8.77378521e-02 9.96126351e-01 5.86197456e-03 1.99472500e+00] [-3.76035660e-02 -2.56850261e-03 9.99289435e-01 -6.42977714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888479 meters Centerline goodness : 0.997589 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:2.01, Z:-0.65 [[ 9.95612055e-01 -8.58517315e-02 3.72305824e-02 1.72013451e+01] [ 8.56917581e-02 9.96304378e-01 5.87443258e-03 2.00555982e+00] [-3.75973225e-02 -2.65830183e-03 9.99289435e-01 -6.51131789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888479 meters Centerline goodness : 0.997825 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:2.01, Z:-0.65 [[ 9.95964778e-01 -8.16589917e-02 3.72286194e-02 1.72594849e+01] [ 8.14956433e-02 9.96656312e-01 5.88684667e-03 2.01059125e+00] [-3.75848525e-02 -2.82912165e-03 9.99289435e-01 -6.51521140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:2.02, Z:-0.65 [[ 9.95588599e-01 -8.61248687e-02 3.72269835e-02 1.73162832e+01] [ 8.59642393e-02 9.96280770e-01 5.89717347e-03 2.02058344e+00] [-3.75964211e-02 -2.67096936e-03 9.99289435e-01 -6.50264416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888479 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:2.03, Z:-0.65 [[ 9.95377316e-01 -8.85340851e-02 3.72251871e-02 1.73734053e+01] [ 8.83747101e-02 9.96069777e-01 5.90849125e-03 2.03242367e+00] [-3.76019867e-02 -2.59141304e-03 9.99289435e-01 -6.51124539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888479 meters Centerline goodness : 0.996610 with order 1 Centerline is valid? [True, True] Translation: X:17.43, Y:2.05, Z:-0.66 [[ 9.95178890e-01 -9.07380538e-02 3.72234122e-02 1.74287730e+01] [ 9.05797970e-02 9.95871607e-01 5.91965249e-03 2.04557954e+00] [-3.76068771e-02 -2.51942408e-03 9.99289435e-01 -6.59011424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:17.49, Y:2.05, Z:-0.66 [[ 9.95312728e-01 -8.92583229e-02 3.72226475e-02 1.74865158e+01] [ 8.90988575e-02 9.96005168e-01 5.92445699e-03 2.05197066e+00] [-3.76027563e-02 -2.58019208e-03 9.99289435e-01 -6.61344241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888479 meters Centerline goodness : 0.998077 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:2.06, Z:-0.66 [[ 9.95361837e-01 -8.87097258e-02 3.72209297e-02 1.75442728e+01] [ 8.85494779e-02 9.96054096e-01 5.93522936e-03 2.06316275e+00] [-3.76005721e-02 -2.61180691e-03 9.99289435e-01 -6.64221263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters Centerline goodness : 0.997556 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:2.07, Z:-0.66 [[ 9.95657947e-01 -8.53227498e-02 3.72193529e-02 1.76020316e+01] [ 8.51597806e-02 9.96349571e-01 5.94510126e-03 2.07208405e+00] [-3.75907386e-02 -2.74969539e-03 9.99289435e-01 -6.63021284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888479 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:2.08, Z:-0.66 [[ 9.95763865e-01 -8.40778645e-02 3.72187805e-02 1.76584536e+01] [ 8.39138976e-02 9.96455253e-01 5.94868222e-03 2.07893359e+00] [-3.75870019e-02 -2.80030986e-03 9.99289435e-01 -6.64727468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888479 meters Centerline goodness : 0.996997 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:2.09, Z:-0.67 [[ 9.95736724e-01 -8.43990394e-02 3.72179906e-02 1.77153844e+01] [ 8.42351120e-02 9.96428121e-01 5.95362034e-03 2.08815285e+00] [-3.75875323e-02 -2.79317681e-03 9.99289435e-01 -6.69000508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:17.77, Y:2.09, Z:-0.67 [[ 9.95556525e-01 -8.64994893e-02 3.72161809e-02 1.77733907e+01] [ 8.63366010e-02 9.96248167e-01 5.96491162e-03 2.09342344e+00] [-3.75925138e-02 -2.72528813e-03 9.99289435e-01 -6.70320476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888479 meters Centerline goodness : 0.997244 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:2.10, Z:-0.67 [[ 9.95508132e-01 -8.70554283e-02 3.72144010e-02 1.78308926e+01] [ 8.68925142e-02 9.96199768e-01 5.97599528e-03 2.10433031e+00] [-3.75932205e-02 -2.71549903e-03 9.99289435e-01 -6.74350118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888479 meters Centerline goodness : 0.997085 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:2.11, Z:-0.67 [[ 9.95685599e-01 -8.50024535e-02 3.72125189e-02 1.78885885e+01] [ 8.48376788e-02 9.96376794e-01 5.98769260e-03 2.11247436e+00] [-3.75866588e-02 -2.80483557e-03 9.99289436e-01 -6.73049855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters Centerline goodness : 0.997127 with order 1 Centerline is valid? [True, True] Translation: X:17.95, Y:2.12, Z:-0.68 [[ 9.96184219e-01 -7.89447430e-02 3.72119578e-02 1.79458333e+01] [ 7.87756379e-02 9.96874368e-01 5.99117722e-03 2.12229671e+00] [-3.75686189e-02 -3.03692048e-03 9.99289436e-01 -6.77221484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888479 meters Centerline goodness : 0.997065 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:2.13, Z:-0.68 [[ 9.96325272e-01 -7.71444263e-02 3.72114131e-02 1.80035688e+01] [ 7.69739489e-02 9.97015083e-01 5.99455876e-03 2.13013957e+00] [-3.75627869e-02 -3.10822098e-03 9.99289436e-01 -6.80821469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888479 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:2.14, Z:-0.68 [[ 9.96185815e-01 -7.89256720e-02 3.72096850e-02 1.80610120e+01] [ 7.87560310e-02 9.96875832e-01 6.00526602e-03 2.13748192e+00] [-3.75674054e-02 -3.05187371e-03 9.99289436e-01 -6.82419414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters Centerline goodness : 0.997233 with order 1 Centerline is valid? [True, True] Translation: X:18.12, Y:2.15, Z:-0.69 [[ 9.96129357e-01 -7.96358715e-02 3.72079606e-02 1.81184940e+01] [ 7.94663267e-02 9.96819398e-01 6.01593154e-03 2.14724472e+00] [-3.75687008e-02 -3.03586606e-03 9.99289436e-01 -6.87827059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888479 meters Centerline goodness : 0.996299 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:2.16, Z:-0.69 [[ 9.96078168e-01 -8.02743832e-02 3.72062702e-02 1.81758519e+01] [ 8.01048934e-02 9.96768222e-01 6.02636817e-03 2.15843075e+00] [-3.75697908e-02 -3.02232946e-03 9.99289436e-01 -6.92094993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters Centerline goodness : 0.994774 with order 1 Centerline is valid? [True, True] Translation: X:18.23, Y:2.15, Z:-0.69 [[ 9.96307622e-01 -7.73754026e-02 3.72044161e-02 1.82348527e+01] [ 7.72034819e-02 9.96997075e-01 6.03779261e-03 2.15458228e+00] [-3.75598707e-02 -3.14318833e-03 9.99289436e-01 -6.88187579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888479 meters Centerline goodness : 0.996291 with order 1 Centerline is valid? [True, True] Translation: X:18.29, Y:2.17, Z:-0.70 [[ 9.95944485e-01 -8.19174177e-02 3.72037541e-02 1.82923199e+01] [ 8.17484912e-02 9.96634677e-01 6.04186921e-03 2.16953247e+00] [-3.75734858e-02 -2.97601555e-03 9.99289436e-01 -6.95978139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888479 meters Centerline goodness : 0.992638 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:2.18, Z:-0.70 [[ 9.96027660e-01 -8.09005569e-02 3.72021588e-02 1.83500603e+01] [ 8.07305619e-02 9.96717590e-01 6.05167604e-03 2.17856710e+00] [-3.75696300e-02 -3.02428554e-03 9.99289436e-01 -6.98394753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters Centerline goodness : 0.993430 with order 1 Centerline is valid? [True, True] Translation: X:18.41, Y:2.19, Z:-0.70 [[ 9.95936743e-01 -8.20131011e-02 3.72002037e-02 1.84079255e+01] [ 8.18434318e-02 9.96626753e-01 6.06367071e-03 2.18753472e+00] [-3.75720186e-02 -2.99444012e-03 9.99289436e-01 -7.03409761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870888479 meters Centerline goodness : 0.996454 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:2.20, Z:-0.71 [[ 9.95757313e-01 -8.41644478e-02 3.71983726e-02 1.84662133e+01] [ 8.39958532e-02 9.96447586e-01 6.07488309e-03 2.19703985e+00] [-3.75775178e-02 -2.92460022e-03 9.99289436e-01 -7.05287174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888479 meters Centerline goodness : 0.996752 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:2.21, Z:-0.71 [[ 9.95749177e-01 -8.42615201e-02 3.71964029e-02 1.85233154e+01] [ 8.40925460e-02 9.96439357e-01 6.08691926e-03 2.20769621e+00] [-3.75768529e-02 -2.93310462e-03 9.99289436e-01 -7.06939222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters Centerline goodness : 0.996397 with order 1 Centerline is valid? [True, True] Translation: X:18.58, Y:2.22, Z:-0.71 [[ 9.96122470e-01 -7.97282303e-02 3.71945385e-02 1.85803269e+01] [ 7.95556948e-02 9.96811769e-01 6.09829068e-03 2.21595999e+00] [-3.75621597e-02 -3.11560702e-03 9.99289436e-01 -7.06424874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888479 meters Centerline goodness : 0.996329 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:2.22, Z:-0.71 [[ 9.96148259e-01 -7.94056408e-02 3.71939655e-02 1.86375455e+01] [ 7.92327525e-02 9.96837469e-01 6.10178360e-03 2.21790568e+00] [-3.75608545e-02 -3.13130085e-03 9.99289436e-01 -7.06607590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888479 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:2.22, Z:-0.71 [[ 9.96189179e-01 -7.88909706e-02 3.71932034e-02 1.86959869e+01] [ 7.87175542e-02 9.96878256e-01 6.10642545e-03 2.22320212e+00] [-3.75588376e-02 -3.15539695e-03 9.99289436e-01 -7.06620501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters Centerline goodness : 0.996502 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:2.23, Z:-0.71 [[ 9.95815077e-01 -8.34813056e-02 3.71914634e-02 1.87530167e+01] [ 8.33106743e-02 9.96504849e-01 6.11700472e-03 2.23385659e+00] [-3.75721291e-02 -2.99295963e-03 9.99289436e-01 -7.11686524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888479 meters Centerline goodness : 0.996057 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:2.25, Z:-0.71 [[ 9.95420362e-01 -8.80637668e-02 3.71897156e-02 1.88104707e+01] [ 8.78959180e-02 9.96110817e-01 6.12761229e-03 2.24505032e+00] [-3.75846986e-02 -2.83072586e-03 9.99289436e-01 -7.14493065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888479 meters Centerline goodness : 0.996873 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:2.25, Z:-0.71 [[ 9.95260629e-01 -8.98516592e-02 3.71881541e-02 1.88688643e+01] [ 8.96846993e-02 9.95951300e-01 6.13707449e-03 2.25017897e+00] [-3.75890167e-02 -2.77278020e-03 9.99289436e-01 -7.14936691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters Centerline goodness : 0.996761 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:2.26, Z:-0.72 [[ 9.95080234e-01 -9.18286577e-02 3.71863744e-02 1.89259995e+01] [ 9.16626700e-02 9.95771138e-01 6.14783959e-03 2.26014769e+00] [-3.75936662e-02 -2.70899129e-03 9.99289436e-01 -7.17847210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888479 meters Centerline goodness : 0.996436 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:2.27, Z:-0.72 [[ 9.95164668e-01 -9.09097873e-02 3.71845911e-02 1.89826260e+01] [ 9.07427616e-02 9.95855322e-01 6.15860689e-03 2.27333635e+00] [-3.75903506e-02 -2.75459550e-03 9.99289436e-01 -7.23762595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters Centerline goodness : 0.996532 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:2.28, Z:-0.73 [[ 9.95642244e-01 -8.55216976e-02 3.71828071e-02 1.90415207e+01] [ 8.53505369e-02 9.96331885e-01 6.16935882e-03 2.28020976e+00] [-3.75740303e-02 -2.96890171e-03 9.99289436e-01 -7.25399733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888479 meters Centerline goodness : 0.996702 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:2.29, Z:-0.73 [[ 9.95945982e-01 -8.19094400e-02 3.71812480e-02 1.90997045e+01] [ 8.17354309e-02 9.96634909e-01 6.17874115e-03 2.28928934e+00] [-3.75622269e-02 -3.11466710e-03 9.99289437e-01 -7.25690970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888479 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:19.16, Y:2.30, Z:-0.72 [[ 9.96063876e-01 -8.04638214e-02 3.71796900e-02 1.91580927e+01] [ 8.02884658e-02 9.96752462e-01 6.18810159e-03 2.29587684e+00] [-3.75568659e-02 -3.17864418e-03 9.99289437e-01 -7.23146486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters Centerline goodness : 0.996441 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:2.30, Z:-0.73 [[ 9.96090276e-01 -8.01371004e-02 3.71780381e-02 1.92141152e+01] [ 7.99611518e-02 9.96778711e-01 6.19801037e-03 2.30457469e+00] [-3.75549675e-02 -3.20097911e-03 9.99289437e-01 -7.28195228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888479 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:2.32, Z:-0.73 [[ 9.95835016e-01 -8.32494732e-02 3.71772257e-02 1.92714209e+01] [ 8.30754962e-02 9.96523952e-01 6.20287966e-03 2.31543681e+00] [-3.75643823e-02 -3.08852830e-03 9.99289437e-01 -7.32601457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888479 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:2.32, Z:-0.74 [[ 9.95659798e-01 -8.53203076e-02 3.71754194e-02 1.93293529e+01] [ 8.51473630e-02 9.96348993e-01 6.21368637e-03 2.31966247e+00] [-3.75698454e-02 -3.02132879e-03 9.99289437e-01 -7.37805027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters Centerline goodness : 0.996620 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:2.33, Z:-0.73 [[ 9.95313263e-01 -8.92722650e-02 3.71748660e-02 1.93876348e+01] [ 8.91019348e-02 9.96003110e-01 6.21699571e-03 2.32753003e+00] [-3.75812874e-02 -2.87550580e-03 9.99289437e-01 -7.33680013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888479 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:2.34, Z:-0.73 [[ 9.95193209e-01 -9.06014609e-02 3.71732835e-02 1.94451957e+01] [ 9.04317014e-02 9.95883195e-01 6.22644318e-03 2.33572707e+00] [-3.75843732e-02 -2.83487069e-03 9.99289437e-01 -7.32798355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888479 meters Centerline goodness : 0.996930 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:2.34, Z:-0.74 [[ 9.95219361e-01 -9.03144792e-02 3.71714598e-02 1.95031178e+01] [ 9.01441171e-02 9.95909200e-01 6.23731180e-03 2.34253668e+00] [-3.75827184e-02 -2.85670504e-03 9.99289437e-01 -7.36827848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters Centerline goodness : 0.997182 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:2.35, Z:-0.74 [[ 9.95515125e-01 -8.69945483e-02 3.71696610e-02 1.95594165e+01] [ 8.68214893e-02 9.96204292e-01 6.24801293e-03 2.35446138e+00] [-3.75721189e-02 -2.99286605e-03 9.99289437e-01 -7.41775166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888479 meters Centerline goodness : 0.997029 with order 1 Centerline is valid? [True, True] Translation: X:19.62, Y:2.36, Z:-0.75 [[ 9.95831671e-01 -8.32936696e-02 3.71678349e-02 1.96174581e+01] [ 8.31176484e-02 9.96520087e-01 6.25885705e-03 2.36239667e+00] [-3.75598173e-02 -3.14346504e-03 9.99289437e-01 -7.46230376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130888479 meters Centerline goodness : 0.996469 with order 1 Centerline is valid? [True, True] Translation: X:19.68, Y:2.37, Z:-0.75 [[ 9.95833928e-01 -8.32673886e-02 3.71662459e-02 1.96753013e+01] [ 8.30910001e-02 9.96522250e-01 6.26827878e-03 2.36698363e+00] [-3.75589342e-02 -3.15398414e-03 9.99289437e-01 -7.46752701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888479 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:2.38, Z:-0.75 [[ 9.95537137e-01 -8.67445686e-02 3.71643417e-02 1.97325722e+01] [ 8.65701670e-02 9.96225965e-01 6.27954835e-03 2.37575657e+00] [-3.75687989e-02 -3.03420032e-03 9.99289437e-01 -7.46707952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888479 meters Centerline goodness : 0.996448 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:2.39, Z:-0.75 [[ 9.95322156e-01 -8.91776880e-02 3.71637578e-02 1.97890129e+01] [ 8.90048425e-02 9.96011376e-01 6.28300224e-03 2.38758945e+00] [-3.75758292e-02 -2.94585693e-03 9.99289437e-01 -7.50778441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters Centerline goodness : 0.996792 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:2.39, Z:-0.76 [[ 9.95033588e-01 -9.23425137e-02 3.71620603e-02 1.98480438e+01] [ 9.21714887e-02 9.95723262e-01 6.29302643e-03 2.38802393e+00] [-3.75842418e-02 -2.83649024e-03 9.99289437e-01 -7.57896395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888479 meters Centerline goodness : 0.996492 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:2.40, Z:-0.76 [[ 9.95223603e-01 -9.02723754e-02 3.71601695e-02 1.99049685e+01] [ 9.00995025e-02 9.95912816e-01 6.30417163e-03 2.39856174e+00] [-3.75773816e-02 -2.92594762e-03 9.99289437e-01 -7.61771007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888479 meters Centerline goodness : 0.996727 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:2.41, Z:-0.76 [[ 9.95748837e-01 -8.42823551e-02 3.71582796e-02 1.99627496e+01] [ 8.41049263e-02 9.96436891e-01 6.31529161e-03 2.40659419e+00] [-3.75581483e-02 -3.16324991e-03 9.99289437e-01 -7.60811589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:2.41, Z:-0.76 [[ 9.95934428e-01 -8.20604697e-02 3.71576968e-02 2.00213365e+01] [ 8.18813793e-02 9.96622051e-01 6.31871876e-03 2.41159875e+00] [-3.75506971e-02 -3.25050608e-03 9.99289437e-01 -7.57446971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888479 meters Centerline goodness : 0.996324 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:2.42, Z:-0.76 [[ 9.95982775e-01 -8.14724491e-02 3.71557728e-02 2.00792295e+01] [ 8.12925347e-02 9.96670184e-01 6.33001242e-03 2.41979978e+00] [-3.75477725e-02 -3.28409639e-03 9.99289437e-01 -7.58166195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888479 meters Centerline goodness : 0.995969 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:2.44, Z:-0.77 [[ 9.95952597e-01 -8.18414254e-02 3.71538169e-02 2.01351207e+01] [ 8.16613415e-02 9.96639961e-01 6.34147169e-03 2.43575747e+00] [-3.75479737e-02 -3.28177467e-03 9.99289437e-01 -7.67016498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters Centerline goodness : 0.996095 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:2.44, Z:-0.77 [[ 9.95850185e-01 -8.30791632e-02 3.71518708e-02 2.01923608e+01] [ 8.28995124e-02 9.96537662e-01 6.35285275e-03 2.44461793e+00] [-3.75510282e-02 -3.24661762e-03 9.99289437e-01 -7.70733676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888479 meters Centerline goodness : 0.995738 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:2.45, Z:-0.77 [[ 9.95447099e-01 -8.77778762e-02 3.71499235e-02 2.02506410e+01] [ 8.76010504e-02 9.96135308e-01 6.36421965e-03 2.44822875e+00] [-3.75649882e-02 -3.08087167e-03 9.99289437e-01 -7.68691810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888479 meters Centerline goodness : 0.996197 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:2.46, Z:-0.77 [[ 9.94910466e-01 -9.36653208e-02 3.71479722e-02 2.03078987e+01] [ 9.34921475e-02 9.95599603e-01 6.37558899e-03 2.45613064e+00] [-3.75816780e-02 -2.87009651e-03 9.99289438e-01 -7.73193086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888479 meters Centerline goodness : 0.996474 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:2.46, Z:-0.77 [[ 9.94833898e-01 -9.44753281e-02 3.71473751e-02 2.03654835e+01] [ 9.43025868e-02 9.95523144e-01 6.37906602e-03 2.46406712e+00] [-3.75837360e-02 -2.84301755e-03 9.99289438e-01 -7.70701525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888479 meters Centerline goodness : 0.996082 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:2.47, Z:-0.77 [[ 9.94944527e-01 -9.33038336e-02 3.71454335e-02 2.04228584e+01] [ 9.31298620e-02 9.95633463e-01 6.39035218e-03 2.47246534e+00] [-3.75794810e-02 -2.89869682e-03 9.99289438e-01 -7.73024177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters Centerline goodness : 0.995910 with order 1 Centerline is valid? [True, True] Translation: X:20.48, Y:2.48, Z:-0.77 [[ 9.95100653e-01 -9.16240870e-02 3.71445385e-02 2.04810152e+01] [ 9.14487599e-02 9.95789245e-01 6.39555041e-03 2.48171486e+00] [-3.75741184e-02 -2.96739441e-03 9.99289438e-01 -7.73606118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030888479 meters Centerline goodness : 0.996092 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:2.49, Z:-0.78 [[ 9.95126895e-01 -9.13392968e-02 3.71429156e-02 2.05391755e+01] [ 9.11634236e-02 9.95815348e-01 6.40496192e-03 2.49315774e+00] [-3.75725101e-02 -2.98767452e-03 9.99289438e-01 -7.77607792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888479 meters Centerline goodness : 0.995845 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:2.50, Z:-0.78 [[ 9.95388512e-01 -8.84434223e-02 3.71412436e-02 2.05962383e+01] [ 8.82651879e-02 9.96076357e-01 6.41464275e-03 2.50372830e+00] [-3.75628476e-02 -3.10678286e-03 9.99289438e-01 -7.77728121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters Centerline goodness : 0.996092 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:2.51, Z:-0.78 [[ 9.95443048e-01 -8.78277248e-02 3.71406590e-02 2.06525117e+01] [ 8.76489398e-02 9.96130751e-01 6.41802580e-03 2.51093009e+00] [-3.75606331e-02 -3.13343978e-03 9.99289438e-01 -7.82606156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888479 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:2.52, Z:-0.78 [[ 9.95472460e-01 -8.74940667e-02 3.71398549e-02 2.07108736e+01] [ 8.73148789e-02 9.96160058e-01 6.42267560e-03 2.51961538e+00] [-3.75591860e-02 -3.15073475e-03 9.99289438e-01 -7.83171618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270888479 meters Centerline goodness : 0.996831 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:2.53, Z:-0.79 [[ 9.95249021e-01 -9.00008084e-02 3.71381405e-02 2.07675272e+01] [ 8.98229859e-02 9.95936973e-01 6.43257374e-03 2.52981524e+00] [-3.75661840e-02 -3.06615405e-03 9.99289438e-01 -7.92652829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters Centerline goodness : 0.997142 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:2.53, Z:-0.78 [[ 9.94988452e-01 -9.28375276e-02 3.71372240e-02 2.08277314e+01] [ 9.26614709e-02 9.95676858e-01 6.43786070e-03 2.53153135e+00] [-3.75743495e-02 -2.96440726e-03 9.99289438e-01 -7.84635662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888479 meters Centerline goodness : 0.997016 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:2.54, Z:-0.79 [[ 9.94752794e-01 -9.53297846e-02 3.71363767e-02 2.08854196e+01] [ 9.51552717e-02 9.95441593e-01 6.44274461e-03 2.53843787e+00] [-3.75812794e-02 -2.87521619e-03 9.99289438e-01 -7.88072903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888479 meters Centerline goodness : 0.996410 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:2.55, Z:-0.79 [[ 9.94672135e-01 -9.61684465e-02 3.71345310e-02 2.09426308e+01] [ 9.59941203e-02 9.95360981e-01 6.45336535e-03 2.55194822e+00] [-3.75828733e-02 -2.85428606e-03 9.99289438e-01 -7.92107895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters Centerline goodness : 0.996089 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:2.56, Z:-0.79 [[ 9.94712996e-01 -9.57455224e-02 3.71328858e-02 2.10002566e+01] [ 9.55705525e-02 9.95401678e-01 6.46281783e-03 2.56008208e+00] [-3.75809227e-02 -2.87983847e-03 9.99289438e-01 -7.94938398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888479 meters Centerline goodness : 0.996151 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:2.57, Z:-0.80 [[ 9.94419358e-01 -9.87493228e-02 3.71310092e-02 2.10575731e+01] [ 9.85760341e-02 9.95108466e-01 6.47358176e-03 2.56975072e+00] [-3.75886434e-02 -2.77722740e-03 9.99289438e-01 -8.01059742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888479 meters Centerline goodness : 0.996172 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:2.58, Z:-0.80 [[ 9.94330077e-01 -9.96449995e-02 3.71291341e-02 2.11165969e+01] [ 9.94719328e-02 9.95019240e-01 6.48431818e-03 2.57573087e+00] [-3.75903327e-02 -2.75424585e-03 9.99289438e-01 -8.03117365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888479 meters Centerline goodness : 0.996230 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:2.58, Z:-0.80 [[ 9.94204068e-01 -1.00895086e-01 3.71275086e-02 2.11748097e+01] [ 1.00722541e-01 9.94893363e-01 6.49361233e-03 2.58207894e+00] [-3.75930854e-02 -2.71639880e-03 9.99289438e-01 -8.02350140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888479 meters Centerline goodness : 0.997300 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:2.59, Z:-0.80 [[ 9.94337922e-01 -9.95680292e-02 3.71255298e-02 2.12330698e+01] [ 9.93941447e-02 9.95026879e-01 6.50490581e-03 2.58745708e+00] [-3.75885807e-02 -2.77801424e-03 9.99289438e-01 -8.01829611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters Centerline goodness : 0.997024 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:2.59, Z:-0.80 [[ 9.94595592e-01 -9.69605517e-02 3.71249236e-02 2.12918530e+01] [ 9.67847330e-02 9.95284058e-01 6.50836402e-03 2.59387672e+00] [-3.75808991e-02 -2.88006435e-03 9.99289438e-01 -8.04150190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888479 meters Centerline goodness : 0.996955 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:2.60, Z:-0.81 [[ 9.94671469e-01 -9.61792276e-02 3.71244615e-02 2.13501715e+01] [ 9.60027704e-02 9.95359772e-01 6.51099833e-03 2.60415203e+00] [-3.75784184e-02 -2.91225311e-03 9.99289438e-01 -8.06229460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888479 meters Centerline goodness : 0.997377 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:2.61, Z:-0.81 [[ 9.94443526e-01 -9.85087673e-02 3.71227227e-02 2.14079303e+01] [ 9.83335555e-02 9.95132147e-01 6.52089712e-03 2.61006029e+00] [-3.75843803e-02 -2.83425461e-03 9.99289438e-01 -8.06512430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters Centerline goodness : 0.997454 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:2.62, Z:-0.81 [[ 9.93892774e-01 -1.03918729e-01 3.71221133e-02 2.14644744e+01] [ 1.03747138e-01 9.94582306e-01 6.52436494e-03 2.61888996e+00] [-3.75990007e-02 -2.63320616e-03 9.99289438e-01 -8.14031491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888479 meters Centerline goodness : 0.997051 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:2.63, Z:-0.82 [[ 9.93567005e-01 -1.06988815e-01 3.71214258e-02 2.15226993e+01] [ 1.06819210e-01 9.94257028e-01 6.52827383e-03 2.62857810e+00] [-3.76066908e-02 -2.52099609e-03 9.99289438e-01 -8.16255915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888479 meters Centerline goodness : 0.997395 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:2.64, Z:-0.82 [[ 9.93383030e-01 -1.08683910e-01 3.71209340e-02 2.15794951e+01] [ 1.08515379e-01 9.94073316e-01 6.53106923e-03 2.63779637e+00] [-3.76107521e-02 -2.45966113e-03 9.99289438e-01 -8.21507990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:2.65, Z:-0.82 [[ 9.93103162e-01 -1.11212370e-01 3.71203279e-02 2.16369001e+01] [ 1.11045468e-01 9.93793844e-01 6.53451233e-03 2.64735607e+00] [-3.76166720e-02 -2.36740065e-03 9.99289438e-01 -8.18996435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888479 meters Centerline goodness : 0.996859 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:2.66, Z:-0.82 [[ 9.92842047e-01 -1.13519979e-01 3.71198626e-02 2.16944872e+01] [ 1.13354584e-01 9.93533091e-01 6.53715468e-03 2.65648158e+00] [-3.76219095e-02 -2.28265546e-03 9.99289438e-01 -8.20333716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888479 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:2.67, Z:-0.82 [[ 9.92544489e-01 -1.16093454e-01 3.71180065e-02 2.17513369e+01] [ 1.15929459e-01 9.93235867e-01 6.54767664e-03 2.66629325e+00] [-3.76270778e-02 -2.19578996e-03 9.99289438e-01 -8.21826958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888479 meters Centerline goodness : 0.996870 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:2.68, Z:-0.83 [[ 9.92284496e-01 -1.18295689e-01 3.71161453e-02 2.18095309e+01] [ 1.18132836e-01 9.92976144e-01 6.55820971e-03 2.67571057e+00] [-3.76312548e-02 -2.12297431e-03 9.99289438e-01 -8.26699154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888479 meters Centerline goodness : 0.997509 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:2.69, Z:-0.83 [[ 9.92261065e-01 -1.18492577e-01 3.71145238e-02 2.18668875e+01] [ 1.18329519e-01 9.92952665e-01 6.56737345e-03 2.68798118e+00] [-3.76311503e-02 -2.12480521e-03 9.99289438e-01 -8.30563018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:2.70, Z:-0.83 [[ 9.92830387e-01 -1.13624224e-01 3.71127856e-02 2.19236950e+01] [ 1.13457411e-01 9.93521090e-01 6.57718166e-03 2.69852342e+00] [-3.76196624e-02 -2.31930523e-03 9.99289438e-01 -8.31660928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888479 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:2.71, Z:-0.83 [[ 9.93076515e-01 -1.11452777e-01 3.71121766e-02 2.19814315e+01] [ 1.11284326e-01 9.93766821e-01 6.58061613e-03 2.71030140e+00] [-3.76142777e-02 -2.40505178e-03 9.99289438e-01 -8.34163671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888479 meters Centerline goodness : 0.997288 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:2.72, Z:-0.83 [[ 9.93022767e-01 -1.11931184e-01 3.71105547e-02 2.20399317e+01] [ 1.11762726e-01 9.93713071e-01 6.58975021e-03 2.72023587e+00] [-3.76148418e-02 -2.39619524e-03 9.99289439e-01 -8.34280319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters Centerline goodness : 0.997877 with order 1 Centerline is valid? [True, True] Translation: X:22.10, Y:2.73, Z:-0.84 [[ 9.93137385e-01 -1.10910181e-01 3.71088535e-02 2.20974864e+01] [ 1.10740657e-01 9.93827428e-01 6.59931608e-03 2.73131589e+00] [-3.76117278e-02 -2.44456869e-03 9.99289439e-01 -8.36218600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888479 meters Centerline goodness : 0.997586 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:2.74, Z:-0.84 [[ 9.93252681e-01 -1.09873449e-01 3.71071068e-02 2.21550279e+01] [ 1.09702840e-01 9.93942456e-01 6.60912280e-03 2.74484671e+00] [-3.76084960e-02 -2.49377392e-03 9.99289439e-01 -8.39292452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888479 meters Centerline goodness : 0.997520 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:2.75, Z:-0.84 [[ 9.93443460e-01 -1.08135482e-01 3.71053714e-02 2.22135485e+01] [ 1.07963305e-01 9.94132846e-01 6.61885189e-03 2.75006342e+00] [-3.76034012e-02 -2.56943660e-03 9.99289439e-01 -8.38213110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:2.76, Z:-0.84 [[ 9.93453511e-01 -1.08043716e-01 3.71036068e-02 2.22713845e+01] [ 1.07871108e-01 9.94142789e-01 6.62872885e-03 2.75916818e+00] [-3.76024756e-02 -2.58292676e-03 9.99289439e-01 -8.38467698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888479 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:22.33, Y:2.77, Z:-0.85 [[ 9.93384278e-01 -1.08679028e-01 3.71018319e-02 2.23271535e+01] [ 1.08506493e-01 9.94073573e-01 6.63864853e-03 2.77421345e+00] [-3.76034325e-02 -2.56893942e-03 9.99289439e-01 -8.49638179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888479 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:22.38, Y:2.78, Z:-0.85 [[ 9.93505102e-01 -1.07569105e-01 3.71012105e-02 2.23845857e+01] [ 1.07395670e-01 9.94194172e-01 6.64211935e-03 2.78015699e+00] [-3.76002941e-02 -2.61447008e-03 9.99289439e-01 -8.53610006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479000002 meters Centerline goodness : 0.997412 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:2.79, Z:-0.86 [[ 9.93386639e-01 -1.08657862e-01 3.71006127e-02 2.24422318e+01] [ 1.08485059e-01 9.94075867e-01 6.64545663e-03 2.79100912e+00] [-3.76029049e-02 -2.57664567e-03 9.99289439e-01 -8.55351712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888479 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:2.80, Z:-0.86 [[ 9.92899092e-01 -1.13026814e-01 3.70989525e-02 2.24989829e+01] [ 1.12856700e-01 9.93588989e-01 6.65471208e-03 2.80452112e+00] [-3.76132716e-02 -2.42059221e-03 9.99289439e-01 -8.59864469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888479 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:2.81, Z:-0.86 [[ 9.92632169e-01 -1.15347695e-01 3.70983245e-02 2.25565217e+01] [ 1.15179065e-01 9.93322431e-01 6.65821108e-03 2.81450732e+00] [-3.76186072e-02 -2.33620419e-03 9.99289439e-01 -8.64665677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888479 meters Centerline goodness : 0.997415 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:2.82, Z:-0.86 [[ 9.92592168e-01 -1.15692042e-01 3.70963423e-02 2.26148394e+01] [ 1.15523240e-01 9.93282388e-01 6.66923668e-03 2.82156813e+00] [-3.76187211e-02 -2.33434246e-03 9.99289439e-01 -8.61976223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888479 meters Centerline goodness : 0.997685 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:2.83, Z:-0.87 [[ 9.92349330e-01 -1.17757440e-01 3.70943792e-02 2.26722293e+01] [ 1.17589668e-01 9.93039801e-01 6.68013803e-03 2.83082225e+00] [-3.76228308e-02 -2.26711475e-03 9.99289439e-01 -8.66901444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:2.84, Z:-0.87 [[ 9.92705556e-01 -1.14716313e-01 3.70924178e-02 2.27290073e+01] [ 1.14546022e-01 9.93395409e-01 6.69101110e-03 2.84138106e+00] [-3.76150057e-02 -2.39341497e-03 9.99289439e-01 -8.67898409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888479 meters Centerline goodness : 0.997224 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:2.85, Z:-0.87 [[ 9.92924412e-01 -1.12806975e-01 3.70904001e-02 2.27846530e+01] [ 1.12634943e-01 9.93613834e-01 6.70217746e-03 2.85308570e+00] [-3.76095870e-02 -2.47708054e-03 9.99289439e-01 -8.73784905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888479 meters Centerline goodness : 0.997879 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:2.86, Z:-0.87 [[ 9.93149772e-01 -1.10805670e-01 3.70895315e-02 2.28425714e+01] [ 1.10632070e-01 9.93838801e-01 6.70698039e-03 2.85851155e+00] [-3.76041870e-02 -2.55774439e-03 9.99289439e-01 -8.74924208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:2.86, Z:-0.87 [[ 9.93384469e-01 -1.08682162e-01 3.70875153e-02 2.29008516e+01] [ 1.08506676e-01 9.94073020e-01 6.71811098e-03 2.86210363e+00] [-3.75978372e-02 -2.64942409e-03 9.99289439e-01 -8.65596053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550888479 meters Centerline goodness : 0.998193 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:2.87, Z:-0.87 [[ 9.93032936e-01 -1.11848779e-01 3.70868965e-02 2.29581579e+01] [ 1.11675363e-01 9.93722011e-01 6.72152530e-03 2.87098791e+00] [-3.76058598e-02 -2.53300338e-03 9.99289439e-01 -8.68145845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888479 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:23.01, Y:2.89, Z:-0.88 [[ 9.92645032e-01 -1.15241246e-01 3.70849851e-02 2.30144121e+01] [ 1.15069793e-01 9.93334597e-01 6.73205475e-03 2.88948529e+00] [-3.76136091e-02 -2.41517915e-03 9.99289439e-01 -8.79280270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479000002 meters Centerline goodness : 0.998189 with order 1 Centerline is valid? [True, True] Translation: X:23.07, Y:2.89, Z:-0.88 [[ 9.92992507e-01 -1.12208373e-01 3.70831790e-02 2.30725652e+01] [ 1.12034445e-01 9.93681452e-01 6.74198873e-03 2.89205049e+00] [-3.76053748e-02 -2.54015090e-03 9.99289439e-01 -8.76049934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888479 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:2.90, Z:-0.88 [[ 9.92968323e-01 -1.12422494e-01 3.70822448e-02 2.31314359e+01] [ 1.12248524e-01 9.93657257e-01 6.74712340e-03 2.89859111e+00] [-3.76055701e-02 -2.53725256e-03 9.99289439e-01 -8.78712378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888479 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:2.91, Z:-0.88 [[ 9.93041140e-01 -1.11778015e-01 3.70805826e-02 2.31879093e+01] [ 1.11603259e-01 9.93729876e-01 6.75624597e-03 2.91419595e+00] [-3.76032825e-02 -2.57091635e-03 9.99289439e-01 -8.81248472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888479 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:2.92, Z:-0.88 [[ 9.93124967e-01 -1.11030968e-01 3.70799612e-02 2.32450586e+01] [ 1.10855567e-01 9.93813539e-01 6.75965487e-03 2.92485970e+00] [-3.76010985e-02 -2.60266189e-03 9.99289439e-01 -8.83426532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888479 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:23.30, Y:2.93, Z:-0.88 [[ 9.93076947e-01 -1.11459855e-01 3.70793472e-02 2.33042650e+01] [ 1.11284626e-01 9.93765563e-01 6.76302117e-03 2.93054863e+00] [-3.76019837e-02 -2.58983912e-03 9.99289439e-01 -8.84274318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:2.94, Z:-0.89 [[ 9.92885059e-01 -1.13157005e-01 3.70776561e-02 2.33629944e+01] [ 1.12982609e-01 9.93573886e-01 6.77227966e-03 2.93841889e+00] [-3.76057217e-02 -2.53496495e-03 9.99289439e-01 -8.90562906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888479 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:2.95, Z:-0.89 [[ 9.92711915e-01 -1.14666585e-01 3.70759800e-02 2.34194629e+01] [ 1.14492896e-01 9.93400920e-01 6.78144323e-03 2.95215031e+00] [-3.76089176e-02 -2.48708315e-03 9.99289439e-01 -8.94736500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888479 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:2.96, Z:-0.89 [[ 9.92303852e-01 -1.18146029e-01 3.70753438e-02 2.34773871e+01] [ 1.17974627e-01 9.92993430e-01 6.78492003e-03 2.95717528e+00] [-3.76171841e-02 -2.35875241e-03 9.99289439e-01 -8.91843015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:2.96, Z:-0.90 [[ 9.91896276e-01 -1.21520544e-01 3.70747309e-02 2.35356486e+01] [ 1.21351364e-01 9.92586402e-01 6.78826735e-03 2.96242958e+00] [-3.76247877e-02 -2.23418794e-03 9.99289439e-01 -8.95326446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888479 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:2.98, Z:-0.90 [[ 9.91833194e-01 -1.22034534e-01 3.70740765e-02 2.35913894e+01] [ 1.21865579e-01 9.92523376e-01 6.79183964e-03 2.97589431e+00] [-3.76257265e-02 -2.21831821e-03 9.99289439e-01 -9.02008295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888479 meters Centerline goodness : 0.998582 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:2.98, Z:-0.90 [[ 9.91883992e-01 -1.21621244e-01 3.70731764e-02 2.36502660e+01] [ 1.21451818e-01 9.92574058e-01 6.79674925e-03 2.98013158e+00] [-3.76245022e-02 -2.23898210e-03 9.99289439e-01 -8.97076559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:2.99, Z:-0.91 [[ 9.91885769e-01 -1.21607272e-01 3.70714542e-02 2.37082989e+01] [ 1.21437488e-01 9.92575747e-01 6.80612969e-03 2.98771823e+00] [-3.76239012e-02 -2.24903892e-03 9.99289439e-01 -9.05205344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888479 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:3.00, Z:-0.91 [[ 9.92578773e-01 -1.15815411e-01 3.70697872e-02 2.37653604e+01] [ 1.15641265e-01 9.93267663e-01 6.81519692e-03 3.00120342e+00] [-3.76095257e-02 -2.47782272e-03 9.99289440e-01 -9.06512180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888479 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:3.01, Z:-0.90 [[ 9.92853177e-01 -1.13439545e-01 3.70680304e-02 2.38235742e+01] [ 1.13263396e-01 9.93541557e-01 6.82473885e-03 3.00686531e+00] [-3.76028239e-02 -2.57751266e-03 9.99289440e-01 -9.01787129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479000002 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:23.88, Y:3.02, Z:-0.91 [[ 9.92664947e-01 -1.15075700e-01 3.70659629e-02 2.38806551e+01] [ 1.14900269e-01 9.93353511e-01 6.83594912e-03 3.01680732e+00] [-3.76062560e-02 -2.52691797e-03 9.99289440e-01 -9.06319717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888479 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:23.94, Y:3.02, Z:-0.91 [[ 9.92408405e-01 -1.17268189e-01 3.70638518e-02 2.39367636e+01] [ 1.17093854e-01 9.93097247e-01 6.84737616e-03 3.02473052e+00] [-3.76109886e-02 -2.45544438e-03 9.99289440e-01 -9.09031779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888479 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:3.03, Z:-0.91 [[ 9.92251114e-01 -1.18592008e-01 3.70629457e-02 2.39942361e+01] [ 1.18418411e-01 9.92940142e-01 6.85227733e-03 3.03137434e+00] [-3.76139119e-02 -2.41024470e-03 9.99289440e-01 -9.09645871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888479 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:3.04, Z:-0.92 [[ 9.92351765e-01 -1.17747487e-01 3.70608055e-02 2.40511114e+01] [ 1.17572874e-01 9.93040537e-01 6.86383319e-03 3.04072345e+00] [-3.76110813e-02 -2.45399158e-03 9.99289440e-01 -9.17052300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888479 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:3.05, Z:-0.91 [[ 9.92394671e-01 -1.17385559e-01 3.70600529e-02 2.41096202e+01] [ 1.17210543e-01 9.93083340e-01 6.86789404e-03 3.04799008e+00] [-3.76099127e-02 -2.47183251e-03 9.99289440e-01 -9.14425342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:3.06, Z:-0.92 [[ 9.91891938e-01 -1.21561053e-01 3.70579766e-02 2.41664084e+01] [ 1.21388521e-01 9.92581234e-01 6.87907945e-03 3.05710853e+00] [-3.76192803e-02 -2.32489047e-03 9.99289440e-01 -9.15759695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888479 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:3.06, Z:-0.91 [[ 9.90909784e-01 -1.29323438e-01 3.70573546e-02 2.42255797e+01] [ 1.29156183e-01 9.91600379e-01 6.88242840e-03 3.06374889e+00] [-3.76361462e-02 -2.03367917e-03 9.99289440e-01 -9.13725393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888479 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:3.07, Z:-0.91 [[ 9.90384431e-01 -1.33287505e-01 3.70556195e-02 2.42835254e+01] [ 1.33122667e-01 9.91075607e-01 6.89175761e-03 3.07044790e+00] [-3.76435058e-02 -1.89254655e-03 9.99289440e-01 -9.14578048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:3.08, Z:-0.92 [[ 9.90066808e-01 -1.35626847e-01 3.70550121e-02 2.43416175e+01] [ 1.35463520e-01 9.90758343e-01 6.89502215e-03 3.08022758e+00] [-3.76477125e-02 -1.80693020e-03 9.99289440e-01 -9.18647832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050888479 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:3.09, Z:-0.92 [[ 9.90172287e-01 -1.34855083e-01 3.70533241e-02 2.43989333e+01] [ 1.34690879e-01 9.90863614e-01 6.90408135e-03 3.09246702e+00] [-3.76458411e-02 -1.84548522e-03 9.99289440e-01 -9.21889971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888479 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:3.10, Z:-0.92 [[ 9.90241842e-01 -1.34343854e-01 3.70516202e-02 2.44572121e+01] [ 1.34178952e-01 9.90933003e-01 6.91321318e-03 3.09944707e+00] [-3.76444210e-02 -1.87420538e-03 9.99289440e-01 -9.24004820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479000002 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:3.11, Z:-0.93 [[ 9.89815264e-01 -1.37451979e-01 3.70499274e-02 2.45147035e+01] [ 1.37288909e-01 9.90506859e-01 6.92227355e-03 3.11209816e+00] [-3.76496874e-02 -1.76522788e-03 9.99289440e-01 -9.32996779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888479 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:3.12, Z:-0.93 [[ 9.90218394e-01 -1.34517554e-01 3.70480848e-02 2.45727157e+01] [ 1.34352068e-01 9.90909414e-01 6.93212143e-03 3.12095216e+00] [-3.76437880e-02 -1.88682733e-03 9.99289440e-01 -9.27021780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:3.13, Z:-0.92 [[ 9.89755113e-01 -1.37885424e-01 3.70462741e-02 2.46311455e+01] [ 1.37721928e-01 9.90446607e-01 6.94178442e-03 3.12931845e+00] [-3.76495274e-02 -1.76858231e-03 9.99289440e-01 -9.23951355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888479 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:3.14, Z:-0.93 [[ 9.89485393e-01 -1.39808297e-01 3.70445201e-02 2.46891737e+01] [ 1.39645797e-01 9.90177122e-01 6.95113225e-03 3.13767275e+00] [-3.76524622e-02 -1.70493231e-03 9.99289440e-01 -9.25442312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410888479 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:3.15, Z:-0.93 [[ 9.89576731e-01 -1.39160823e-01 3.70426518e-02 2.47463208e+01] [ 1.38997498e-01 9.90268266e-01 6.96107402e-03 3.15285453e+00] [-3.76508714e-02 -1.73968095e-03 9.99289440e-01 -9.28197262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888479 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:3.18, Z:-0.95 [[ 9.88908423e-01 -1.43833590e-01 3.70409258e-02 2.48010367e+01] [ 1.43673191e-01 9.89600642e-01 6.97024633e-03 3.17748182e+00] [-3.76582795e-02 -1.57114729e-03 9.99289440e-01 -9.46422615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530888479 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:3.19, Z:-0.95 [[ 9.89813076e-01 -1.37470641e-01 3.70391303e-02 2.48581576e+01] [ 1.37305438e-01 9.90504164e-01 6.97977418e-03 3.18667582e+00] [-3.76469269e-02 -1.82299773e-03 9.99289440e-01 -9.46036392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888479 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:3.19, Z:-0.94 [[ 9.91241681e-01 -1.26759929e-01 3.70385070e-02 2.49171733e+01] [ 1.26587139e-01 9.91930911e-01 6.98308037e-03 3.19173047e+00] [-3.76248148e-02 -2.23332166e-03 9.99289440e-01 -9.37268034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:3.20, Z:-0.94 [[ 9.91294322e-01 -1.26348097e-01 3.70368077e-02 2.49746790e+01] [ 1.26174686e-01 9.91983397e-01 6.99208149e-03 3.20401876e+00] [-3.76233345e-02 -2.25810309e-03 9.99289440e-01 -9.40345338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710888479 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:25.03, Y:3.21, Z:-0.94 [[ 9.91338273e-01 -1.26003307e-01 3.70350499e-02 2.50311562e+01] [ 1.25829310e-01 9.92027200e-01 7.00137998e-03 3.21180333e+00] [-3.76219738e-02 -2.28064116e-03 9.99289440e-01 -9.40202369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888479 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:3.22, Z:-0.94 [[ 9.91654974e-01 -1.23486360e-01 3.70341849e-02 2.50884087e+01] [ 1.23310446e-01 9.92343414e-01 7.00595219e-03 3.22413485e+00] [-3.76157690e-02 -2.38078550e-03 9.99289440e-01 -9.43199030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479000002 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:3.24, Z:-0.95 [[ 9.91800169e-01 -1.22315265e-01 3.70324276e-02 2.51454497e+01] [ 1.22138193e-01 9.92488311e-01 7.01522891e-03 3.23590852e+00] [-3.76123211e-02 -2.43463144e-03 9.99289440e-01 -9.46411087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888479 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:3.24, Z:-0.95 [[ 9.91658121e-01 -1.23462218e-01 3.70304154e-02 2.52043715e+01] [ 1.23285547e-01 9.92346367e-01 7.02583435e-03 3.24252298e+00] [-3.76144233e-02 -2.40191065e-03 9.99289441e-01 -9.49905923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888479 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:3.26, Z:-0.96 [[ 9.91291843e-01 -1.26369933e-01 3.70286591e-02 2.52596546e+01] [ 1.26194937e-01 9.91980517e-01 7.03507852e-03 3.25752090e+00] [-3.76207308e-02 -2.30098664e-03 9.99289441e-01 -9.58811767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479000002 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:3.28, Z:-0.97 [[ 9.90179021e-01 -1.34812641e-01 3.70277954e-02 2.53166715e+01] [ 1.34643351e-01 9.90869119e-01 7.03962124e-03 3.27663356e+00] [-3.76387290e-02 -1.98493882e-03 9.99289441e-01 -9.66157413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888479 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:3.27, Z:-0.95 [[ 9.90521933e-01 -1.32269659e-01 3.70275362e-02 2.53773636e+01] [ 1.32098547e-01 9.91211581e-01 7.04098476e-03 3.26968755e+00] [-3.76334313e-02 -2.08296612e-03 9.99289441e-01 -9.51486135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888479 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:3.28, Z:-0.96 [[ 9.90224942e-01 -1.34475174e-01 3.70269033e-02 2.54336287e+01] [ 1.34305473e-01 9.90914940e-01 7.04431118e-03 3.28180734e+00] [-3.76377966e-02 -2.00253686e-03 9.99289441e-01 -9.57634492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190888479 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:3.30, Z:-0.96 [[ 9.90010336e-01 -1.36046651e-01 3.70249052e-02 2.54901104e+01] [ 1.35877655e-01 9.90700506e-01 7.05479777e-03 3.29616636e+00] [-3.76403739e-02 -1.95346543e-03 9.99289441e-01 -9.64369007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888479 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:3.30, Z:-0.96 [[ 9.90329913e-01 -1.33700663e-01 3.70242667e-02 2.55480231e+01] [ 1.33529908e-01 9.91019650e-01 7.05814693e-03 3.30268761e+00] [-3.76354548e-02 -2.04604711e-03 9.99289441e-01 -9.62259836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310888479 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:3.32, Z:-0.97 [[ 9.89992944e-01 -1.36173888e-01 3.70221853e-02 2.56047737e+01] [ 1.36004449e-01 9.90683006e-01 7.06904794e-03 3.31598851e+00] [-3.76398695e-02 -1.96312567e-03 9.99289441e-01 -9.66688966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888479 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:3.32, Z:-0.97 [[ 9.90177569e-01 -1.34825023e-01 3.70215375e-02 2.56636316e+01] [ 1.34654518e-01 9.90867368e-01 7.07243901e-03 3.32409255e+00] [-3.76369751e-02 -2.01785319e-03 9.99289441e-01 -9.68137488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:3.33, Z:-0.97 [[ 9.89869686e-01 -1.37067663e-01 3.70197276e-02 2.57198065e+01] [ 1.36898368e-01 9.90559783e-01 7.08189990e-03 3.33348886e+00] [-3.76409528e-02 -1.94221773e-03 9.99289441e-01 -9.66040261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:25.78, Y:3.34, Z:-0.97 [[ 9.88216232e-01 -1.48520317e-01 3.70188276e-02 2.57779307e+01] [ 1.48358848e-01 9.88908202e-01 7.08660120e-03 3.34407769e+00] [-3.76607265e-02 -1.51102371e-03 9.99289441e-01 -9.69101295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888479 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:3.35, Z:-0.97 [[ 9.88427849e-01 -1.47105837e-01 3.70170116e-02 2.58352239e+01] [ 1.46943024e-01 9.89119504e-01 7.09607461e-03 3.35487062e+00] [-3.76581221e-02 -1.57456613e-03 9.99289441e-01 -9.70328801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:3.37, Z:-0.98 [[ 9.88905798e-01 -1.43858032e-01 3.70160542e-02 2.58914501e+01] [ 1.43692761e-01 9.89596870e-01 7.10106504e-03 3.36800380e+00] [-3.76525166e-02 -1.70334534e-03 9.99289441e-01 -9.75438279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479000002 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:3.38, Z:-0.98 [[ 9.89233215e-01 -1.41589568e-01 3.70140465e-02 2.59486891e+01] [ 1.41422323e-01 9.89923812e-01 7.11151513e-03 3.37566310e+00] [-3.76480023e-02 -1.80033455e-03 9.99289441e-01 -9.78055853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:3.39, Z:-0.98 [[ 9.88879958e-01 -1.44036228e-01 3.70134304e-02 2.60063337e+01] [ 1.43870572e-01 9.89570937e-01 7.11471996e-03 3.38819902e+00] [-3.76521924e-02 -1.71046056e-03 9.99289441e-01 -9.79467086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:3.40, Z:-0.98 [[ 9.88688096e-01 -1.45347807e-01 3.70116755e-02 2.60636221e+01] [ 1.45182727e-01 9.89379213e-01 7.12383781e-03 3.40032089e+00] [-3.76540165e-02 -1.66979766e-03 9.99289441e-01 -9.81312231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.12, Y:3.40, Z:-0.99 [[ 9.88182671e-01 -1.48745670e-01 3.70099123e-02 2.61224811e+01] [ 1.48582625e-01 9.88874271e-01 7.13298599e-03 3.40490199e+00] [-3.76591508e-02 -1.54966324e-03 9.99289441e-01 -9.85420179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:3.42, Z:-0.99 [[ 9.87740697e-01 -1.51653257e-01 3.70081673e-02 2.61802094e+01] [ 1.51491909e-01 9.88432695e-01 7.14202809e-03 3.41513121e+00] [-3.76631944e-02 -1.44803389e-03 9.99289441e-01 -9.88768665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:3.43, Z:-0.99 [[ 9.87055000e-01 -1.56054330e-01 3.70064009e-02 2.62370036e+01] [ 1.55895726e-01 9.87747631e-01 7.15116920e-03 3.42795237e+00] [-3.76689557e-02 -1.28945758e-03 9.99289441e-01 -9.93020298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:3.43, Z:-0.99 [[ 9.86551811e-01 -1.59204575e-01 3.70057811e-02 2.62951447e+01] [ 1.59048063e-01 9.87244918e-01 7.15437499e-03 3.43430041e+00] [-3.76727786e-02 -1.17246379e-03 9.99289441e-01 -9.91282124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:3.45, Z:-1.00 [[ 9.86129905e-01 -1.61797800e-01 3.70038182e-02 2.63519629e+01] [ 1.61642731e-01 9.86823336e-01 7.16451308e-03 3.44630347e+00] [-3.76754338e-02 -1.08374237e-03 9.99289441e-01 -9.95766349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:3.46, Z:-1.00 [[ 9.85894960e-01 -1.63223738e-01 3.70018679e-02 2.64094566e+01] [ 1.63069294e-01 9.86588532e-01 7.17457173e-03 3.46057685e+00] [-3.76766789e-02 -1.03950563e-03 9.99289441e-01 -9.98077184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:3.47, Z:-1.00 [[ 9.85970872e-01 -1.62764959e-01 3.70000966e-02 2.64661186e+01] [ 1.62609851e-01 9.86664295e-01 7.18369493e-03 3.47069647e+00] [-3.76759280e-02 -1.06633377e-03 9.99289441e-01 -1.00254971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.52, Y:3.48, Z:-1.00 [[ 9.86896865e-01 -1.57052914e-01 3.69994732e-02 2.65238161e+01] [ 1.56893672e-01 9.87589350e-01 7.18690442e-03 3.48083221e+00] [-3.76690099e-02 -1.28775021e-03 9.99289441e-01 -1.00344895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:26.58, Y:3.49, Z:-1.00 [[ 9.87253292e-01 -1.54796973e-01 3.69977544e-02 2.65807614e+01] [ 1.54635818e-01 9.87945335e-01 7.19574184e-03 3.49409006e+00] [-3.76656379e-02 -1.38284181e-03 9.99289441e-01 -1.00160308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.64, Y:3.51, Z:-1.00 [[ 9.87128967e-01 -1.55587964e-01 3.69971413e-02 2.66378564e+01] [ 1.55427247e-01 9.87821111e-01 7.19889270e-03 3.50792928e+00] [-3.76666182e-02 -1.35587172e-03 9.99289441e-01 -1.00165457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.69, Y:3.52, Z:-1.01 [[ 9.86980032e-01 -1.56530370e-01 3.69954106e-02 2.66942834e+01] [ 1.56369981e-01 9.87672252e-01 7.20777586e-03 3.51782939e+00] [-3.76675763e-02 -1.32895921e-03 9.99289441e-01 -1.00988411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479000002 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.75, Y:3.53, Z:-1.01 [[ 9.86872333e-01 -1.57208089e-01 3.69948015e-02 2.67522355e+01] [ 1.57048058e-01 9.87564636e-01 7.21090058e-03 3.52881907e+00] [-3.76683696e-02 -1.30627655e-03 9.99289441e-01 -1.01450389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:3.55, Z:-1.02 [[ 9.86849941e-01 -1.57349002e-01 3.69930607e-02 2.68084930e+01] [ 1.57188736e-01 9.87542189e-01 7.21982014e-03 3.54607762e+00] [-3.76682396e-02 -1.30998663e-03 9.99289441e-01 -1.01899327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888479 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:3.56, Z:-1.02 [[ 9.86666270e-01 -1.58497041e-01 3.69913460e-02 2.68665741e+01] [ 1.58337252e-01 9.87358629e-01 7.22859510e-03 3.55650798e+00] [-3.76694356e-02 -1.27510289e-03 9.99289441e-01 -1.01836720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888479 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:3.57, Z:-1.02 [[ 9.86318674e-01 -1.60646325e-01 3.69896142e-02 2.69253538e+01] [ 1.60487713e-01 9.87011304e-01 7.23744593e-03 3.56513503e+00] [-3.76718364e-02 -1.20204950e-03 9.99289441e-01 -1.02093180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:26.98, Y:3.58, Z:-1.03 [[ 9.86495573e-01 -1.59556641e-01 3.69886811e-02 2.69806453e+01] [ 1.59397086e-01 9.87187986e-01 7.24221165e-03 3.58406353e+00] [-3.76703246e-02 -1.24852177e-03 9.99289441e-01 -1.02771601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888479 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:27.04, Y:3.60, Z:-1.03 [[ 9.87183172e-01 -1.55246155e-01 3.69867152e-02 2.70388975e+01] [ 1.55083202e-01 9.87874792e-01 7.25223779e-03 3.59541311e+00] [-3.76641256e-02 -1.42326889e-03 9.99289442e-01 -1.02698774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888479 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:27.10, Y:3.61, Z:-1.02 [[ 9.87647374e-01 -1.52265489e-01 3.69849466e-02 2.70959089e+01] [ 1.52100111e-01 9.88338419e-01 7.26124623e-03 3.60566509e+00] [-3.76592808e-02 -1.54613627e-03 9.99289442e-01 -1.02438386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888479 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:3.62, Z:-1.03 [[ 9.87949143e-01 -1.50295211e-01 3.69843244e-02 2.71519923e+01] [ 1.50128338e-01 9.88639829e-01 7.26441374e-03 3.62318077e+00] [-3.76559827e-02 -1.62447619e-03 9.99289442e-01 -1.03001641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479000002 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:27.21, Y:3.64, Z:-1.04 [[ 9.87197254e-01 -1.55157558e-01 3.69826047e-02 2.72084850e+01] [ 1.54993760e-01 9.87888676e-01 7.27315832e-03 3.63966820e+00] [-3.76631818e-02 -1.44796897e-03 9.99289442e-01 -1.03928383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888479 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:27.27, Y:3.64, Z:-1.03 [[ 9.87388679e-01 -1.53935115e-01 3.69807585e-02 2.72666748e+01] [ 1.53770111e-01 9.88079813e-01 7.28253303e-03 3.64390936e+00] [-3.76609786e-02 -1.50415533e-03 9.99289442e-01 -1.03035985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888479 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:27.32, Y:3.66, Z:-1.03 [[ 9.86911030e-01 -1.56968435e-01 3.69801120e-02 2.73235880e+01] [ 1.56805432e-01 9.87602639e-01 7.28581473e-03 3.66039301e+00] [-3.76652991e-02 -1.39176850e-03 9.99289442e-01 -1.03424915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479000002 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:3.67, Z:-1.04 [[ 9.86805136e-01 -1.57633205e-01 3.69783293e-02 2.73807435e+01] [ 1.57470329e-01 9.87496775e-01 7.29485126e-03 3.67453616e+00] [-3.76658917e-02 -1.37560700e-03 9.99289442e-01 -1.04045795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888479 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:3.69, Z:-1.04 [[ 9.86869472e-01 -1.57230380e-01 3.69763787e-02 2.74372056e+01] [ 1.57066853e-01 9.87560957e-01 7.30472540e-03 3.68718821e+00] [-3.76649527e-02 -1.40104707e-03 9.99289442e-01 -1.04244042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888479 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:3.70, Z:-1.04 [[ 9.86885692e-01 -1.57129007e-01 3.69743933e-02 2.74942623e+01] [ 1.56965033e-01 9.87577072e-01 7.31476118e-03 3.69934512e+00] [-3.76644242e-02 -1.41514628e-03 9.99289442e-01 -1.04405402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888479 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:27.55, Y:3.71, Z:-1.04 [[ 9.87138975e-01 -1.55530340e-01 3.69723890e-02 2.75519927e+01] [ 1.55364869e-01 9.87829997e-01 7.32487743e-03 3.70910779e+00] [-3.76616757e-02 -1.48646163e-03 9.99289442e-01 -1.04193299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888479 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:3.72, Z:-1.05 [[ 9.87478873e-01 -1.53357641e-01 3.69717486e-02 2.76082832e+01] [ 1.53190528e-01 9.88169500e-01 7.32810855e-03 3.72343892e+00] [-3.76581758e-02 -1.57263068e-03 9.99289442e-01 -1.04570789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888479 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:3.74, Z:-1.05 [[ 9.88036920e-01 -1.49720345e-01 3.69711174e-02 2.76651257e+01] [ 1.49550571e-01 9.88726898e-01 7.33129159e-03 3.73578861e+00] [-3.76519817e-02 -1.71453502e-03 9.99289442e-01 -1.04815827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888479 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:27.72, Y:3.74, Z:-1.05 [[ 9.88961657e-01 -1.43485639e-01 3.69690853e-02 2.77239885e+01] [ 1.43311136e-01 9.89650454e-01 7.34152472e-03 3.74273737e+00] [-3.76398754e-02 -1.96240486e-03 9.99289442e-01 -1.04982904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888479 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:3.76, Z:-1.05 [[ 9.89430230e-01 -1.40218547e-01 3.69672613e-02 2.77803441e+01] [ 1.40041428e-01 9.90118359e-01 7.35069741e-03 3.75718449e+00] [-3.76326683e-02 -2.09605416e-03 9.99289442e-01 -1.05301676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:27.84, Y:3.77, Z:-1.06 [[ 9.89353144e-01 -1.40761591e-01 3.69666198e-02 2.78381910e+01] [ 1.40584730e-01 9.90041339e-01 7.35392245e-03 3.77042607e+00] [-3.76336316e-02 -2.07868406e-03 9.99289442e-01 -1.05541746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888479 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:3.78, Z:-1.06 [[ 9.88955973e-01 -1.43525912e-01 3.69647928e-02 2.78958065e+01] [ 1.43350633e-01 9.89644573e-01 7.36309452e-03 3.77850478e+00] [-3.76388014e-02 -1.98284988e-03 9.99289442e-01 -1.05600549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770888479 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:3.79, Z:-1.06 [[ 9.88853769e-01 -1.44228924e-01 3.69626982e-02 2.79533689e+01] [ 1.44053743e-01 9.89542394e-01 7.37359447e-03 3.78973273e+00] [-3.76396424e-02 -1.96679166e-03 9.99289442e-01 -1.06148474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830888479000002 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:3.80, Z:-1.06 [[ 9.89020643e-01 -1.43080613e-01 3.69608745e-02 2.80100944e+01] [ 1.42904293e-01 9.89708977e-01 7.38272434e-03 3.80274529e+00] [-3.76368340e-02 -2.01979913e-03 9.99289442e-01 -1.06458084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888479 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:3.81, Z:-1.06 [[ 9.88995696e-01 -1.43253198e-01 3.69599086e-02 2.80689369e+01] [ 1.43076818e-01 9.89684014e-01 7.38755693e-03 3.80918186e+00] [-3.76369219e-02 -2.01815591e-03 9.99289442e-01 -1.06432961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888479 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:3.82, Z:-1.07 [[ 9.88798458e-01 -1.44608810e-01 3.69580998e-02 2.81268134e+01] [ 1.44433036e-01 9.89486932e-01 7.39659485e-03 3.81774779e+00] [-3.76391696e-02 -1.97577103e-03 9.99289442e-01 -1.06862170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010888479000002 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:3.83, Z:-1.07 [[ 9.88787302e-01 -1.44685543e-01 3.69562668e-02 2.81844956e+01] [ 1.44509482e-01 9.89475702e-01 7.40574210e-03 3.82922774e+00] [-3.76388318e-02 -1.98217277e-03 9.99289442e-01 -1.07213899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888479 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:3.84, Z:-1.08 [[ 9.88493765e-01 -1.46678031e-01 3.69544458e-02 2.82414382e+01] [ 1.46503019e-01 9.89182433e-01 7.41481743e-03 3.84098194e+00] [-3.76422794e-02 -1.91556292e-03 9.99289442e-01 -1.07762423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:3.85, Z:-1.07 [[ 9.88204439e-01 -1.48615304e-01 3.69523861e-02 2.83006071e+01] [ 1.48441260e-01 9.88893352e-01 7.42506806e-03 3.84821761e+00] [-3.76454477e-02 -1.85222647e-03 9.99289442e-01 -1.07445829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190888479 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:3.86, Z:-1.07 [[ 9.87886295e-01 -1.50716047e-01 3.69505255e-02 2.83576894e+01] [ 1.50543123e-01 9.88575490e-01 7.43431581e-03 3.85759970e+00] [-3.76488545e-02 -1.78161119e-03 9.99289442e-01 -1.07297839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888479 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:3.87, Z:-1.08 [[ 9.87181398e-01 -1.55266205e-01 3.69498717e-02 2.84146199e+01] [ 1.55096337e-01 9.87871352e-01 7.43756402e-03 3.87156669e+00] [-3.76565220e-02 -1.61143509e-03 9.99289442e-01 -1.07696044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888479 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:3.88, Z:-1.08 [[ 9.86533155e-01 -1.59333537e-01 3.69480575e-02 2.84725493e+01] [ 1.59166178e-01 9.87223722e-01 7.44656546e-03 3.87898974e+00] [-3.76624864e-02 -1.46540262e-03 9.99289442e-01 -1.07778910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888479 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:3.89, Z:-1.08 [[ 9.86198458e-01 -1.61392688e-01 3.69459165e-02 2.85308770e+01] [ 1.61226374e-01 9.86889278e-01 7.45717303e-03 3.88873988e+00] [-3.76650620e-02 -1.39759640e-03 9.99289442e-01 -1.08081687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:3.90, Z:-1.08 [[ 9.86442411e-01 -1.59895300e-01 3.69440576e-02 2.85875416e+01] [ 1.59727593e-01 9.87132893e-01 7.46637103e-03 3.90325199e+00] [-3.76625321e-02 -1.46415963e-03 9.99289443e-01 -1.08385564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490888479000002 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:3.91, Z:-1.09 [[ 9.86478413e-01 -1.59673514e-01 3.69419669e-02 2.86459119e+01] [ 1.59505265e-01 9.87168764e-01 7.47670081e-03 3.91218395e+00] [-3.76617869e-02 -1.48316571e-03 9.99289443e-01 -1.09464789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888479 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:3.92, Z:-1.09 [[ 9.86393904e-01 -1.60195183e-01 3.69400813e-02 2.87035016e+01] [ 1.60026952e-01 9.87084259e-01 7.48600523e-03 3.92045365e+00] [-3.76621948e-02 -1.47274131e-03 9.99289443e-01 -1.08790607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888479 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:3.94, Z:-1.09 [[ 9.85948553e-01 -1.62913877e-01 3.69394146e-02 2.87603894e+01] [ 1.62747427e-01 9.86639339e-01 7.48929361e-03 3.93547597e+00] [-3.76659895e-02 -1.37226351e-03 9.99289443e-01 -1.09088257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479000002 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:3.94, Z:-1.09 [[ 9.85377008e-01 -1.66336316e-01 3.69375536e-02 2.88187216e+01] [ 1.66171922e-01 9.86068286e-01 7.49846098e-03 3.94172238e+00] [-3.76702166e-02 -1.25082677e-03 9.99289443e-01 -1.08832742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:3.95, Z:-1.09 [[ 9.85320910e-01 -1.66668770e-01 3.69354119e-02 2.88751742e+01] [ 1.66504215e-01 9.86012151e-01 7.50899601e-03 3.94998653e+00] [-3.76702800e-02 -1.24886904e-03 9.99289443e-01 -1.09026972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888479 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:3.97, Z:-1.10 [[ 9.85968290e-01 -1.62795501e-01 3.69344921e-02 2.89313273e+01] [ 1.62628062e-01 9.86658837e-01 7.51351751e-03 3.96533814e+00] [-3.76649098e-02 -1.40150516e-03 9.99289443e-01 -1.09540575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888479 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:28.99, Y:3.98, Z:-1.10 [[ 9.86711992e-01 -1.58225940e-01 3.69323342e-02 2.89871264e+01] [ 1.58054908e-01 9.87401658e-01 7.52410933e-03 3.97751707e+00] [-3.76575573e-02 -1.58679223e-03 9.99289443e-01 -1.09976684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888479 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:3.99, Z:-1.10 [[ 9.86709575e-01 -1.58241565e-01 3.69299682e-02 2.90444603e+01] [ 1.58070111e-01 9.87399136e-01 7.53570433e-03 3.98899893e+00] [-3.76570804e-02 -1.59802745e-03 9.99289443e-01 -1.10032881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:4.00, Z:-1.10 [[ 9.86085536e-01 -1.62085371e-01 3.69275960e-02 2.91016679e+01] [ 1.61916171e-01 9.86775654e-01 7.54731133e-03 3.99951814e+00] [-3.76625614e-02 -1.46311961e-03 9.99289443e-01 -1.10123288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888479 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:4.01, Z:-1.11 [[ 9.84825837e-01 -1.69571752e-01 3.69254911e-02 2.91582891e+01] [ 1.69407414e-01 9.85517129e-01 7.55759533e-03 4.01017047e+00] [-3.76722587e-02 -1.18746319e-03 9.99289443e-01 -1.10588054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888479 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:4.02, Z:-1.11 [[ 9.84233834e-01 -1.72975205e-01 3.69234036e-02 2.92156403e+01] [ 1.72812876e-01 9.84925601e-01 7.56778040e-03 4.02035240e+00] [-3.76758438e-02 -1.06762597e-03 9.99289443e-01 -1.10599941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479000002 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:4.03, Z:-1.11 [[ 9.83733609e-01 -1.75797887e-01 3.69227625e-02 2.92725594e+01] [ 1.75637426e-01 9.84425810e-01 7.57090711e-03 4.03301015e+00] [-3.76786699e-02 -9.62736822e-04 9.99289443e-01 -1.10783344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:4.05, Z:-1.11 [[ 9.83653578e-01 -1.76245578e-01 3.69206668e-02 2.93296319e+01] [ 1.76085048e-01 9.84345764e-01 7.58111336e-03 4.04588469e+00] [-3.76788396e-02 -9.56011885e-04 9.99289443e-01 -1.10876858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888479 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:29.39, Y:4.06, Z:-1.11 [[ 9.83304285e-01 -1.78184469e-01 3.69185230e-02 2.93858990e+01] [ 1.78024914e-01 9.83996696e-01 7.59153906e-03 4.05558859e+00] [-3.76803990e-02 -8.92376027e-04 9.99289443e-01 -1.11148541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479000002 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:4.07, Z:-1.11 [[ 9.83236998e-01 -1.78555585e-01 3.69175992e-02 2.94432297e+01] [ 1.78396122e-01 9.83929430e-01 7.59602851e-03 4.06702758e+00] [-3.76806257e-02 -8.82739725e-04 9.99289443e-01 -1.11208670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888479 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:4.08, Z:-1.12 [[ 9.83994257e-01 -1.74334578e-01 3.69155490e-02 2.94991935e+01] [ 1.74171772e-01 9.84685911e-01 7.60597916e-03 4.08301841e+00] [-3.76762062e-02 -1.05459323e-03 9.99289443e-01 -1.11844765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:4.10, Z:-1.13 [[ 9.84278518e-01 -1.72722884e-01 3.69134666e-02 2.95550619e+01] [ 1.72558568e-01 9.84969815e-01 7.61607204e-03 4.09859800e+00] [-3.76741203e-02 -1.12660116e-03 9.99289443e-01 -1.12708137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479000002 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:4.11, Z:-1.12 [[ 9.85470877e-01 -1.65785122e-01 3.69113071e-02 2.96131400e+01] [ 1.65615549e-01 9.86160903e-01 7.62652387e-03 4.10689606e+00] [-3.76648521e-02 -1.40263075e-03 9.99289443e-01 -1.12074485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:4.12, Z:-1.12 [[ 9.85467517e-01 -1.65805570e-01 3.69091597e-02 2.96690200e+01] [ 1.65635623e-01 9.86157451e-01 7.63690240e-03 4.12089757e+00] [-3.76644838e-02 -1.41244757e-03 9.99289443e-01 -1.12063609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888479 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:4.13, Z:-1.12 [[ 9.85710142e-01 -1.64357229e-01 3.69082242e-02 2.97264438e+01] [ 1.64186099e-01 9.86399784e-01 7.64142068e-03 4.13071125e+00] [-3.76621871e-02 -1.47240849e-03 9.99289443e-01 -1.12413902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:4.14, Z:-1.13 [[ 9.86272976e-01 -1.60945872e-01 3.69058725e-02 2.97828903e+01] [ 1.60771935e-01 9.86961914e-01 7.65276208e-03 4.14112627e+00] [-3.76563710e-02 -1.61428390e-03 9.99289443e-01 -1.12676748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888479 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:4.15, Z:-1.13 [[ 9.86584382e-01 -1.59026080e-01 3.69047765e-02 2.98390475e+01] [ 1.58850604e-01 9.87272931e-01 7.65804372e-03 4.15482715e+00] [-3.76529155e-02 -1.69296029e-03 9.99289443e-01 -1.13020242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888479000003 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:4.17, Z:-1.13 [[ 9.86088391e-01 -1.62073697e-01 3.69026027e-02 2.98955425e+01] [ 1.61899960e-01 9.86777380e-01 7.66850462e-03 4.16727205e+00] [-3.76575165e-02 -1.58729350e-03 9.99289444e-01 -1.13215822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:29.95, Y:4.17, Z:-1.13 [[ 9.86252981e-01 -1.61069623e-01 3.69003320e-02 2.99537839e+01] [ 1.60894776e-01 9.86941689e-01 7.67941575e-03 4.17307776e+00] [-3.76553965e-02 -1.63677603e-03 9.99289444e-01 -1.13271457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888479 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:4.18, Z:-1.14 [[ 9.86424565e-01 -1.60015606e-01 3.68996468e-02 3.00090910e+01] [ 1.59839901e-01 9.87113054e-01 7.68270644e-03 4.18495043e+00] [-3.76534760e-02 -1.68037447e-03 9.99289444e-01 -1.13813359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.07, Y:4.19, Z:-1.13 [[ 9.86829901e-01 -1.57496766e-01 3.68987108e-02 3.00684637e+01] [ 1.57319136e-01 9.87517897e-01 7.68719912e-03 4.19165773e+00] [-3.76488463e-02 -1.78108464e-03 9.99289444e-01 -1.13282331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:30.12, Y:4.21, Z:-1.14 [[ 9.86078972e-01 -1.62132350e-01 3.68966469e-02 3.01240641e+01] [ 1.61957585e-01 9.86767701e-01 7.69709279e-03 4.20578239e+00] [-3.76563672e-02 -1.61424952e-03 9.99289444e-01 -1.14498520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:4.21, Z:-1.15 [[ 9.85860095e-01 -1.63458143e-01 3.68959241e-02 3.01803639e+01] [ 1.63284175e-01 9.86549025e-01 7.70055619e-03 4.21447024e+00] [-3.76583565e-02 -1.56715053e-03 9.99289444e-01 -1.14772940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479000006 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:4.22, Z:-1.15 [[ 9.85721913e-01 -1.64289721e-01 3.68944125e-02 3.02385846e+01] [ 1.64116064e-01 9.86410922e-01 7.70779164e-03 4.21975937e+00] [-3.76593624e-02 -1.54277336e-03 9.99289444e-01 -1.14594510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:4.23, Z:-1.15 [[ 9.85460184e-01 -1.65852580e-01 3.68937428e-02 3.02965530e+01] [ 1.65679896e-01 9.86149437e-01 7.71099588e-03 4.22753857e+00] [-3.76616322e-02 -1.48632795e-03 9.99289444e-01 -1.14656318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:4.24, Z:-1.15 [[ 9.85534902e-01 -1.65408155e-01 3.68930870e-02 3.03545680e+01] [ 1.65235043e-01 9.86224048e-01 7.71413224e-03 4.23763817e+00] [-3.76608299e-02 -1.50651574e-03 9.99289444e-01 -1.15185834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479000005 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:4.25, Z:-1.15 [[ 9.86064896e-01 -1.62219159e-01 3.68912542e-02 3.04111262e+01] [ 1.62043491e-01 9.86753396e-01 7.72288721e-03 4.24949273e+00] [-3.76553706e-02 -1.63728035e-03 9.99289444e-01 -1.15385650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41088847900001 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:4.27, Z:-1.16 [[ 9.85308372e-01 -1.66753133e-01 3.68890873e-02 3.04674208e+01] [ 1.66580248e-01 9.85997575e-01 7.73322358e-03 4.26716080e+00] [-3.76620899e-02 -1.47461660e-03 9.99289444e-01 -1.16266498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:4.27, Z:-1.16 [[ 9.86446805e-01 -1.59881343e-01 3.68870961e-02 3.05264943e+01] [ 1.59703304e-01 9.87134694e-01 7.74271011e-03 4.26864067e+00] [-3.76504472e-02 -1.74678051e-03 9.99289444e-01 -1.15869086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:4.28, Z:-1.16 [[ 9.86090808e-01 -1.62062749e-01 3.68860809e-02 3.05847965e+01] [ 1.61886052e-01 9.86779044e-01 7.74754359e-03 4.27986914e+00] [-3.76539998e-02 -1.66843951e-03 9.99289444e-01 -1.15931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59088847900001 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:4.29, Z:-1.17 [[ 9.85931901e-01 -1.63027118e-01 3.68842107e-02 3.06421010e+01] [ 1.62850763e-01 9.86620224e-01 7.75643690e-03 4.29156159e+00] [-3.76552178e-02 -1.64069674e-03 9.99289444e-01 -1.16616092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:30.70, Y:4.30, Z:-1.17 [[ 9.85954687e-01 -1.62889681e-01 3.68823502e-02 3.06996365e+01] [ 1.62712899e-01 9.86642900e-01 7.76527360e-03 4.30233565e+00] [-3.76545919e-02 -1.65497376e-03 9.99289444e-01 -1.17217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479000005 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:4.31, Z:-1.17 [[ 9.85406536e-01 -1.66173976e-01 3.68804645e-02 3.07571051e+01] [ 1.65999154e-01 9.86095250e-01 7.77421897e-03 4.31351771e+00] [-3.76595238e-02 -1.53864027e-03 9.99289444e-01 -1.17482053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:4.32, Z:-1.18 [[ 9.84827169e-01 -1.69574287e-01 3.68782867e-02 3.08151127e+01] [ 1.69401458e-01 9.85516386e-01 7.78453599e-03 4.32378200e+00] [-3.76642130e-02 -1.41918701e-03 9.99289444e-01 -1.17511833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:30.87, Y:4.33, Z:-1.18 [[ 9.83700646e-01 -1.75991958e-01 3.68764126e-02 3.08726500e+01] [ 1.75823294e-01 9.84390894e-01 7.79340411e-03 4.33274087e+00] [-3.76723812e-02 -1.18264433e-03 9.99289444e-01 -1.17622229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479000004 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:30.93, Y:4.35, Z:-1.18 [[ 9.83202769e-01 -1.78752914e-01 3.68742628e-02 3.09288810e+01] [ 1.78585808e-01 9.83893395e-01 7.80356225e-03 4.34538422e+00] [-3.76752532e-02 -1.08726400e-03 9.99289444e-01 -1.17981796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95088847900001 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:30.99, Y:4.36, Z:-1.18 [[ 9.82959016e-01 -1.80088924e-01 3.68721080e-02 3.09866653e+01] [ 1.79922376e-01 9.83649777e-01 7.81373071e-03 4.35543593e+00] [-3.76764072e-02 -1.04645978e-03 9.99289444e-01 -1.18174898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:4.37, Z:-1.19 [[ 9.83165851e-01 -1.78956684e-01 3.68702452e-02 3.10435666e+01] [ 1.78789011e-01 9.83856340e-01 7.82251102e-03 4.36722648e+00] [-3.76749151e-02 -1.09883103e-03 9.99289444e-01 -1.18646011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:4.38, Z:-1.19 [[ 9.83154434e-01 -1.79019532e-01 3.68695915e-02 3.11012648e+01] [ 1.78851788e-01 9.83844905e-01 7.82559065e-03 4.38067831e+00] [-3.76748933e-02 -1.09957178e-03 9.99289444e-01 -1.18806818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479000006 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:4.40, Z:-1.19 [[ 9.83035023e-01 -1.79674470e-01 3.68677266e-02 3.11572548e+01] [ 1.79506857e-01 9.83725526e-01 7.83436651e-03 4.39545471e+00] [-3.76753594e-02 -1.08344694e-03 9.99289444e-01 -1.19071901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:4.41, Z:-1.19 [[ 9.82819127e-01 -1.80851828e-01 3.68670706e-02 3.12137707e+01] [ 1.80684926e-01 9.83509803e-01 7.83745259e-03 4.40830283e+00] [-3.76765429e-02 -1.04147437e-03 9.99289444e-01 -1.19039267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:4.42, Z:-1.19 [[ 9.82876720e-01 -1.80539010e-01 3.68648673e-02 3.12707323e+01] [ 1.80371501e-01 9.83567249e-01 7.84780224e-03 4.41893511e+00] [-3.76759106e-02 -1.06405067e-03 9.99289444e-01 -1.19178339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479000006 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:4.44, Z:-1.20 [[ 9.83163851e-01 -1.78968919e-01 3.68641914e-02 3.13259539e+01] [ 1.78800188e-01 9.83854082e-01 7.85097607e-03 4.43699112e+00] [-3.76740659e-02 -1.12747151e-03 9.99289444e-01 -1.19658176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:4.45, Z:-1.20 [[ 9.83312768e-01 -1.78149346e-01 3.68620643e-02 3.13810946e+01] [ 1.77979666e-01 9.84002766e-01 7.86095078e-03 4.45402962e+00] [-3.76727965e-02 -1.16907537e-03 9.99289444e-01 -1.20277031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:4.46, Z:-1.20 [[ 9.83378418e-01 -1.77787043e-01 3.68599241e-02 3.14381454e+01] [ 1.77616734e-01 9.84068262e-01 7.87097323e-03 4.46490018e+00] [-3.76720385e-02 -1.19320586e-03 9.99289444e-01 -1.20188181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479000006 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:31.49, Y:4.48, Z:-1.20 [[ 9.83256695e-01 -1.78459147e-01 3.68592669e-02 3.14946663e+01] [ 1.78289194e-01 9.83946626e-01 7.87404958e-03 4.47846446e+00] [-3.76727475e-02 -1.17060297e-03 9.99289444e-01 -1.20201763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:31.55, Y:4.49, Z:-1.20 [[ 9.83239373e-01 -1.78554689e-01 3.68586200e-02 3.15507252e+01] [ 1.78384690e-01 9.83929293e-01 7.87707691e-03 4.49401399e+00] [-3.76727649e-02 -1.17003866e-03 9.99289444e-01 -1.20475334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:4.50, Z:-1.20 [[ 9.83240152e-01 -1.78550849e-01 3.68564407e-02 3.16086974e+01] [ 1.78380466e-01 9.83929977e-01 7.88726049e-03 4.50453535e+00] [-3.76724339e-02 -1.18060215e-03 9.99289445e-01 -1.20177823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479000006 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:31.66, Y:4.52, Z:-1.21 [[ 9.83136251e-01 -1.79122456e-01 3.68545455e-02 3.16632806e+01] [ 1.78952143e-01 9.83826093e-01 7.89610598e-03 4.52116459e+00] [-3.76728334e-02 -1.16774815e-03 9.99289445e-01 -1.20943235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73088847900001 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:31.72, Y:4.54, Z:-1.21 [[ 9.83053876e-01 -1.79574188e-01 3.68536125e-02 3.17195036e+01] [ 1.79404029e-01 9.83743756e-01 7.90045844e-03 4.53609169e+00] [-3.76732296e-02 -1.15488973e-03 9.99289445e-01 -1.21362436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:31.78, Y:4.55, Z:-1.21 [[ 9.82778178e-01 -1.81077397e-01 3.68514354e-02 3.17766516e+01] [ 1.80907913e-01 9.83468225e-01 7.91060052e-03 4.54906591e+00] [-3.76746467e-02 -1.10764931e-03 9.99289445e-01 -1.21202898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479000005 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:4.56, Z:-1.21 [[ 9.82782917e-01 -1.81052060e-01 3.68495441e-02 3.18339296e+01] [ 1.80882228e-01 9.83472878e-01 7.91940065e-03 4.56350727e+00] [-3.76743510e-02 -1.11762402e-03 9.99289445e-01 -1.21330717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91088847900001 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:31.89, Y:4.58, Z:-1.22 [[ 9.82925688e-01 -1.80275737e-01 3.68476634e-02 3.18899828e+01] [ 1.80105034e-01 9.83615434e-01 7.92814153e-03 4.57955388e+00] [-3.76731820e-02 -1.15632430e-03 9.99289445e-01 -1.22196909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:4.59, Z:-1.23 [[ 9.83062354e-01 -1.79529376e-01 3.68457659e-02 3.19469588e+01] [ 1.79357819e-01 9.83751888e-01 7.93695032e-03 4.59298066e+00] [-3.76720075e-02 -1.19394085e-03 9.99289445e-01 -1.22958953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479000005 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:4.60, Z:-1.23 [[ 9.83134136e-01 -1.79136257e-01 3.68438831e-02 3.20055009e+01] [ 1.78964097e-01 9.83823520e-01 7.94568088e-03 4.60278848e+00] [-3.76712383e-02 -1.21793782e-03 9.99289445e-01 -1.22697170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09088847900001 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:32.06, Y:4.62, Z:-1.23 [[ 9.82871276e-01 -1.80573329e-01 3.68419199e-02 3.20611669e+01] [ 1.80401837e-01 9.83560826e-01 7.95477325e-03 4.61783641e+00] [-3.76726891e-02 -1.17216810e-03 9.99289445e-01 -1.22898861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:4.63, Z:-1.23 [[ 9.82619286e-01 -1.81939723e-01 3.68412300e-02 3.21181821e+01] [ 1.81769070e-01 9.83309044e-01 7.95796739e-03 4.63012644e+00] [-3.76741850e-02 -1.12305611e-03 9.99289445e-01 -1.23106045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:4.64, Z:-1.23 [[ 9.81982599e-01 -1.85345490e-01 3.68405235e-02 3.21758003e+01] [ 1.85177107e-01 9.82672915e-01 7.96123638e-03 4.63561590e+00] [-3.76777639e-02 -9.95774029e-04 9.99289445e-01 -1.22909397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27088847900001 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:32.23, Y:4.65, Z:-1.23 [[ 9.81760248e-01 -1.86519871e-01 3.68395519e-02 3.22323518e+01] [ 1.86352145e-01 9.82450724e-01 7.96573010e-03 4.65039778e+00] [-3.76788113e-02 -9.55307666e-04 9.99289445e-01 -1.23359973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:32.29, Y:4.67, Z:-1.23 [[ 9.82042851e-01 -1.85026559e-01 3.68376270e-02 3.22882274e+01] [ 1.84857450e-01 9.82732989e-01 7.97462194e-03 4.66788887e+00] [-3.76770681e-02 -1.02171069e-03 9.99289445e-01 -1.23345361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479000004 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:4.68, Z:-1.23 [[ 9.82083488e-01 -1.84811192e-01 3.68353775e-02 3.23443262e+01] [ 1.84641543e-01 9.82773494e-01 7.98499875e-03 4.67954898e+00] [-3.76765498e-02 -1.04059450e-03 9.99289445e-01 -1.23386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:32.40, Y:4.69, Z:-1.24 [[ 9.81925394e-01 -1.85649529e-01 3.68344099e-02 3.24013542e+01] [ 1.85480302e-01 9.82615503e-01 7.98945991e-03 4.69233467e+00] [-3.76773017e-02 -1.01299610e-03 9.99289445e-01 -1.23628323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:4.71, Z:-1.24 [[ 9.81309871e-01 -1.88876478e-01 3.68322386e-02 3.24572933e+01] [ 1.88709145e-01 9.82000442e-01 7.99945710e-03 4.70852058e+00] [-3.76801839e-02 -8.99365947e-04 9.99289445e-01 -1.24391327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:4.72, Z:-1.25 [[ 9.80748217e-01 -1.91771958e-01 3.68300239e-02 3.25137565e+01] [ 1.91606282e-01 9.81439187e-01 8.00964076e-03 4.72252660e+00] [-3.76824533e-02 -7.98576958e-04 9.99289445e-01 -1.24641394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479000006 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:4.74, Z:-1.25 [[ 9.80370018e-01 -1.93696518e-01 3.68278080e-02 3.25704645e+01] [ 1.93531816e-01 9.81061221e-01 8.01981643e-03 4.73714906e+00] [-3.76837448e-02 -7.35034992e-04 9.99289445e-01 -1.25323857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:4.75, Z:-1.26 [[ 9.79987344e-01 -1.95623780e-01 3.68258442e-02 3.26257382e+01] [ 1.95460100e-01 9.80678789e-01 8.02882399e-03 4.75291324e+00] [-3.76849532e-02 -6.70162716e-04 9.99289445e-01 -1.25698998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:4.77, Z:-1.26 [[ 9.79675569e-01 -1.97179380e-01 3.68248784e-02 3.26832488e+01] [ 1.97016631e-01 9.80367234e-01 8.03325114e-03 4.76631738e+00] [-3.76858957e-02 -6.14866394e-04 9.99289445e-01 -1.25598370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479000006 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:4.78, Z:-1.26 [[ 9.79382645e-01 -1.98629576e-01 3.68228936e-02 3.27391757e+01] [ 1.98467509e-01 9.80074471e-01 8.04233881e-03 4.78312903e+00] [-3.76866243e-02 -5.68379086e-04 9.99289445e-01 -1.25691122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:4.80, Z:-1.26 [[ 9.79356015e-01 -1.98760966e-01 3.68221964e-02 3.27961144e+01] [ 1.98598873e-01 9.80047834e-01 8.04553000e-03 4.79945874e+00] [-3.76866511e-02 -5.66591512e-04 9.99289445e-01 -1.26347546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:4.82, Z:-1.27 [[ 9.79548961e-01 -1.97808255e-01 3.68201905e-02 3.28521202e+01] [ 1.97645144e-01 9.80240541e-01 8.05469923e-03 4.81523109e+00] [-3.76859295e-02 -6.12640406e-04 9.99289445e-01 -1.26834902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479000006 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:4.83, Z:-1.27 [[ 9.79548100e-01 -1.97812720e-01 3.68191301e-02 3.29076911e+01] [ 1.97649430e-01 9.80239637e-01 8.05954353e-03 4.83107540e+00] [-3.76858510e-02 -6.17430472e-04 9.99289445e-01 -1.27188092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05088847900001 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:4.84, Z:-1.27 [[ 9.79542914e-01 -1.97838524e-01 3.68184592e-02 3.29648169e+01] [ 1.97675137e-01 9.80234428e-01 8.06260745e-03 4.84361253e+00] [-3.76858156e-02 -6.19576027e-04 9.99289445e-01 -1.27109613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:4.86, Z:-1.27 [[ 9.79790795e-01 -1.96607635e-01 3.68162543e-02 3.30203026e+01] [ 1.96443002e-01 9.80482014e-01 8.07266304e-03 4.85939759e+00] [-3.76848223e-02 -6.77225433e-04 9.99289445e-01 -1.27190054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479000006 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:4.88, Z:-1.28 [[ 9.79878858e-01 -1.96168390e-01 3.68155757e-02 3.30760587e+01] [ 1.96003331e-01 9.80569975e-01 8.07575667e-03 4.87713819e+00] [-3.76844563e-02 -6.97287768e-04 9.99289445e-01 -1.27671990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23088847900001 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:4.89, Z:-1.28 [[ 9.79851969e-01 -1.96303066e-01 3.68133833e-02 3.31341019e+01] [ 1.96137726e-01 9.80543020e-01 8.08573819e-03 4.88925695e+00] [-3.76843613e-02 -7.02333177e-04 9.99289445e-01 -1.27978080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:4.90, Z:-1.28 [[ 9.79479208e-01 -1.98154983e-01 3.68114665e-02 3.31922060e+01] [ 1.97990623e-01 9.80170492e-01 8.09445540e-03 4.90110294e+00] [-3.76854699e-02 -6.40025560e-04 9.99289445e-01 -1.27607929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479000005 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:4.92, Z:-1.28 [[ 9.79291690e-01 -1.99080006e-01 3.68094809e-02 3.32475815e+01] [ 1.98915960e-01 9.79983048e-01 8.10347497e-03 4.91735650e+00] [-3.76859071e-02 -6.13672478e-04 9.99289445e-01 -1.28368778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41088847900001 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:4.93, Z:-1.29 [[ 9.79816835e-01 -1.96479219e-01 3.68087842e-02 3.33044019e+01] [ 1.96313219e-01 9.80507727e-01 8.10663859e-03 4.93144468e+00] [-3.76840833e-02 -7.16970056e-04 9.99289445e-01 -1.28547365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:4.94, Z:-1.29 [[ 9.79784126e-01 -1.96642686e-01 3.68065374e-02 3.33622116e+01] [ 1.96476419e-01 9.80474953e-01 8.11682673e-03 4.94352941e+00] [-3.76840026e-02 -7.21121326e-04 9.99289446e-01 -1.28947252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479000005 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:4.96, Z:-1.29 [[ 9.80567888e-01 -1.92696765e-01 3.68045449e-02 3.34190467e+01] [ 1.92527379e-01 9.81257957e-01 8.12585116e-03 4.95871172e+00] [-3.76805778e-02 -8.82066134e-04 9.99289446e-01 -1.28913930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59088847900001 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:4.97, Z:-1.29 [[ 9.80487190e-01 -1.93107337e-01 3.68025373e-02 3.34764695e+01] [ 1.92937900e-01 9.81177247e-01 8.13493381e-03 4.97155669e+00] [-3.76807276e-02 -8.75594148e-04 9.99289446e-01 -1.29291203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:4.98, Z:-1.29 [[ 9.80240706e-01 -1.94355044e-01 3.68004709e-02 3.35337826e+01] [ 1.94186135e-01 9.80930892e-01 8.14427115e-03 4.97736286e+00] [-3.76815989e-02 -8.37204899e-04 9.99289446e-01 -1.28991996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710888479000005 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:4.99, Z:-1.30 [[ 9.79671373e-01 -1.97204991e-01 3.67993589e-02 3.35901421e+01] [ 1.97037901e-01 9.80362002e-01 8.14929232e-03 4.99072448e+00] [-3.76837743e-02 -7.32759947e-04 9.99289446e-01 -1.29686086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77088847900001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:5.00, Z:-1.30 [[ 9.79698752e-01 -1.97069123e-01 3.67983249e-02 3.36476110e+01] [ 1.96901762e-01 9.80389315e-01 8.15395873e-03 5.00208896e+00] [-3.76835780e-02 -7.42768179e-04 9.99289446e-01 -1.29685026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830888479 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:5.01, Z:-1.30 [[ 9.79899984e-01 -1.96066448e-01 3.67963314e-02 3.37040163e+01] [ 1.95898043e-01 9.80590293e-01 8.16294510e-03 5.01044061e+00] [-3.76826050e-02 -7.90540451e-04 9.99289446e-01 -1.30249788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890888479000004 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:5.03, Z:-1.31 [[ 9.78739970e-01 -2.01777784e-01 3.67939652e-02 3.37595691e+01] [ 2.01613008e-01 9.79431155e-01 8.17359660e-03 5.02921623e+00] [-3.76864060e-02 -5.81683697e-04 9.99289446e-01 -1.31144998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95088847900001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:5.03, Z:-1.31 [[ 9.79385621e-01 -1.98620679e-01 3.67917316e-02 3.38183434e+01] [ 1.98453298e-01 9.80076179e-01 8.18363835e-03 5.03320769e+00] [-3.76841395e-02 -7.13497266e-04 9.99289446e-01 -1.30916340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:5.04, Z:-1.31 [[ 9.78765923e-01 -2.01652399e-01 3.67910064e-02 3.38765712e+01] [ 2.01487034e-01 9.79456967e-01 8.18689727e-03 5.04281379e+00] [-3.76861150e-02 -6.00145296e-04 9.99289446e-01 -1.30735625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479000004 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:5.05, Z:-1.31 [[ 9.77662068e-01 -2.06938275e-01 3.67889990e-02 3.39346488e+01] [ 2.06776307e-01 9.78353916e-01 8.19590784e-03 5.05467325e+00] [-3.76887083e-02 -4.05734835e-04 9.99289446e-01 -1.30896350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479000006 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:5.07, Z:-1.31 [[ 9.77471802e-01 -2.07835490e-01 3.67870216e-02 3.39927174e+01] [ 2.07673824e-01 9.78163721e-01 8.20477385e-03 5.06508580e+00] [-3.76889731e-02 -3.80233632e-04 9.99289446e-01 -1.30821584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:5.08, Z:-1.32 [[ 9.77595333e-01 -2.07254010e-01 3.67850614e-02 3.40496147e+01] [ 2.07091602e-01 9.78287077e-01 8.21355283e-03 5.07954398e+00] [-3.76886419e-02 -4.11653630e-04 9.99289446e-01 -1.31843157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:5.09, Z:-1.32 [[ 9.79363984e-01 -1.98728956e-01 3.67829902e-02 3.41066336e+01] [ 1.98560180e-01 9.80054203e-01 8.22281769e-03 5.09128976e+00] [-3.76834361e-02 -7.49494342e-04 9.99289446e-01 -1.31831000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479000006 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:5.10, Z:-1.32 [[ 9.80769669e-01 -1.91671389e-01 3.67822632e-02 3.41638939e+01] [ 1.91497525e-01 9.81458623e-01 8.22606830e-03 5.10496733e+00] [-3.76769714e-02 -1.02416589e-03 9.99289446e-01 -1.32140531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:5.12, Z:-1.32 [[ 9.81646801e-01 -1.87127713e-01 3.67801069e-02 3.42196818e+01] [ 1.86950300e-01 9.82334851e-01 8.23569833e-03 5.11651345e+00] [-3.76715082e-02 -1.20849491e-03 9.99289446e-01 -1.32044930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:5.13, Z:-1.32 [[ 9.81738163e-01 -1.86648131e-01 3.67784430e-02 3.42770254e+01] [ 1.86470104e-01 9.82426054e-01 8.24312231e-03 5.12996206e+00] [-3.76706640e-02 -1.23450768e-03 9.99289446e-01 -1.32329344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479000006 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:5.14, Z:-1.32 [[ 9.82412983e-01 -1.83063465e-01 3.67763315e-02 3.43342157e+01] [ 1.82882577e-01 9.83100127e-01 8.25253195e-03 5.13890388e+00] [-3.76655532e-02 -1.38164427e-03 9.99289446e-01 -1.32222832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:5.15, Z:-1.32 [[ 9.82749344e-01 -1.81249227e-01 3.67755905e-02 3.43907947e+01] [ 1.81066947e-01 9.83436120e-01 8.25583266e-03 5.15401243e+00] [-3.76628073e-02 -1.45457022e-03 9.99289446e-01 -1.32352175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:5.16, Z:-1.33 [[ 9.82570951e-01 -1.82214237e-01 3.67735929e-02 3.44484067e+01] [ 1.82032299e-01 9.83257818e-01 8.26472074e-03 5.16364206e+00] [-3.76638725e-02 -1.42669285e-03 9.99289446e-01 -1.32564795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479000006 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:5.17, Z:-1.33 [[ 9.82639482e-01 -1.81844770e-01 3.67712830e-02 3.45063305e+01] [ 1.81662191e-01 9.83326178e-01 8.27498545e-03 5.17313943e+00] [-3.76629280e-02 -1.45137560e-03 9.99289446e-01 -1.32988047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73088847900001 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:5.18, Z:-1.34 [[ 9.82534180e-01 -1.82413285e-01 3.67692567e-02 3.45638901e+01] [ 1.82230767e-01 9.83220892e-01 8.28397916e-03 5.18481767e+00] [-3.76634093e-02 -1.43880281e-03 9.99289446e-01 -1.33673778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:5.19, Z:-1.33 [[ 9.81918465e-01 -1.85699489e-01 3.67672128e-02 3.46232858e+01] [ 1.85518931e-01 9.82605695e-01 8.29304090e-03 5.19150469e+00] [-3.76676862e-02 -1.32207598e-03 9.99289446e-01 -1.33212333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:5.20, Z:-1.33 [[ 9.80925792e-01 -1.90874073e-01 3.67651744e-02 3.46805985e+01] [ 1.90696803e-01 9.81613878e-01 8.30206775e-03 5.19982956e+00] [-3.76738549e-02 -1.13271118e-03 9.99289446e-01 -1.33265955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:5.21, Z:-1.34 [[ 9.80606792e-01 -1.92506349e-01 3.67644607e-02 3.47375808e+01] [ 1.92330105e-01 9.81295141e-01 8.30522725e-03 5.21218344e+00] [-3.76755956e-02 -1.07324965e-03 9.99289446e-01 -1.33589804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:5.22, Z:-1.34 [[ 9.80241365e-01 -1.94358978e-01 3.67621287e-02 3.47951280e+01] [ 1.94183649e-01 9.80929948e-01 8.31553677e-03 5.22097091e+00] [-3.76772722e-02 -1.01262881e-03 9.99289446e-01 -1.33906715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479000005 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:5.23, Z:-1.33 [[ 9.80018541e-01 -1.95479858e-01 3.67598199e-02 3.48545855e+01] [ 1.95304935e-01 9.80707227e-01 8.32573038e-03 5.22815202e+00] [-3.76781337e-02 -9.79995905e-04 9.99289446e-01 -1.33478295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:5.24, Z:-1.34 [[ 9.79826478e-01 -1.96440670e-01 3.67578169e-02 3.49123399e+01] [ 1.96266091e-01 9.80515251e-01 8.33456422e-03 5.23966367e+00] [-3.76788475e-02 -9.52113660e-04 9.99289447e-01 -1.33596509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:5.25, Z:-1.34 [[ 9.80078960e-01 -1.95177457e-01 3.67558412e-02 3.49699834e+01] [ 1.95001664e-01 9.80767425e-01 8.34326826e-03 5.25263953e+00] [-3.76773496e-02 -1.00961149e-03 9.99289447e-01 -1.34299097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479000005 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:5.26, Z:-1.34 [[ 9.80339116e-01 -1.93866926e-01 3.67536764e-02 3.50269796e+01] [ 1.93689856e-01 9.81027253e-01 8.35279391e-03 5.26346920e+00] [-3.76756886e-02 -1.06975633e-03 9.99289447e-01 -1.34205382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:5.28, Z:-1.34 [[ 9.80371553e-01 -1.93702971e-01 3.67529250e-02 3.50846470e+01] [ 1.93525661e-01 9.81059628e-01 8.35609852e-03 5.27568895e+00] [-3.76754121e-02 -1.07944716e-03 9.99289447e-01 -1.34444675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:5.29, Z:-1.34 [[ 9.80421312e-01 -1.93451354e-01 3.67508489e-02 3.51413752e+01] [ 1.93273527e-01 9.81109253e-01 8.36521955e-03 5.29027258e+00] [-3.76748610e-02 -1.09847333e-03 9.99289447e-01 -1.34485451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479000004 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:5.30, Z:-1.35 [[ 9.80435151e-01 -1.93381594e-01 3.67487946e-02 3.51988603e+01] [ 1.93203380e-01 9.81122992e-01 8.37423430e-03 5.30449201e+00] [-3.76745101e-02 -1.11040235e-03 9.99289447e-01 -1.34560425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45088847900001 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:5.32, Z:-1.35 [[ 9.80048752e-01 -1.95330794e-01 3.67467609e-02 3.52554641e+01] [ 1.95153614e-01 9.80736861e-01 8.38314920e-03 5.31539297e+00] [-3.76763901e-02 -1.04463173e-03 9.99289447e-01 -1.35384174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:5.33, Z:-1.35 [[ 9.80607206e-01 -1.92508090e-01 3.67442947e-02 3.53117363e+01] [ 1.92328525e-01 9.81294696e-01 8.39394489e-03 5.32905220e+00] [-3.76728838e-02 -1.16418683e-03 9.99289447e-01 -1.35075398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479000004 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:5.35, Z:-1.36 [[ 9.80660094e-01 -1.92238634e-01 3.67435372e-02 3.53686882e+01] [ 1.92058757e-01 9.81347502e-01 8.39725950e-03 5.34505421e+00] [-3.76724561e-02 -1.17793923e-03 9.99289447e-01 -1.35798729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479000006 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:35.42, Y:5.36, Z:-1.36 [[ 9.80908431e-01 -1.90967836e-01 3.67414569e-02 3.54241875e+01] [ 1.90786728e-01 9.81595516e-01 8.40635154e-03 5.36306202e+00] [-3.76705921e-02 -1.23607876e-03 9.99289447e-01 -1.36381866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:5.38, Z:-1.37 [[ 9.81727202e-01 -1.86713537e-01 3.67390154e-02 3.54806831e+01] [ 1.86529053e-01 9.82413389e-01 8.41700848e-03 5.37798574e+00] [-3.76644700e-02 -1.41031243e-03 9.99289447e-01 -1.36817728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:5.39, Z:-1.37 [[ 9.82077146e-01 -1.84864554e-01 3.67365836e-02 3.55379165e+01] [ 1.84678383e-01 9.82762876e-01 8.42760871e-03 5.39063784e+00] [-3.76613167e-02 -1.49210906e-03 9.99289447e-01 -1.36705168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479000006 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:5.41, Z:-1.36 [[ 9.82147032e-01 -1.84493330e-01 3.67344389e-02 3.55939248e+01] [ 1.84306551e-01 9.82832597e-01 8.43694680e-03 5.40734032e+00] [-3.76603644e-02 -1.51592450e-03 9.99289447e-01 -1.36447430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:5.43, Z:-1.37 [[ 9.82129265e-01 -1.84588037e-01 3.67336869e-02 3.56502685e+01] [ 1.84401202e-01 9.82814814e-01 8.44021961e-03 5.42514971e+00] [-3.76603753e-02 -1.51565067e-03 9.99289447e-01 -1.36938612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:5.44, Z:-1.37 [[ 9.82165633e-01 -1.84394835e-01 3.67316399e-02 3.57067363e+01] [ 1.84207533e-01 9.82851055e-01 8.44911907e-03 5.43793667e+00] [-3.76597049e-02 -1.53218962e-03 9.99289447e-01 -1.37149470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990888479000006 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:5.46, Z:-1.38 [[ 9.80515005e-01 -1.92979697e-01 3.67309207e-02 3.57620720e+01] [ 1.92798281e-01 9.81202009e-01 8.45224445e-03 5.45962357e+00] [-3.76715647e-02 -1.20589413e-03 9.99289447e-01 -1.38300627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:5.47, Z:-1.38 [[ 9.80981680e-01 -1.90593654e-01 3.67287677e-02 3.58193243e+01] [ 1.90410217e-01 9.81668147e-01 8.46158976e-03 5.46879302e+00] [-3.76681866e-02 -1.30713189e-03 9.99289447e-01 -1.37511845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:5.48, Z:-1.37 [[ 9.80438986e-01 -1.93366098e-01 3.67280156e-02 3.58765815e+01] [ 1.93184481e-01 9.81125936e-01 8.46485318e-03 5.48127866e+00] [-3.76716243e-02 -1.20398945e-03 9.99289447e-01 -1.37428766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.93, Y:5.50, Z:-1.39 [[ 9.78842775e-01 -2.01290962e-01 3.67256059e-02 3.59313118e+01] [ 2.01114516e-01 9.79531072e-01 8.47529474e-03 5.50239933e+00] [-3.76798724e-02 -9.09928557e-04 9.99289447e-01 -1.38987734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:5.51, Z:-1.38 [[ 9.79570752e-01 -1.97718305e-01 3.67234883e-02 3.59902347e+01] [ 1.97539006e-01 9.80258310e-01 8.48446066e-03 5.50991074e+00] [-3.76760377e-02 -1.05680814e-03 9.99289447e-01 -1.38162583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:5.53, Z:-1.39 [[ 9.78195429e-01 -2.04414119e-01 3.67228907e-02 3.60467968e+01] [ 2.04239430e-01 9.78884174e-01 8.48704628e-03 5.52921731e+00] [-3.76823286e-02 -8.01727613e-04 9.99289447e-01 -1.39166837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:5.54, Z:-1.38 [[ 9.79094747e-01 -2.00062312e-01 3.67225809e-02 3.61054546e+01] [ 1.99884512e-01 9.79782695e-01 8.48838654e-03 5.53510848e+00] [-3.76783555e-02 -9.70659510e-04 9.99289447e-01 -1.38192904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.16, Y:5.55, Z:-1.39 [[ 9.79451900e-01 -1.98306541e-01 3.67218208e-02 3.61617849e+01] [ 1.98127385e-01 9.80139496e-01 8.49167342e-03 5.55258038e+00] [-3.76764613e-02 -1.04158734e-03 9.99289447e-01 -1.38659812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:5.57, Z:-1.39 [[ 9.79771758e-01 -1.96720520e-01 3.67197503e-02 3.62177872e+01] [ 1.96539916e-01 9.80458975e-01 8.50061727e-03 5.56753711e+00] [-3.76744546e-02 -1.11176807e-03 9.99289447e-01 -1.38974343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479000005 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:36.27, Y:5.58, Z:-1.39 [[ 9.80355879e-01 -1.93789015e-01 3.67174167e-02 3.62737153e+01] [ 1.93605979e-01 9.81042452e-01 8.51068522e-03 5.58281967e+00] [-3.76706218e-02 -1.23478888e-03 9.99289447e-01 -1.38903929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:5.60, Z:-1.39 [[ 9.80685302e-01 -1.92115463e-01 3.67149511e-02 3.63299621e+01] [ 1.91930859e-01 9.81371455e-01 8.52130847e-03 5.60075607e+00] [-3.76680801e-02 -1.30998987e-03 9.99289447e-01 -1.39289056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:5.62, Z:-1.40 [[ 9.81605867e-01 -1.87355528e-01 3.67127891e-02 3.63863427e+01] [ 1.87167249e-01 9.82291021e-01 8.53061312e-03 5.61505442e+00] [-3.76609006e-02 -1.50226813e-03 9.99289447e-01 -1.39560321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479000005 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:5.63, Z:-1.40 [[ 9.81685469e-01 -1.86938134e-01 3.67120294e-02 3.64433831e+01] [ 1.86749442e-01 9.82370510e-01 8.53388125e-03 5.62964164e+00] [-3.76601229e-02 -1.52163621e-03 9.99289447e-01 -1.39815190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77088847900001 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:5.65, Z:-1.40 [[ 9.81760442e-01 -1.86544400e-01 3.67099541e-02 3.64999189e+01] [ 1.86355100e-01 9.82445315e-01 8.54279902e-03 5.64811872e+00] [-3.76591338e-02 -1.54589496e-03 9.99289447e-01 -1.40168863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:5.66, Z:-1.40 [[ 9.81773012e-01 -1.86478643e-01 3.67078753e-02 3.65563516e+01] [ 1.86288964e-01 9.82457780e-01 8.55172216e-03 5.66164965e+00] [-3.76586513e-02 -1.55757795e-03 9.99289448e-01 -1.40299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890888479000004 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:5.68, Z:-1.41 [[ 9.81451018e-01 -1.88166434e-01 3.67054821e-02 3.66129757e+01] [ 1.87977551e-01 9.82136005e-01 8.56198216e-03 5.67740427e+00] [-3.76608532e-02 -1.50335949e-03 9.99289448e-01 -1.40556867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95088847900001 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:5.69, Z:-1.41 [[ 9.81043390e-01 -1.90280654e-01 3.67034082e-02 3.66692127e+01] [ 1.90092915e-01 9.81728692e-01 8.57086304e-03 5.69384024e+00] [-3.76636584e-02 -1.43133066e-03 9.99289448e-01 -1.40843232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:5.70, Z:-1.41 [[ 9.80250226e-01 -1.94325832e-01 3.67010184e-02 3.67271537e+01] [ 1.94140539e-01 9.80936194e-01 8.58108453e-03 5.70482215e+00] [-3.76688836e-02 -1.28645455e-03 9.99289448e-01 -1.40799477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479000004 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:36.78, Y:5.73, Z:-1.42 [[ 9.77927157e-01 -2.05698004e-01 3.66988616e-02 3.67818811e+01] [ 2.05520345e-01 9.78615141e-01 8.59029862e-03 5.72798973e+00] [-3.76810689e-02 -8.58323609e-04 9.99289448e-01 -1.42406101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479000006 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:36.84, Y:5.73, Z:-1.41 [[ 9.79590253e-01 -1.97626322e-01 3.66983972e-02 3.68414150e+01] [ 1.97442921e-01 9.80276729e-01 8.59228214e-03 5.73445045e+00] [-3.76726458e-02 -1.17107709e-03 9.99289448e-01 -1.41375174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190888479 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:36.90, Y:5.75, Z:-1.42 [[ 9.79948054e-01 -1.95844481e-01 3.66980926e-02 3.68995270e+01] [ 1.95659784e-01 9.80634182e-01 8.59358289e-03 5.74530691e+00] [-3.76704098e-02 -1.24092397e-03 9.99289448e-01 -1.41947662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:36.96, Y:5.76, Z:-1.42 [[ 9.79743777e-01 -1.96864263e-01 3.66959633e-02 3.69567170e+01] [ 1.96679940e-01 9.80430005e-01 8.60266572e-03 5.75711428e+00] [-3.76713809e-02 -1.21104836e-03 9.99289448e-01 -1.41681114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479000006 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:5.77, Z:-1.41 [[ 9.79469090e-01 -1.98226558e-01 3.66951449e-02 3.70139506e+01] [ 1.98043059e-01 9.80155539e-01 8.60615529e-03 5.77175946e+00] [-3.76729180e-02 -1.16224436e-03 9.99289448e-01 -1.41462623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37088847900001 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:5.78, Z:-1.41 [[ 9.79224894e-01 -1.99429757e-01 3.66930469e-02 3.70708697e+01] [ 1.99246767e-01 9.79911479e-01 8.61509066e-03 5.78478415e+00] [-3.76740433e-02 -1.12514026e-03 9.99289448e-01 -1.41419376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:5.80, Z:-1.42 [[ 9.79120984e-01 -1.99939499e-01 3.66919026e-02 3.71257324e+01] [ 1.99756684e-01 9.79807616e-01 8.61996184e-03 5.79901780e+00] [-3.76744764e-02 -1.11053275e-03 9.99289448e-01 -1.41863976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479000006 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:5.81, Z:-1.42 [[ 9.78849494e-01 -2.01264627e-01 3.66908496e-02 3.71830593e+01] [ 2.01082574e-01 9.79536328e-01 8.62444155e-03 5.81255101e+00] [-3.76758151e-02 -1.06413978e-03 9.99289448e-01 -1.42291920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55088847900001 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:5.83, Z:-1.43 [[ 9.78582646e-01 -2.02558480e-01 3.66887775e-02 3.72394676e+01] [ 2.02377005e-01 9.79269633e-01 8.63324725e-03 5.82531707e+00] [-3.76769431e-02 -1.02338103e-03 9.99289448e-01 -1.42678144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:5.84, Z:-1.43 [[ 9.78353646e-01 -2.03661806e-01 3.66880499e-02 3.72963936e+01] [ 2.03480990e-01 9.79040806e-01 8.63633810e-03 5.83739453e+00] [-3.76779902e-02 -9.84072136e-04 9.99289448e-01 -1.42768933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479000006 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:5.85, Z:-1.43 [[ 9.78316580e-01 -2.03840201e-01 3.66857116e-02 3.73535977e+01] [ 2.03659139e-01 9.79003676e-01 8.64625933e-03 5.84969581e+00] [-3.76779018e-02 -9.87398416e-04 9.99289448e-01 -1.42799840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73088847900001 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:5.86, Z:-1.43 [[ 9.78789753e-01 -2.01556266e-01 3.66836753e-02 3.74103876e+01] [ 2.01373277e-01 9.79476338e-01 8.65489055e-03 5.86434582e+00] [-3.76752393e-02 -1.08420627e-03 9.99289448e-01 -1.42827125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:5.88, Z:-1.43 [[ 9.79317898e-01 -1.98974665e-01 3.66815785e-02 3.74681398e+01] [ 1.98789534e-01 9.80003908e-01 8.66376809e-03 5.87735051e+00] [-3.76719606e-02 -1.19266926e-03 9.99289448e-01 -1.43162682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479000005 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:37.52, Y:5.89, Z:-1.43 [[ 9.80168543e-01 -1.94741483e-01 3.66794457e-02 3.75249381e+01] [ 1.94553053e-01 9.80853655e-01 8.67278796e-03 5.88657348e+00] [-3.76661200e-02 -1.36469581e-03 9.99289448e-01 -1.43144968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91088847900001 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:37.58, Y:5.90, Z:-1.44 [[ 9.80720300e-01 -1.91943712e-01 3.66783966e-02 3.75813423e+01] [ 1.91753162e-01 9.81404825e-01 8.67722255e-03 5.89910578e+00] [-3.76618937e-02 -1.47672979e-03 9.99289448e-01 -1.43541316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:5.91, Z:-1.44 [[ 9.80688334e-01 -1.92107108e-01 3.66776640e-02 3.76378090e+01] [ 1.91916556e-01 9.81372859e-01 8.68031803e-03 5.91445527e+00] [-3.76620148e-02 -1.47363564e-03 9.99289448e-01 -1.43738701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479000005 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:5.93, Z:-1.44 [[ 9.80453431e-01 -1.93302798e-01 3.66755831e-02 3.76956144e+01] [ 1.93112753e-01 9.81138096e-01 8.68910138e-03 5.92553562e+00] [-3.76634394e-02 -1.43673643e-03 9.99289448e-01 -1.43835639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:5.93, Z:-1.44 [[ 9.80032487e-01 -1.95426149e-01 3.66734813e-02 3.77542030e+01] [ 1.95237257e-01 9.80717472e-01 8.69796333e-03 5.93383678e+00] [-3.76661333e-02 -1.36425675e-03 9.99289448e-01 -1.43663855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:37.81, Y:5.95, Z:-1.44 [[ 9.79780208e-01 -1.96687452e-01 3.66713792e-02 3.78103258e+01] [ 1.96499111e-01 9.80465344e-01 8.70681697e-03 5.94812012e+00] [-3.76675381e-02 -1.32487355e-03 9.99289448e-01 -1.44142981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.87, Y:5.96, Z:-1.44 [[ 9.79833994e-01 -1.96419774e-01 3.66690077e-02 3.78674378e+01] [ 1.96230872e-01 9.80518976e-01 8.71679334e-03 5.96033153e+00] [-3.76668084e-02 -1.34541907e-03 9.99289448e-01 -1.44404880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:5.97, Z:-1.46 [[ 9.79554896e-01 -1.97807399e-01 3.66665932e-02 3.79246219e+01] [ 1.97619088e-01 9.80240040e-01 8.72693783e-03 5.97456744e+00] [-3.76683157e-02 -1.30249597e-03 9.99289448e-01 -1.45544809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:5.99, Z:-1.45 [[ 9.80523005e-01 -1.92951703e-01 3.66643948e-02 3.79812835e+01] [ 1.92759656e-01 9.81207111e-01 8.73616435e-03 5.98541514e+00] [-3.76610226e-02 -1.49859401e-03 9.99289448e-01 -1.45357162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:6.00, Z:-1.45 [[ 9.80798112e-01 -1.91548537e-01 3.66636220e-02 3.80393995e+01] [ 1.91355391e-01 9.81481909e-01 8.73940614e-03 5.99647274e+00] [-3.76587022e-02 -1.55581133e-03 9.99289448e-01 -1.45205772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:6.01, Z:-1.45 [[ 9.80848888e-01 -1.91288766e-01 3.66615085e-02 3.80973077e+01] [ 1.91095108e-01 9.81532540e-01 8.74826326e-03 6.00505624e+00] [-3.76579081e-02 -1.57488937e-03 9.99289448e-01 -1.45002302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:6.02, Z:-1.45 [[ 9.81012750e-01 -1.90446771e-01 3.66607642e-02 3.81537918e+01] [ 1.90252409e-01 9.81696203e-01 8.75138112e-03 6.01893835e+00] [-3.76564053e-02 -1.61041775e-03 9.99289448e-01 -1.45217141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:6.03, Z:-1.46 [[ 9.81622454e-01 -1.87279273e-01 3.66583086e-02 3.82096870e+01] [ 1.87082323e-01 9.82305165e-01 8.76165534e-03 6.03215860e+00] [-3.76505223e-02 -1.74251607e-03 9.99289448e-01 -1.45538803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:6.04, Z:-1.46 [[ 9.81897271e-01 -1.85833186e-01 3.66575527e-02 3.82665682e+01] [ 1.85635113e-01 9.82579657e-01 8.76481682e-03 6.04439476e+00] [-3.76477594e-02 -1.80122077e-03 9.99289448e-01 -1.45666372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:6.06, Z:-1.46 [[ 9.81977037e-01 -1.85411714e-01 3.66550966e-02 3.83228637e+01] [ 1.85212967e-01 9.82659226e-01 8.77507642e-03 6.05619464e+00] [-3.76464708e-02 -1.82792435e-03 9.99289449e-01 -1.45956888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:6.07, Z:-1.46 [[ 9.81906463e-01 -1.85785243e-01 3.66543432e-02 3.83797994e+01] [ 1.85586638e-01 9.82588695e-01 8.77822233e-03 6.06949857e+00] [-3.76470074e-02 -1.81683693e-03 9.99289449e-01 -1.46176327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479000006 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:6.08, Z:-1.47 [[ 9.81629891e-01 -1.87241546e-01 3.66518917e-02 3.84362060e+01] [ 1.87043573e-01 9.82312305e-01 8.78844621e-03 6.08099014e+00] [-3.76491665e-02 -1.77150072e-03 9.99289449e-01 -1.46502676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:6.09, Z:-1.47 [[ 9.81313050e-01 -1.88895187e-01 3.66511401e-02 3.84923163e+01] [ 1.88698246e-01 9.81995764e-01 8.79157952e-03 6.09405075e+00] [-3.76519514e-02 -1.71128585e-03 9.99289449e-01 -1.46791374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:6.10, Z:-1.47 [[ 9.80861382e-01 -1.91227137e-01 3.66487579e-02 3.85494823e+01] [ 1.91031451e-01 9.81544456e-01 8.80149887e-03 6.10469706e+00] [-3.76554706e-02 -1.63198496e-03 9.99289449e-01 -1.47260186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:6.12, Z:-1.48 [[ 9.79194815e-01 -1.99585725e-01 3.66476712e-02 3.86055826e+01] [ 1.99395702e-01 9.79879486e-01 8.80602150e-03 6.12316290e+00] [-3.76678574e-02 -1.31542247e-03 9.99289449e-01 -1.48355430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.66, Y:6.13, Z:-1.48 [[ 9.78519100e-01 -2.02873062e-01 3.66454794e-02 3.86631402e+01] [ 2.02684998e-01 9.79204312e-01 8.81513280e-03 6.13432509e+00] [-3.76717645e-02 -1.19828689e-03 9.99289449e-01 -1.48349602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:6.14, Z:-1.48 [[ 9.77896305e-01 -2.05854585e-01 3.66429524e-02 3.87208825e+01] [ 2.05668218e-01 9.78581981e-01 8.82562464e-03 6.14390993e+00] [-3.76749282e-02 -1.09425501e-03 9.99289449e-01 -1.48039015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:6.15, Z:-1.48 [[ 9.78531843e-01 -2.02812503e-01 3.66404155e-02 3.87779769e+01] [ 2.02623611e-01 9.79216827e-01 8.83614449e-03 6.15342223e+00] [-3.76709920e-02 -1.22223547e-03 9.99289449e-01 -1.47554531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:6.17, Z:-1.49 [[ 9.77992887e-01 -2.05395836e-01 3.66396367e-02 3.88352088e+01] [ 2.05208632e-01 9.78678335e-01 8.83937244e-03 6.16783454e+00] [-3.76739889e-02 -1.12607363e-03 9.99289449e-01 -1.48518465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:6.18, Z:-1.48 [[ 9.78388052e-01 -2.03505594e-01 3.66373171e-02 3.88919039e+01] [ 2.03316707e-01 9.79073037e-01 8.84897653e-03 6.17949077e+00] [-3.76714255e-02 -1.20875424e-03 9.99289449e-01 -1.47971906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:6.19, Z:-1.48 [[ 9.77681440e-01 -2.06873800e-01 3.66365040e-02 3.89474681e+01] [ 2.06687147e-01 9.78367037e-01 8.85234139e-03 6.19356631e+00] [-3.76752654e-02 -1.08247538e-03 9.99289449e-01 -1.48327718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:6.20, Z:-1.48 [[ 9.76268814e-01 -2.13440966e-01 3.66354598e-02 3.90065405e+01] [ 2.13258764e-01 9.76955608e-01 8.85666081e-03 6.20045815e+00] [-3.76815921e-02 -8.33648866e-04 9.99289449e-01 -1.48081362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:6.22, Z:-1.48 [[ 9.75330435e-01 -2.17689105e-01 3.66332757e-02 3.90621317e+01] [ 2.17509556e-01 9.76017926e-01 8.86568545e-03 6.21543199e+00] [-3.76846969e-02 -6.78885282e-04 9.99289449e-01 -1.48199986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:6.23, Z:-1.48 [[ 9.75177013e-01 -2.18375483e-01 3.66325122e-02 3.91187412e+01] [ 2.18196299e-01 9.75864601e-01 8.86883933e-03 6.23035709e+00] [-3.76851089e-02 -6.55609663e-04 9.99289449e-01 -1.48239564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:6.24, Z:-1.48 [[ 9.75496981e-01 -2.16942050e-01 3.66304207e-02 3.91751210e+01] [ 2.16761532e-01 9.76184219e-01 8.87746909e-03 6.24464822e+00] [-3.76839350e-02 -7.19878162e-04 9.99289449e-01 -1.48299338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:39.23, Y:6.26, Z:-1.49 [[ 9.75767350e-01 -2.15723142e-01 3.66279148e-02 3.92311896e+01] [ 2.15541378e-01 9.76454260e-01 8.88779625e-03 6.25941104e+00] [-3.76827868e-02 -7.77590150e-04 9.99289449e-01 -1.48592500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:6.28, Z:-1.49 [[ 9.76229373e-01 -2.13623011e-01 3.66253965e-02 3.92868332e+01] [ 2.13439381e-01 9.76915786e-01 8.89816198e-03 6.27644470e+00] [-3.76807801e-02 -8.69345140e-04 9.99289449e-01 -1.48903093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77088847900001 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:6.29, Z:-1.49 [[ 9.76357263e-01 -2.13038160e-01 3.66229082e-02 3.93419494e+01] [ 2.12853736e-01 9.77043463e-01 8.90839139e-03 6.29188524e+00] [-3.76800004e-02 -9.02449818e-04 9.99289449e-01 -1.49153547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:6.31, Z:-1.49 [[ 9.76376497e-01 -2.12950175e-01 3.66218391e-02 3.93977006e+01] [ 2.12765523e-01 9.77062636e-01 8.91278439e-03 6.30703611e+00] [-3.76798096e-02 -9.10368451e-04 9.99289449e-01 -1.49218458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479000004 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:39.45, Y:6.32, Z:-1.49 [[ 9.76103012e-01 -2.14200689e-01 3.66193204e-02 3.94539913e+01] [ 2.14016529e-01 9.76789283e-01 8.92312048e-03 6.32425838e+00] [-3.76806983e-02 -8.72744913e-04 9.99289449e-01 -1.49336611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:6.34, Z:-1.49 [[ 9.75792615e-01 -2.15610666e-01 3.66171239e-02 3.95097965e+01] [ 2.15427160e-01 9.76479061e-01 8.93212503e-03 6.33995546e+00] [-3.76817162e-02 -8.27578618e-04 9.99289449e-01 -1.49446151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:6.35, Z:-1.50 [[ 9.75642079e-01 -2.16290953e-01 3.66163543e-02 3.95663153e+01] [ 2.16107808e-01 9.76328621e-01 8.93527881e-03 6.35496663e+00] [-3.76822147e-02 -8.04553918e-04 9.99289449e-01 -1.49524258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479000004 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:6.37, Z:-1.50 [[ 9.75762584e-01 -2.15747086e-01 3.66138539e-02 3.96225022e+01] [ 2.15563174e-01 9.76448921e-01 8.94551319e-03 6.37066528e+00] [-3.76815265e-02 -8.36098508e-04 9.99289449e-01 -1.49929405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:6.39, Z:-1.50 [[ 9.76144025e-01 -2.14015074e-01 3.66113524e-02 3.96780356e+01] [ 2.13829561e-01 9.76829931e-01 8.95573938e-03 6.38631918e+00] [-3.76797280e-02 -9.13502058e-04 9.99289449e-01 -1.50333240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:6.41, Z:-1.51 [[ 9.76459569e-01 -2.12570870e-01 3.66105841e-02 3.97330943e+01] [ 2.12384225e-01 9.77145168e-01 8.95887899e-03 6.40529296e+00] [-3.76782521e-02 -9.72472606e-04 9.99289449e-01 -1.51035400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250888479000004 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:39.79, Y:6.42, Z:-1.51 [[ 9.76833915e-01 -2.10844364e-01 3.66081486e-02 3.97898299e+01] [ 2.10656135e-01 9.77519081e-01 8.96882009e-03 6.41978149e+00] [-3.76761889e-02 -1.04931654e-03 9.99289449e-01 -1.51186396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.85, Y:6.43, Z:-1.51 [[ 9.77421215e-01 -2.08105242e-01 3.66056898e-02 3.98463785e+01] [ 2.07914718e-01 9.78105746e-01 8.97884429e-03 6.43290884e+00] [-3.76727801e-02 -1.16525124e-03 9.99289449e-01 -1.51194165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37088847900001 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:6.45, Z:-1.51 [[ 9.78464879e-01 -2.03142024e-01 3.66032520e-02 3.99013566e+01] [ 2.02947658e-01 9.79148329e-01 8.98877119e-03 6.45006397e+00] [-3.76660102e-02 -1.36665266e-03 9.99289450e-01 -1.51365072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:6.46, Z:-1.52 [[ 9.79027626e-01 -2.00412484e-01 3.66025025e-02 3.99581665e+01] [ 2.00216098e-01 9.79710499e-01 8.99182222e-03 6.46353113e+00] [-3.76619294e-02 -1.47483213e-03 9.99289450e-01 -1.51782638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:6.48, Z:-1.52 [[ 9.79092460e-01 -2.00095945e-01 3.66001168e-02 4.00150737e+01] [ 1.99898976e-01 9.79775164e-01 9.00152232e-03 6.47641178e+00] [-3.76610536e-02 -1.49699675e-03 9.99289450e-01 -1.52092163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:6.49, Z:-1.52 [[ 9.79216447e-01 -1.99488764e-01 3.65975788e-02 4.00711622e+01] [ 1.99290988e-01 9.79898918e-01 9.01182961e-03 6.48914015e+00] [-3.76596866e-02 -1.53096414e-03 9.99289450e-01 -1.52384743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:6.51, Z:-1.54 [[ 9.78327403e-01 -2.03804237e-01 3.65967988e-02 4.01265768e+01] [ 2.03609353e-01 9.79010705e-01 9.01499578e-03 6.51009409e+00] [-3.76659522e-02 -1.36816688e-03 9.99289450e-01 -1.53695710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:6.52, Z:-1.53 [[ 9.79725901e-01 -1.96972063e-01 3.65946082e-02 4.01851741e+01] [ 1.96772084e-01 9.80407730e-01 9.02387961e-03 6.51601448e+00] [-3.76550889e-02 -1.64013127e-03 9.99289450e-01 -1.52845027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:6.53, Z:-1.54 [[ 9.78652130e-01 -2.02239706e-01 3.65938414e-02 4.02402282e+01] [ 2.02043282e-01 9.79334991e-01 9.02698803e-03 6.53378080e+00] [-3.76632447e-02 -1.44074125e-03 9.99289450e-01 -1.54060217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:6.54, Z:-1.53 [[ 9.79501788e-01 -1.98084156e-01 3.65911823e-02 4.02987144e+01] [ 1.97884434e-01 9.80183692e-01 9.03775383e-03 6.53993873e+00] [-3.76563160e-02 -1.61167063e-03 9.99289450e-01 -1.53152312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:6.56, Z:-1.54 [[ 9.77899869e-01 -2.05847009e-01 3.65903708e-02 4.03544089e+01] [ 2.05652579e-01 9.78583301e-01 9.04103792e-03 6.55756316e+00] [-3.76677965e-02 -1.31632565e-03 9.99289450e-01 -1.54329991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.41, Y:6.57, Z:-1.55 [[ 9.77644580e-01 -2.07056490e-01 3.65880422e-02 4.04112039e+01] [ 2.06862555e-01 9.78328152e-01 9.05045192e-03 6.56867850e+00] [-3.76690665e-02 -1.27942939e-03 9.99289450e-01 -1.54669023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:6.58, Z:-1.55 [[ 9.78169906e-01 -2.04560871e-01 3.65853031e-02 4.04679748e+01] [ 2.04364778e-01 9.78852863e-01 9.06151097e-03 6.58147979e+00] [-3.76652592e-02 -1.38694999e-03 9.99289450e-01 -1.54988039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479000005 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:40.53, Y:6.59, Z:-1.54 [[ 9.79577045e-01 -1.97712899e-01 3.65844623e-02 4.05271020e+01] [ 1.97511907e-01 9.80258575e-01 9.06490436e-03 6.58579959e+00] [-3.76544814e-02 -1.65390532e-03 9.99289450e-01 -1.53992969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:6.60, Z:-1.55 [[ 9.78970177e-01 -2.00696362e-01 3.65836398e-02 4.05834815e+01] [ 2.00497323e-01 9.79652281e-01 9.06822248e-03 6.60339529e+00] [-3.76592054e-02 -1.54259754e-03 9.99289450e-01 -1.54814947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:6.61, Z:-1.54 [[ 9.80058321e-01 -1.95313841e-01 3.65813008e-02 4.06409904e+01] [ 1.95110706e-01 9.80739215e-01 9.07764797e-03 6.61337909e+00] [-3.76497066e-02 -1.75922100e-03 9.99289450e-01 -1.54181439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:6.62, Z:-1.54 [[ 9.79948285e-01 -1.95865331e-01 3.65804817e-02 4.06977600e+01] [ 1.95662457e-01 9.80629257e-01 9.08094787e-03 6.62335467e+00] [-3.76505334e-02 -1.74143238e-03 9.99289450e-01 -1.54238162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:6.64, Z:-1.55 [[ 9.78921741e-01 -2.00933251e-01 3.65794200e-02 4.07523157e+01] [ 2.00733743e-01 9.79603707e-01 9.08522221e-03 6.64166711e+00] [-3.76588587e-02 -1.55099765e-03 9.99289450e-01 -1.55420142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.81, Y:6.66, Z:-1.56 [[ 9.79056171e-01 -2.00277684e-01 3.65768241e-02 4.08090346e+01] [ 2.00077330e-01 9.79737889e-01 9.09566136e-03 6.65573162e+00] [-3.76573584e-02 -1.58697007e-03 9.99289450e-01 -1.55851660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:6.67, Z:-1.56 [[ 9.78710672e-01 -2.01959761e-01 3.65742526e-02 4.08665382e+01] [ 2.01760194e-01 9.79392621e-01 9.10598984e-03 6.66656196e+00] [-3.76595966e-02 -1.53290114e-03 9.99289450e-01 -1.55837431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.92, Y:6.68, Z:-1.56 [[ 9.78378292e-01 -2.03564343e-01 3.65715104e-02 4.09222088e+01] [ 2.03365484e-01 9.79060448e-01 9.11698997e-03 6.68026520e+00] [-3.76616134e-02 -1.48248217e-03 9.99289450e-01 -1.56096481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.98, Y:6.69, Z:-1.56 [[ 9.78430450e-01 -2.03313712e-01 3.65703323e-02 4.09784138e+01] [ 2.03114501e-01 9.79112503e-01 9.12171282e-03 6.69424171e+00] [-3.76610389e-02 -1.49699676e-03 9.99289450e-01 -1.56273178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.04, Y:6.70, Z:-1.56 [[ 9.79254677e-01 -1.99306511e-01 3.65676333e-02 4.10359847e+01] [ 1.99104107e-01 9.79935789e-01 9.13251998e-03 6.70406579e+00] [-3.76541033e-02 -1.66229692e-03 9.99289450e-01 -1.55568496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.09, Y:6.72, Z:-1.56 [[ 9.79422655e-01 -1.98479622e-01 3.65664002e-02 4.10923620e+01] [ 1.98276460e-01 9.80103542e-01 9.13745452e-03 6.71933989e+00] [-3.76524569e-02 -1.69917359e-03 9.99289450e-01 -1.55796925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:6.74, Z:-1.56 [[ 9.79497944e-01 -1.98108185e-01 3.65639857e-02 4.11476574e+01] [ 1.97904405e-01 9.80178646e-01 9.14710619e-03 6.73571937e+00] [-3.76513546e-02 -1.72339789e-03 9.99289450e-01 -1.56314356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.21, Y:6.75, Z:-1.57 [[ 9.79230614e-01 -1.99425512e-01 3.65632438e-02 4.12051125e+01] [ 1.99222537e-01 9.79911556e-01 9.15007093e-03 6.74887646e+00] [-3.76535027e-02 -1.67580739e-03 9.99289450e-01 -1.56510082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:6.76, Z:-1.57 [[ 9.79117153e-01 -1.99982229e-01 3.65610388e-02 4.12625935e+01] [ 1.99779313e-01 9.79798112e-01 9.15887284e-03 6.76350954e+00] [-3.76540486e-02 -1.66347025e-03 9.99289450e-01 -1.56867147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:6.78, Z:-1.57 [[ 9.78512864e-01 -2.02918589e-01 3.65598227e-02 4.13186178e+01] [ 2.02717536e-01 9.79194376e-01 9.16372466e-03 6.77669960e+00] [-3.76586629e-02 -1.55550530e-03 9.99289450e-01 -1.56970384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:6.79, Z:-1.57 [[ 9.77709828e-01 -2.06753305e-01 3.65590363e-02 4.13765342e+01] [ 2.06554809e-01 9.78392089e-01 9.16686112e-03 6.78974804e+00] [-3.76643507e-02 -1.41108546e-03 9.99289450e-01 -1.56769289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:6.80, Z:-1.57 [[ 9.77481979e-01 -2.07828243e-01 3.65568302e-02 4.14332130e+01] [ 2.07630169e-01 9.78164363e-01 9.17565047e-03 6.80355037e+00] [-3.76655478e-02 -1.37873215e-03 9.99289450e-01 -1.56888043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:6.82, Z:-1.57 [[ 9.77787509e-01 -2.06386472e-01 3.65542326e-02 4.14884328e+01] [ 2.06187006e-01 9.78469487e-01 9.18598722e-03 6.81910199e+00] [-3.76630647e-02 -1.44493580e-03 9.99289450e-01 -1.57129120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:41.54, Y:6.84, Z:-1.58 [[ 9.78222294e-01 -2.04315964e-01 3.65531189e-02 4.15444866e+01] [ 2.04114889e-01 9.78903799e-01 9.19041654e-03 6.83557414e+00] [-3.76597358e-02 -1.52923455e-03 9.99289450e-01 -1.57504165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:6.85, Z:-1.58 [[ 9.79120078e-01 -1.99969808e-01 3.65506326e-02 4.16011935e+01] [ 1.99765340e-01 9.79800573e-01 9.20029424e-03 6.85243640e+00] [-3.76521118e-02 -1.70664325e-03 9.99289450e-01 -1.57909238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:6.87, Z:-1.59 [[ 9.79846810e-01 -1.96378305e-01 3.65484649e-02 4.16563453e+01] [ 1.96171024e-01 9.80526453e-01 9.20889736e-03 6.87266602e+00] [-3.76451643e-02 -1.85355892e-03 9.99289451e-01 -1.58501533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:41.71, Y:6.89, Z:-1.59 [[ 9.79768555e-01 -1.96768780e-01 3.65462032e-02 4.17120744e+01] [ 1.96561436e-01 9.80448180e-01 9.21786441e-03 6.88768298e+00] [-3.76454463e-02 -1.84779950e-03 9.99289451e-01 -1.58718014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479000005 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:6.90, Z:-1.59 [[ 9.79128665e-01 -1.99928715e-01 3.65454107e-02 4.17694231e+01] [ 1.99723448e-01 9.79808919e-01 9.22100539e-03 6.90300654e+00] [-3.76510631e-02 -1.72957527e-03 9.99289451e-01 -1.58688431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:41.83, Y:6.92, Z:-1.59 [[ 9.77874220e-01 -2.05977197e-01 3.65431838e-02 4.18259075e+01] [ 2.05775810e-01 9.78555633e-01 9.22982231e-03 6.92092934e+00] [-3.76606712e-02 -1.50590205e-03 9.99289451e-01 -1.58832237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:6.94, Z:-1.59 [[ 9.76801780e-01 -2.11004838e-01 3.65409547e-02 4.18823863e+01] [ 2.10806629e-01 9.77484124e-01 9.23863869e-03 6.93618731e+00] [-3.76676006e-02 -1.32124324e-03 9.99289451e-01 -1.59024421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:6.95, Z:-1.59 [[ 9.75026951e-01 -2.19060254e-01 3.65383280e-02 4.19395223e+01] [ 2.18867295e-01 9.75710799e-01 9.24901551e-03 6.94693991e+00] [-3.76769329e-02 -1.02099438e-03 9.99289451e-01 -1.58957338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:6.96, Z:-1.59 [[ 9.74347869e-01 -2.22061343e-01 3.65375202e-02 4.19959659e+01] [ 2.21870372e-01 9.75032274e-01 9.25220574e-03 6.96065699e+00] [-3.76798186e-02 -9.08273762e-04 9.99289451e-01 -1.59129725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:6.98, Z:-1.59 [[ 9.72712602e-01 -2.29118722e-01 3.65349871e-02 4.20526776e+01] [ 2.28932341e-01 9.73398271e-01 9.26219753e-03 6.97802138e+00] [-3.76852361e-02 -6.45416117e-04 9.99289451e-01 -1.59497617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479000005 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:6.99, Z:-1.60 [[ 9.71328648e-01 -2.34917046e-01 3.65327224e-02 4.21095141e+01] [ 2.34734423e-01 9.72015328e-01 9.27112149e-03 6.98975661e+00] [-3.76883106e-02 -4.29818379e-04 9.99289451e-01 -1.59804688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:7.00, Z:-1.60 [[ 9.70292194e-01 -2.39162306e-01 3.65301142e-02 4.21654578e+01] [ 2.38982302e-01 9.70979565e-01 9.28138724e-03 7.00313343e+00] [-3.76897523e-02 -2.75606818e-04 9.99289451e-01 -1.60188277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.22, Y:7.02, Z:-1.61 [[ 9.69476535e-01 -2.42447636e-01 3.65293155e-02 4.22216727e+01] [ 2.42269843e-01 9.70164481e-01 9.28452938e-03 7.01930644e+00] [-3.76904566e-02 -1.51181853e-04 9.99289451e-01 -1.60551481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:7.03, Z:-1.60 [[ 9.68907075e-01 -2.44713720e-01 3.65277261e-02 4.22796573e+01] [ 2.44537300e-01 9.69595375e-01 9.29077834e-03 7.03179985e+00] [-3.76906952e-02 -6.95093560e-05 9.99289451e-01 -1.60268626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:7.05, Z:-1.60 [[ 9.68769851e-01 -2.45256726e-01 3.65255258e-02 4.23354040e+01] [ 2.45080366e-01 9.69458166e-01 9.29942045e-03 7.04987915e+00] [-3.76907147e-02 -5.73089239e-05 9.99289451e-01 -1.60284436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:42.39, Y:7.07, Z:-1.61 [[ 9.68904591e-01 -2.44724218e-01 3.65232932e-02 4.23901286e+01] [ 2.44547149e-01 9.69592724e-01 9.30818066e-03 7.06748882e+00] [-3.76906566e-02 -8.70717293e-05 9.99289451e-01 -1.60785803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.45, Y:7.08, Z:-1.61 [[ 9.69082534e-01 -2.44018793e-01 3.65221943e-02 4.24471586e+01] [ 2.43841061e-01 9.69770496e-01 9.31249056e-03 7.08220696e+00] [-3.76905692e-02 -1.18961365e-04 9.99289451e-01 -1.61055076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:7.10, Z:-1.61 [[ 9.69145493e-01 -2.43768966e-01 3.65199168e-02 4.25034142e+01] [ 2.43590720e-01 9.69833322e-01 9.32141336e-03 7.10120021e+00] [-3.76905035e-02 -1.37892923e-04 9.99289451e-01 -1.61280278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19088847900001 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:7.12, Z:-1.62 [[ 9.69425059e-01 -2.42655136e-01 3.65176567e-02 4.25582056e+01] [ 2.42475767e-01 9.70112596e-01 9.33025904e-03 7.12073626e+00] [-3.76902741e-02 -1.90340089e-04 9.99289451e-01 -1.61508283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479000004 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:7.13, Z:-1.62 [[ 9.69376257e-01 -2.42850413e-01 3.65150547e-02 4.26150394e+01] [ 2.42670799e-01 9.70063730e-01 9.34043122e-03 7.13457896e+00] [-3.76902578e-02 -1.93254733e-04 9.99289451e-01 -1.61726391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479000006 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:7.15, Z:-1.62 [[ 9.69094468e-01 -2.43972856e-01 3.65124305e-02 4.26686442e+01] [ 2.43793652e-01 9.69782048e-01 9.35067825e-03 7.15377692e+00] [-3.76904113e-02 -1.60191775e-04 9.99289451e-01 -1.62339606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37088847900001 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:7.17, Z:-1.63 [[ 9.69114184e-01 -2.43894695e-01 3.65113020e-02 4.27245215e+01] [ 2.43715270e-01 9.69801706e-01 9.35508282e-03 7.17084961e+00] [-3.76903780e-02 -1.67781632e-04 9.99289451e-01 -1.62518332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:7.19, Z:-1.63 [[ 9.70049529e-01 -2.40147927e-01 3.65086930e-02 4.27798806e+01] [ 2.39965464e-01 9.70736251e-01 9.36525322e-03 7.18883350e+00] [-3.76893579e-02 -3.23934009e-04 9.99289451e-01 -1.62630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479000006 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:7.21, Z:-1.63 [[ 9.71226798e-01 -2.35341905e-01 3.65060973e-02 4.28349648e+01] [ 2.35155664e-01 9.71912504e-01 9.37536065e-03 7.20544130e+00] [-3.76871477e-02 -5.20985944e-04 9.99289451e-01 -1.62889035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55088847900001 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:7.23, Z:-1.64 [[ 9.73014955e-01 -2.27836191e-01 3.65043462e-02 4.28907076e+01] [ 2.27644406e-01 9.73699132e-01 9.38217393e-03 7.22625692e+00] [-3.76818490e-02 -8.18985348e-04 9.99289451e-01 -1.63643431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:7.24, Z:-1.64 [[ 9.74454902e-01 -2.21596996e-01 3.65022590e-02 4.29457642e+01] [ 2.21400527e-01 9.75137749e-01 9.39028712e-03 7.24457020e+00] [-3.76755901e-02 -1.06879191e-03 9.99289451e-01 -1.64031119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479000006 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:7.26, Z:-1.64 [[ 9.75318579e-01 -2.17764663e-01 3.64996014e-02 4.30010827e+01] [ 2.17565126e-01 9.76000535e-01 9.40060586e-03 7.26105649e+00] [-3.76707503e-02 -1.22754519e-03 9.99289451e-01 -1.64308601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73088847900001 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:7.27, Z:-1.64 [[ 9.76131742e-01 -2.14090630e-01 3.64969068e-02 4.30565334e+01] [ 2.13888136e-01 9.76812826e-01 9.41105589e-03 7.27340533e+00] [-3.76654655e-02 -1.38017503e-03 9.99289451e-01 -1.64353989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:43.11, Y:7.30, Z:-1.66 [[ 9.74608556e-01 -2.20921304e-01 3.64957475e-02 4.31103985e+01] [ 2.20723417e-01 9.75290993e-01 9.41554952e-03 7.29827080e+00] [-3.76740693e-02 -1.12100906e-03 9.99289451e-01 -1.65751521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479000005 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:43.17, Y:7.31, Z:-1.65 [[ 9.75877296e-01 -2.15248090e-01 3.64933270e-02 4.31686478e+01] [ 2.15045886e-01 9.76558466e-01 9.42492165e-03 7.30616157e+00] [-3.76665638e-02 -1.34982723e-03 9.99289452e-01 -1.64941584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91088847900001 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:7.31, Z:-1.65 [[ 9.75662833e-01 -2.16218257e-01 3.64924811e-02 4.32263537e+01] [ 2.16016608e-01 9.76344168e-01 9.42819557e-03 7.31459263e+00] [-3.76677691e-02 -1.31575800e-03 9.99289452e-01 -1.64922818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:43.28, Y:7.33, Z:-1.65 [[ 9.75512101e-01 -2.16897744e-01 3.64898576e-02 4.32825004e+01] [ 2.16696191e-01 9.76193464e-01 9.43833870e-03 7.32843352e+00] [-3.76683148e-02 -1.30000047e-03 9.99289452e-01 -1.65119115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479000005 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:43.34, Y:7.35, Z:-1.66 [[ 9.75549675e-01 -2.16729123e-01 3.64872416e-02 4.33374051e+01] [ 2.16527074e-01 9.76230891e-01 9.44844091e-03 7.34618324e+00] [-3.76677247e-02 -1.31694779e-03 9.99289452e-01 -1.65619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09088847900001 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:43.39, Y:7.36, Z:-1.66 [[ 9.75292991e-01 -2.17881736e-01 3.64846610e-02 4.33949559e+01] [ 2.17680121e-01 9.75974336e-01 9.45839533e-03 7.35666097e+00] [-3.76689043e-02 -1.28272127e-03 9.99289452e-01 -1.65739294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:43.45, Y:7.37, Z:-1.66 [[ 9.74595930e-01 -2.20979259e-01 3.64820538e-02 4.34513172e+01] [ 2.20779434e-01 9.75277802e-01 9.46844059e-03 7.36924147e+00] [-3.76724663e-02 -1.17341648e-03 9.99289452e-01 -1.65817919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479000005 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:7.39, Z:-1.66 [[ 9.74048434e-01 -2.23380627e-01 3.64793728e-02 4.35064802e+01] [ 2.23182097e-01 9.74730683e-01 9.47875872e-03 7.38668221e+00] [-3.76749350e-02 -1.09122717e-03 9.99289452e-01 -1.66266064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27088847900001 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:7.40, Z:-1.66 [[ 9.73959394e-01 -2.23768971e-01 3.64766676e-02 4.35627879e+01] [ 2.23570324e-01 9.74641609e-01 9.48915772e-03 7.39826909e+00] [-3.76750570e-02 -1.08695393e-03 9.99289452e-01 -1.66280185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:7.41, Z:-1.66 [[ 9.73671779e-01 -2.25017344e-01 3.64755049e-02 4.36191723e+01] [ 2.24819405e-01 9.74354200e-01 9.49362487e-03 7.41062031e+00] [-3.76762916e-02 -1.04327332e-03 9.99289452e-01 -1.66377184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479000004 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:7.43, Z:-1.67 [[ 9.73113877e-01 -2.27418363e-01 3.64728812e-02 4.36752587e+01] [ 2.27221730e-01 9.73796675e-01 9.50369406e-03 7.42706507e+00] [-3.76784850e-02 -9.60745412e-04 9.99289452e-01 -1.66661935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45088847900001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:7.44, Z:-1.67 [[ 9.73024806e-01 -2.27799588e-01 3.64702010e-02 4.37317166e+01] [ 2.27602837e-01 9.73707570e-01 9.51396800e-03 7.44170669e+00] [-3.76785888e-02 -9.56605630e-04 9.99289452e-01 -1.66794048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51088847900001 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:7.46, Z:-1.67 [[ 9.72330845e-01 -2.30744114e-01 3.64675571e-02 4.37877764e+01] [ 2.30549052e-01 9.73014094e-01 9.52409150e-03 7.45584926e+00] [-3.76810751e-02 -8.53007228e-04 9.99289452e-01 -1.66775314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479000004 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:7.47, Z:-1.67 [[ 9.71693736e-01 -2.33412933e-01 3.64648725e-02 4.38432354e+01] [ 2.33219362e-01 9.72377409e-01 9.53435888e-03 7.47140177e+00] [-3.76830609e-02 -7.60162482e-04 9.99289452e-01 -1.66978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479000006 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:7.49, Z:-1.67 [[ 9.71834692e-01 -2.32825770e-01 3.64621952e-02 4.38983521e+01] [ 2.32631403e-01 9.72518139e-01 9.54458680e-03 7.48580701e+00] [-3.76823720e-02 -7.93508965e-04 9.99289452e-01 -1.67105161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69088847900001 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:7.51, Z:-1.67 [[ 9.72944132e-01 -2.28145367e-01 3.64610442e-02 4.39538171e+01] [ 2.27947548e-01 9.73626588e-01 9.54898173e-03 7.50583974e+00] [-3.76779980e-02 -9.79420105e-04 9.99289452e-01 -1.67490075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479000004 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:7.52, Z:-1.68 [[ 9.74318681e-01 -2.22202318e-01 3.64587239e-02 4.40092377e+01] [ 2.22000006e-01 9.74999818e-01 9.55783257e-03 7.52379106e+00] [-3.76710217e-02 -1.21853789e-03 9.99289452e-01 -1.67878406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479000006 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:7.54, Z:-1.68 [[ 9.74664774e-01 -2.20679406e-01 3.64579075e-02 4.40646981e+01] [ 2.20475914e-01 9.75345559e-01 9.56094561e-03 7.54012033e+00] [-3.76689620e-02 -1.28062641e-03 9.99289452e-01 -1.68255867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87088847900001 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:7.56, Z:-1.69 [[ 9.73115399e-01 -2.27414685e-01 3.64552003e-02 4.41199248e+01] [ 2.27215520e-01 9.73797463e-01 9.57125690e-03 7.55842881e+00] [-3.76766259e-02 -1.03075019e-03 9.99289452e-01 -1.69399885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:7.57, Z:-1.70 [[ 9.71455708e-01 -2.34403553e-01 3.64524663e-02 4.41776982e+01] [ 2.34208906e-01 9.72139075e-01 9.58165796e-03 7.57166361e+00] [-3.76828416e-02 -7.70664066e-04 9.99289452e-01 -1.69612169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479000006 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:7.58, Z:-1.69 [[ 9.70599182e-01 -2.37925674e-01 3.64499753e-02 4.42339700e+01] [ 2.37733151e-01 9.71283151e-01 9.59112502e-03 7.58422937e+00] [-3.76852217e-02 -6.43770632e-04 9.99289452e-01 -1.69490284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05088847900001 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:7.60, Z:-1.70 [[ 9.68923929e-01 -2.44658706e-01 3.64491022e-02 4.42895807e+01] [ 2.44470812e-01 9.69609184e-01 9.59444189e-03 7.59710824e+00] [-3.76887479e-02 -3.85542733e-04 9.99289452e-01 -1.69633517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:7.61, Z:-1.70 [[ 9.68228393e-01 -2.47397109e-01 3.64479144e-02 4.43450954e+01] [ 2.47210983e-01 9.68914129e-01 9.59895199e-03 7.60930169e+00] [-3.76896522e-02 -2.83653119e-04 9.99289452e-01 -1.69783415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479000006 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:44.40, Y:7.62, Z:-1.70 [[ 9.68725071e-01 -2.45445254e-01 3.64467461e-02 4.44013030e+01] [ 2.45257579e-01 9.69410385e-01 9.60338601e-03 7.62435805e+00] [-3.76889597e-02 -3.64200079e-04 9.99289452e-01 -1.70150326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23088847900001 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:44.46, Y:7.64, Z:-1.70 [[ 9.70701053e-01 -2.37510619e-01 3.64440921e-02 4.44581270e+01] [ 2.37316966e-01 9.71384702e-01 9.61344725e-03 7.63797945e+00] [-3.76845293e-02 -6.82982025e-04 9.99289452e-01 -1.70491840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:7.65, Z:-1.71 [[ 9.72146932e-01 -2.31521838e-01 3.64414733e-02 4.45139778e+01] [ 2.31323602e-01 9.72829267e-01 9.62336407e-03 7.65175737e+00] [-3.76793506e-02 -9.25550990e-04 9.99289453e-01 -1.70828399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479000005 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:44.57, Y:7.66, Z:-1.71 [[ 9.73720664e-01 -2.24811657e-01 3.64388305e-02 4.45703448e+01] [ 2.24608346e-01 9.74401503e-01 9.63336043e-03 7.66354380e+00] [-3.76717429e-02 -1.19573666e-03 9.99289453e-01 -1.71202293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41088847900001 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:44.63, Y:7.68, Z:-1.71 [[ 9.72700199e-01 -2.29187117e-01 3.64360975e-02 4.46262116e+01] [ 2.28986483e-01 9.73381832e-01 9.64368653e-03 7.67692070e+00] [-3.76764440e-02 -1.03704200e-03 9.99289453e-01 -1.71284666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:7.69, Z:-1.71 [[ 9.71576894e-01 -2.33903476e-01 3.64349190e-02 4.46838960e+01] [ 2.33705984e-01 9.72259444e-01 9.64813682e-03 7.68730522e+00] [-3.76809268e-02 -8.58848206e-04 9.99289453e-01 -1.71268666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:7.70, Z:-1.71 [[ 9.70177817e-01 -2.39640761e-01 3.64322574e-02 4.47416187e+01] [ 2.39446930e-01 9.70861415e-01 9.65817672e-03 7.69672876e+00] [-3.76851658e-02 -6.46556622e-04 9.99289453e-01 -1.71190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59088847900001 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:7.71, Z:-1.72 [[ 9.70348382e-01 -2.38949591e-01 3.64295264e-02 4.47974438e+01] [ 2.38754886e-01 9.71031732e-01 9.66846686e-03 7.70925270e+00] [-3.76845023e-02 -6.84053736e-04 9.99289453e-01 -1.71715935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:7.72, Z:-1.72 [[ 9.71023752e-01 -2.36190280e-01 3.64283518e-02 4.48550566e+01] [ 2.35993468e-01 9.71706498e-01 9.67289052e-03 7.71982937e+00] [-3.76823089e-02 -7.95753385e-04 9.99289453e-01 -1.71826325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479000005 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:7.73, Z:-1.72 [[ 9.72697853e-01 -2.29198724e-01 3.64256904e-02 4.49108193e+01] [ 2.28996631e-01 9.73379055e-01 9.68290228e-03 7.73407606e+00] [-3.76753129e-02 -1.07717790e-03 9.99289453e-01 -1.72129264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:7.75, Z:-1.72 [[ 9.74742514e-01 -2.20341540e-01 3.64230417e-02 4.49668246e+01] [ 2.20132887e-01 9.75421735e-01 9.69285523e-03 7.74628978e+00] [-3.76635652e-02 -1.43012872e-03 9.99289453e-01 -1.72381226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:7.76, Z:-1.73 [[ 9.75339436e-01 -2.17684353e-01 3.64212524e-02 4.50242262e+01] [ 2.17473600e-01 9.76018008e-01 9.69957390e-03 7.75796687e+00] [-3.76592437e-02 -1.53971605e-03 9.99289453e-01 -1.72571780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:7.77, Z:-1.73 [[ 9.75739489e-01 -2.15884547e-01 3.64185748e-02 4.50796218e+01] [ 2.15672168e-01 9.76417554e-01 9.70961729e-03 7.77387326e+00] [-3.76558920e-02 -1.61958403e-03 9.99289453e-01 -1.73038732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:7.78, Z:-1.73 [[ 9.75767567e-01 -2.15758056e-01 3.64158785e-02 4.51370711e+01] [ 2.15545213e-01 9.76445487e-01 9.71971909e-03 7.78423809e+00] [-3.76552279e-02 -1.63491836e-03 9.99289453e-01 -1.73350048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:45.19, Y:7.79, Z:-1.73 [[ 9.75013129e-01 -2.19142625e-01 3.64130204e-02 4.51937998e+01] [ 2.18931736e-01 9.75691659e-01 9.73041470e-03 7.79381582e+00] [-3.76602289e-02 -1.51531631e-03 9.99289453e-01 -1.73016245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:7.81, Z:-1.73 [[ 9.74411286e-01 -2.21803579e-01 3.64117988e-02 4.52496618e+01] [ 2.21594373e-01 9.75090336e-01 9.73498391e-03 7.81033047e+00] [-3.76640474e-02 -1.41722846e-03 9.99289453e-01 -1.73407991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:7.82, Z:-1.74 [[ 9.73669256e-01 -2.25039009e-01 3.64091219e-02 4.53059063e+01] [ 2.24831686e-01 9.74348884e-01 9.74498521e-03 7.82066159e+00] [-3.76681891e-02 -1.30246823e-03 9.99289453e-01 -1.73500824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:7.83, Z:-1.74 [[ 9.72640258e-01 -2.29445829e-01 3.64079684e-02 4.53625518e+01] [ 2.29241426e-01 9.73320769e-01 9.74929272e-03 7.83205618e+00] [-3.76735664e-02 -1.13633999e-03 9.99289453e-01 -1.73771486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479000004 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:7.85, Z:-1.74 [[ 9.71547503e-01 -2.34030152e-01 3.64051943e-02 4.54175823e+01] [ 2.33828572e-01 9.72228856e-01 9.75964061e-03 7.84997404e+00] [-3.76782306e-02 -9.69379848e-04 9.99289453e-01 -1.74021356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.47, Y:7.86, Z:-1.74 [[ 9.69879421e-01 -2.40849814e-01 3.64043449e-02 4.54742494e+01] [ 2.40652907e-01 9.70562139e-01 9.76280816e-03 7.86308496e+00] [-3.76840494e-02 -7.07935309e-04 9.99289453e-01 -1.74232047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.53, Y:7.88, Z:-1.74 [[ 9.69168202e-01 -2.43696367e-01 3.64016121e-02 4.55302888e+01] [ 2.43501083e-01 9.69851386e-01 9.77298684e-03 7.87720631e+00] [-3.76857954e-02 -6.07836101e-04 9.99289453e-01 -1.74439589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.59, Y:7.89, Z:-1.75 [[ 9.66886689e-01 -2.52597014e-01 3.63988898e-02 4.55860404e+01] [ 2.52407638e-01 9.67571535e-01 9.78311566e-03 7.89256277e+00] [-3.76897154e-02 -2.71806510e-04 9.99289453e-01 -1.74623121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.64, Y:7.91, Z:-1.75 [[ 9.65106223e-01 -2.59316976e-01 3.63962003e-02 4.56419765e+01] [ 2.59131992e-01 9.65792268e-01 9.79311101e-03 7.90749447e+00] [-3.76906888e-02 -1.99724767e-05 9.99289453e-01 -1.74816632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.70, Y:7.92, Z:-1.74 [[ 9.63893782e-01 -2.63788145e-01 3.63949472e-02 4.56999136e+01] [ 2.63606168e-01 9.64580630e-01 9.79776574e-03 7.91585931e+00] [-3.76903956e-02 1.49927103e-04 9.99289453e-01 -1.74447018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.75, Y:7.94, Z:-1.74 [[ 9.62256475e-01 -2.69699999e-01 3.63921139e-02 4.57538157e+01] [ 2.69521844e-01 9.62944325e-01 9.80827840e-03 7.93831255e+00] [-3.76888722e-02 3.70390252e-04 9.99289453e-01 -1.74349179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479000006 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:7.96, Z:-1.75 [[ 9.62007012e-01 -2.70588592e-01 3.63912413e-02 4.58078373e+01] [ 2.70410950e-01 9.62694995e-01 9.81151494e-03 7.95988676e+00] [-3.76885499e-02 4.01843946e-04 9.99289453e-01 -1.75110066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:7.98, Z:-1.75 [[ 9.61595041e-01 -2.72049364e-01 3.63884728e-02 4.58622963e+01] [ 2.71872379e-01 9.62283192e-01 9.82177206e-03 7.97948418e+00] [-3.76880226e-02 4.48453347e-04 9.99289453e-01 -1.75033232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:8.00, Z:-1.76 [[ 9.61407046e-01 -2.72713351e-01 3.63857030e-02 4.59173584e+01] [ 2.72536453e-01 9.62095220e-01 9.83202219e-03 7.99990993e+00] [-3.76878347e-02 4.63855021e-04 9.99289454e-01 -1.75563573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479000005 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:45.97, Y:8.03, Z:-1.76 [[ 9.61384619e-01 -2.72792723e-01 3.63832916e-02 4.59697262e+01] [ 2.72615544e-01 9.62072721e-01 9.84093734e-03 8.02558631e+00] [-3.76879085e-02 4.57725062e-04 9.99289454e-01 -1.76234134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91088847900001 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:46.02, Y:8.05, Z:-1.76 [[ 9.61025186e-01 -2.74056399e-01 3.63824438e-02 4.60242106e+01] [ 2.73880007e-01 9.61713490e-01 9.84407096e-03 8.04797717e+00] [-3.76873176e-02 5.04023832e-04 9.99289454e-01 -1.76351456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:46.08, Y:8.08, Z:-1.77 [[ 9.61282446e-01 -2.73153020e-01 3.63797581e-02 4.60765910e+01] [ 2.72975606e-01 9.61970487e-01 9.85398622e-03 8.07590887e+00] [-3.76878997e-02 4.58322535e-04 9.99289454e-01 -1.76648492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479000005 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:8.10, Z:-1.77 [[ 9.62530261e-01 -2.68723035e-01 3.63789326e-02 4.61308081e+01] [ 2.68542339e-01 9.63217448e-01 9.85703264e-03 8.10050614e+00] [-3.76896344e-02 2.81591449e-04 9.99289454e-01 -1.76716938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09088847900001 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:46.19, Y:8.12, Z:-1.77 [[ 9.63231427e-01 -2.66199108e-01 3.63765360e-02 4.61852380e+01] [ 2.66016277e-01 9.63918049e-01 9.86586941e-03 8.12307958e+00] [-3.76902852e-02 1.73635204e-04 9.99289454e-01 -1.76939765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:8.15, Z:-1.78 [[ 9.64190450e-01 -2.62704630e-01 3.63738108e-02 4.62376279e+01] [ 2.62518932e-01 9.64876301e-01 9.87590640e-03 8.14975028e+00] [-3.76906744e-02 2.65593251e-05 9.99289454e-01 -1.77577391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479000005 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:8.17, Z:-1.79 [[ 9.64975755e-01 -2.59805572e-01 3.63710988e-02 4.62913142e+01] [ 2.59617438e-01 9.65660942e-01 9.88588418e-03 8.17177696e+00] [-3.76905573e-02 -9.70670730e-05 9.99289454e-01 -1.78524816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27088847900001 meters Centerline goodness : 0.997683 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:8.19, Z:-1.79 [[ 9.66513059e-01 -2.54027278e-01 3.63682314e-02 4.63459666e+01] [ 2.53834651e-01 9.67196997e-01 9.89642165e-03 8.19321569e+00] [-3.76892052e-02 -3.33503464e-04 9.99289454e-01 -1.78885096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33088847900001 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:8.22, Z:-1.79 [[ 9.68356810e-01 -2.46906166e-01 3.63652750e-02 4.63999505e+01] [ 2.46708103e-01 9.69039193e-01 9.90727333e-03 8.21663872e+00] [-3.76855436e-02 -6.22167593e-04 9.99289454e-01 -1.79141509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479000004 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:8.23, Z:-1.79 [[ 9.69389844e-01 -2.42818854e-01 3.63639137e-02 4.64560714e+01] [ 2.42617726e-01 9.70071330e-01 9.91226745e-03 8.23484790e+00] [-3.76824755e-02 -7.86321352e-04 9.99289454e-01 -1.79008793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45088847900001 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:8.25, Z:-1.79 [[ 9.70189466e-01 -2.39604364e-01 3.63613579e-02 4.65103415e+01] [ 2.39400628e-01 9.70870177e-01 9.92163409e-03 8.25416290e+00] [-3.76794248e-02 -9.20932985e-04 9.99289454e-01 -1.78769192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51088847900001 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:8.28, Z:-1.79 [[ 9.71446176e-01 -2.34457396e-01 3.63601009e-02 4.65654976e+01] [ 2.34249881e-01 9.72125744e-01 9.92623851e-03 8.27524339e+00] [-3.76738701e-02 -1.12545713e-03 9.99289454e-01 -1.79412057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479000004 meters Centerline goodness : 0.997380 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:8.29, Z:-1.80 [[ 9.72350889e-01 -2.30677019e-01 3.63574150e-02 4.66223304e+01] [ 2.30466495e-01 9.73029531e-01 9.93606659e-03 8.29240461e+00] [-3.76688607e-02 -1.28217718e-03 9.99289454e-01 -1.79671313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479000006 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:8.31, Z:-1.80 [[ 9.73139931e-01 -2.27325798e-01 3.63545832e-02 4.66767464e+01] [ 2.27112551e-01 9.73817723e-01 9.94641662e-03 8.30969804e+00] [-3.76638146e-02 -1.42267303e-03 9.99289454e-01 -1.80094634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69088847900001 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:8.33, Z:-1.81 [[ 9.74727222e-01 -2.20420696e-01 3.63532711e-02 4.67328644e+01] [ 2.20202471e-01 9.75403427e-01 9.95121012e-03 8.32829343e+00] [-3.76525579e-02 -1.69463526e-03 9.99289454e-01 -1.80685878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479000004 meters Centerline goodness : 0.997718 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:8.34, Z:-1.81 [[ 9.75898952e-01 -2.15174037e-01 3.63506374e-02 4.67906187e+01] [ 2.14951821e-01 9.76573856e-01 9.96082150e-03 8.33930650e+00] [-3.76423923e-02 -1.90711958e-03 9.99289454e-01 -1.80678034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479000006 meters Centerline goodness : 0.997467 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:8.35, Z:-1.81 [[ 9.75851978e-01 -2.15387416e-01 3.63479973e-02 4.68465475e+01] [ 2.15164990e-01 9.76526813e-01 9.97044606e-03 8.35478076e+00] [-3.76423026e-02 -1.90886302e-03 9.99289454e-01 -1.80901376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87088847900001 meters Centerline goodness : 0.997715 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:8.37, Z:-1.81 [[ 9.75343167e-01 -2.17680378e-01 3.63450080e-02 4.69031804e+01] [ 2.17459134e-01 9.76018390e-01 9.98133120e-03 8.36575162e+00] [-3.76461361e-02 -1.83166922e-03 9.99289454e-01 -1.81381535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters Centerline goodness : 0.997163 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:8.38, Z:-1.82 [[ 9.74745305e-01 -2.20342576e-01 3.63419707e-02 4.69609314e+01] [ 2.20122766e-01 9.75420997e-01 9.99237751e-03 8.37539402e+00] [-3.76504675e-02 -1.74032797e-03 9.99289454e-01 -1.81615783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479000006 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:8.38, Z:-1.81 [[ 9.74406044e-01 -2.21838555e-01 3.63389285e-02 4.70189307e+01] [ 2.21619371e-01 9.75081938e-01 1.00034288e-02 8.38281591e+00] [-3.76525790e-02 -1.69399096e-03 9.99289454e-01 -1.81494617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05088847900001 meters Centerline goodness : 0.997509 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:8.39, Z:-1.82 [[ 9.74379394e-01 -2.21956070e-01 3.63359164e-02 4.70748350e+01] [ 2.21736561e-01 9.75055183e-01 1.00143580e-02 8.39289423e+00] [-3.76522711e-02 -1.70078300e-03 9.99289454e-01 -1.81767389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:8.40, Z:-1.82 [[ 9.75540992e-01 -2.16793838e-01 3.63346206e-02 4.71324166e+01] [ 2.16570579e-01 9.76215551e-01 1.00190571e-02 8.40124837e+00] [-3.76424916e-02 -1.90499105e-03 9.99289454e-01 -1.81516320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479000006 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:8.41, Z:-1.82 [[ 9.75405106e-01 -2.17404554e-01 3.63337153e-02 4.71912689e+01] [ 2.17181596e-01 9.76079765e-01 1.00223392e-02 8.40978537e+00] [-3.76435065e-02 -1.88482659e-03 9.99289454e-01 -1.82369161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23088847900001 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:8.42, Z:-1.83 [[ 9.75356168e-01 -2.17624451e-01 3.63310357e-02 4.72477715e+01] [ 2.17401284e-01 9.76030758e-01 1.00320434e-02 8.42312136e+00] [-3.76434262e-02 -1.88640155e-03 9.99289455e-01 -1.82509358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:47.30, Y:8.43, Z:-1.83 [[ 9.75476190e-01 -2.17086344e-01 3.63279919e-02 4.73046325e+01] [ 2.16862396e-01 9.76150520e-01 1.00430535e-02 8.43432078e+00] [-3.76417980e-02 -1.91858420e-03 9.99289455e-01 -1.82681739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479000005 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:47.36, Y:8.45, Z:-1.83 [[ 9.75957263e-01 -2.14913746e-01 3.63249659e-02 4.73614276e+01] [ 2.14687891e-01 9.76630957e-01 1.00539865e-02 8.44778569e+00] [-3.76368261e-02 -2.01373085e-03 9.99289455e-01 -1.82975060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41088847900001 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:8.46, Z:-1.84 [[ 9.76322471e-01 -2.13249039e-01 3.63218960e-02 4.74182827e+01] [ 2.13021625e-01 9.76995641e-01 1.00650648e-02 8.45810491e+00] [-3.76326994e-02 -2.08939957e-03 9.99289455e-01 -1.83758453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:47.48, Y:8.46, Z:-1.83 [[ 9.76649927e-01 -2.11744799e-01 3.63188685e-02 4.74769555e+01] [ 2.11515944e-01 9.77322608e-01 1.00759774e-02 8.46380976e+00] [-3.76287871e-02 -2.15868287e-03 9.99289455e-01 -1.83077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530888479000005 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:8.48, Z:-1.84 [[ 9.74866065e-01 -2.19811653e-01 3.63179423e-02 4.75328667e+01] [ 2.19588242e-01 9.75540574e-01 1.00793148e-02 8.48099929e+00] [-3.76451771e-02 -1.85098887e-03 9.99289455e-01 -1.84139842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59088847900001 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:8.49, Z:-1.83 [[ 9.75445658e-01 -2.17225622e-01 3.63152527e-02 4.75919254e+01] [ 2.17000065e-01 9.76119452e-01 1.00889960e-02 8.48613642e+00] [-3.76396130e-02 -1.96085514e-03 9.99289455e-01 -1.83048463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:47.65, Y:8.50, Z:-1.84 [[ 9.73738725e-01 -2.24753567e-01 3.63143107e-02 4.76484094e+01] [ 2.24533094e-01 9.74414200e-01 1.00923853e-02 8.49833328e+00] [-3.76534796e-02 -1.67358188e-03 9.99289455e-01 -1.84385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479000005 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:8.51, Z:-1.84 [[ 9.72225837e-01 -2.31210745e-01 3.63113507e-02 4.77064438e+01] [ 2.30994363e-01 9.72902633e-01 1.01030240e-02 8.50707647e+00] [-3.76633364e-02 -1.43470363e-03 9.99289455e-01 -1.84394155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:47.76, Y:8.52, Z:-1.84 [[ 9.71173364e-01 -2.35592871e-01 3.63083389e-02 4.77639809e+01] [ 2.35379140e-01 9.71851002e-01 1.01138364e-02 8.51712598e+00] [-3.76690433e-02 -1.27606291e-03 9.99289455e-01 -1.84061782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83088847900001 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:47.82, Y:8.53, Z:-1.84 [[ 9.69473607e-01 -2.42492983e-01 3.63053566e-02 4.78220304e+01] [ 2.42283676e-01 9.70152624e-01 1.01245303e-02 8.52597423e+00] [-3.76768646e-02 -1.01926968e-03 9.99289455e-01 -1.83719603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479000004 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:47.88, Y:8.54, Z:-1.84 [[ 9.67309200e-01 -2.50987846e-01 3.63044426e-02 4.78791810e+01] [ 2.50784381e-01 9.67989991e-01 1.01278067e-02 8.53685498e+00] [-3.76842935e-02 -6.92133441e-04 9.99289455e-01 -1.83618828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:47.94, Y:8.55, Z:-1.84 [[ 9.65744378e-01 -2.56943554e-01 3.63016026e-02 4.79352371e+01] [ 2.56743905e-01 9.66426298e-01 1.01379760e-02 8.55061592e+00] [-3.76877110e-02 -4.70478081e-04 9.99289455e-01 -1.83874335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01088847900001 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:8.57, Z:-1.84 [[ 9.63819421e-01 -2.64072956e-01 3.62987266e-02 4.79915990e+01] [ 2.63877964e-01 9.64502687e-01 1.01482631e-02 8.56779778e+00] [-3.76901012e-02 -2.02659037e-04 9.99289455e-01 -1.84059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479000004 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:8.58, Z:-1.84 [[ 9.62448620e-01 -2.69026462e-01 3.62962378e-02 4.80484267e+01] [ 2.68834651e-01 9.63132785e-01 1.01571569e-02 8.58180050e+00] [-3.76906406e-02 -1.80552694e-05 9.99289455e-01 -1.83921550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479000006 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:8.60, Z:-1.84 [[ 9.62077714e-01 -2.70350259e-01 3.62933850e-02 4.81041182e+01] [ 2.70159006e-01 9.62762035e-01 1.01673400e-02 8.59945717e+00] [-3.76906363e-02 2.32135851e-05 9.99289455e-01 -1.84128155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19088847900001 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:8.62, Z:-1.85 [[ 9.61677550e-01 -2.71770651e-01 3.62905447e-02 4.81573676e+01] [ 2.71580026e-01 9.62362047e-01 1.01774680e-02 8.62159354e+00] [-3.76905800e-02 6.83445369e-05 9.99289455e-01 -1.85126675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479000004 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:48.21, Y:8.64, Z:-1.85 [[ 9.62371782e-01 -2.69302344e-01 3.62877470e-02 4.82123469e+01] [ 2.69109588e-01 9.63055682e-01 1.01874336e-02 8.64201531e+00] [-3.76906206e-02 -3.87180038e-05 9.99289455e-01 -1.85388114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479000006 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:48.27, Y:8.66, Z:-1.86 [[ 9.62975566e-01 -2.67135662e-01 3.62849384e-02 4.82670059e+01] [ 2.66940990e-01 9.63658923e-01 1.01974270e-02 8.66056037e+00] [-3.76904011e-02 -1.33935630e-04 9.99289455e-01 -1.85707255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37088847900001 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:48.32, Y:8.68, Z:-1.86 [[ 9.64181557e-01 -2.62749941e-01 3.62821505e-02 4.83211619e+01] [ 2.62551788e-01 9.64863912e-01 1.02073367e-02 8.68274669e+00] [-3.76893148e-02 -3.15782294e-04 9.99289455e-01 -1.85907062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479000004 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:48.38, Y:8.70, Z:-1.86 [[ 9.65685269e-01 -2.57168758e-01 3.62793592e-02 4.83762668e+01] [ 2.56966290e-01 9.66366356e-01 1.02172480e-02 8.70435492e+00] [-3.76867092e-02 -5.44073567e-04 9.99289456e-01 -1.85895449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479000006 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:8.72, Z:-1.86 [[ 9.66487329e-01 -2.54138224e-01 3.62768097e-02 4.84306880e+01] [ 2.53933281e-01 9.67167675e-01 1.02262922e-02 8.72437042e+00] [-3.76846495e-02 -6.71692503e-04 9.99289456e-01 -1.86374786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55088847900001 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:48.49, Y:8.75, Z:-1.86 [[ 9.68882920e-01 -2.44847077e-01 3.62739065e-02 4.84855314e+01] [ 2.44635226e-01 9.69561148e-01 1.02365800e-02 8.74562399e+00] [-3.76761671e-02 -1.04417218e-03 9.99289456e-01 -1.86205592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:8.77, Z:-1.87 [[ 9.70133206e-01 -2.39845735e-01 3.62710160e-02 4.85400748e+01] [ 2.39630006e-01 9.70810210e-01 1.02468115e-02 8.76542447e+00] [-3.76699267e-02 -1.24914834e-03 9.99289456e-01 -1.86847680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479000006 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:8.78, Z:-1.87 [[ 9.71765835e-01 -2.33142960e-01 3.62701265e-02 4.85950607e+01] [ 2.32922446e-01 9.72441295e-01 1.02499590e-02 8.78359953e+00] [-3.76602746e-02 -1.51243343e-03 9.99289456e-01 -1.86806692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73088847900001 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:8.80, Z:-1.87 [[ 9.72483745e-01 -2.30130515e-01 3.62672237e-02 4.86494758e+01] [ 2.29907527e-01 9.73158393e-01 1.02602197e-02 8.80461415e+00] [-3.76549428e-02 -1.63978918e-03 9.99289456e-01 -1.87310944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:8.82, Z:-1.88 [[ 9.72232442e-01 -2.31190349e-01 3.62643209e-02 4.87064662e+01] [ 2.30967714e-01 9.72907207e-01 1.02704694e-02 8.82068960e+00] [-3.76562525e-02 -1.60939626e-03 9.99289456e-01 -1.87659540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479000005 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:8.84, Z:-1.88 [[ 9.71349231e-01 -2.34873910e-01 3.62618055e-02 4.87625212e+01] [ 2.34653504e-01 9.72024726e-01 1.02793429e-02 8.83758022e+00] [-3.76617210e-02 -1.47587211e-03 9.99289456e-01 -1.87857246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91088847900001 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:8.85, Z:-1.88 [[ 9.70847596e-01 -2.36939285e-01 3.62590817e-02 4.88190261e+01] [ 2.36719958e-01 9.71523442e-01 1.02889418e-02 8.85346466e+00] [-3.76644024e-02 -1.40574610e-03 9.99289456e-01 -1.88061844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:8.87, Z:-1.88 [[ 9.70220013e-01 -2.39496536e-01 3.62565293e-02 4.88749604e+01] [ 2.39278655e-01 9.70896327e-01 1.02979280e-02 8.86786466e+00] [-3.76676492e-02 -1.31584225e-03 9.99289456e-01 -1.88134087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479000005 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:8.89, Z:-1.89 [[ 9.70051869e-01 -2.40176809e-01 3.62556323e-02 4.89308708e+01] [ 2.39959285e-01 9.70728298e-01 1.03010852e-02 8.88684007e+00] [-3.76684500e-02 -1.29271133e-03 9.99289456e-01 -1.88511552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09088847900001 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:48.99, Y:8.90, Z:-1.89 [[ 9.69969048e-01 -2.40511457e-01 3.62530769e-02 4.89869216e+01] [ 2.40293830e-01 9.70645444e-01 1.03100705e-02 8.90006175e+00] [-3.76685740e-02 -1.28905856e-03 9.99289456e-01 -1.88751561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters Centerline goodness : 0.998603 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:8.91, Z:-1.89 [[ 9.70128131e-01 -2.39869109e-01 3.62521800e-02 4.90436289e+01] [ 2.39650917e-01 9.70804345e-01 1.03132232e-02 8.91431966e+00] [-3.76675975e-02 -1.31727979e-03 9.99289456e-01 -1.88918591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479000005 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:8.93, Z:-1.89 [[ 9.70147745e-01 -2.39790154e-01 3.62496176e-02 4.90994484e+01] [ 2.39571572e-01 9.70823833e-01 1.03222219e-02 8.93010290e+00] [-3.76671599e-02 -1.32970240e-03 9.99289456e-01 -1.89093500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27088847900001 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:8.94, Z:-1.89 [[ 9.70524719e-01 -2.38260255e-01 3.62466672e-02 4.91556982e+01] [ 2.38040220e-01 9.71200335e-01 1.03325720e-02 8.94313997e+00] [-3.76646166e-02 -1.39985185e-03 9.99289456e-01 -1.89247435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33088847900001 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:8.96, Z:-1.89 [[ 9.70551703e-01 -2.38150450e-01 3.62457599e-02 4.92131301e+01] [ 2.37930220e-01 9.71227256e-01 1.03357537e-02 8.95523138e+00] [-3.76643343e-02 -1.40742169e-03 9.99289456e-01 -1.89199757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479000004 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:8.97, Z:-1.89 [[ 9.70769523e-01 -2.37261373e-01 3.62432641e-02 4.92704199e+01] [ 2.37040199e-01 9.71444767e-01 1.03444982e-02 8.97064542e+00] [-3.76626791e-02 -1.45101312e-03 9.99289456e-01 -1.89203611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45088847900001 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:8.98, Z:-1.90 [[ 9.71251250e-01 -2.35281999e-01 3.62407220e-02 4.93255969e+01] [ 2.35059117e-01 9.71925933e-01 1.03533963e-02 8.98419174e+00] [-3.76592653e-02 -1.53703698e-03 9.99289456e-01 -1.89570496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51088847900001 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:9.00, Z:-1.89 [[ 9.71861024e-01 -2.32750618e-01 3.62394719e-02 4.93827919e+01] [ 2.32525817e-01 9.72535069e-01 1.03577703e-02 8.99764035e+00] [-3.76549347e-02 -1.63970046e-03 9.99289456e-01 -1.89403718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479000004 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:9.02, Z:-1.90 [[ 9.71939364e-01 -2.32423662e-01 3.62369266e-02 4.94390983e+01] [ 2.32198302e-01 9.72613222e-01 1.03666674e-02 9.01556301e+00] [-3.76539728e-02 -1.66161932e-03 9.99289456e-01 -1.90380777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479000006 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:9.03, Z:-1.91 [[ 9.72363743e-01 -2.30642008e-01 3.62355485e-02 4.94964273e+01] [ 2.30415235e-01 9.73037128e-01 1.03714823e-02 9.03077458e+00] [-3.76506335e-02 -1.73563096e-03 9.99289456e-01 -1.90512153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69088847900001 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:49.55, Y:9.04, Z:-1.91 [[ 9.72790729e-01 -2.28834804e-01 3.62329924e-02 4.95533722e+01] [ 2.28606449e-01 9.73463578e-01 1.03804044e-02 9.04414501e+00] [-3.76468962e-02 -1.81486541e-03 9.99289456e-01 -1.90521976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479000004 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:49.61, Y:9.06, Z:-1.91 [[ 9.72738167e-01 -2.29058603e-01 3.62300286e-02 4.96100820e+01] [ 2.28830019e-01 9.73410938e-01 1.03907382e-02 9.05944777e+00] [-3.76467942e-02 -1.81694949e-03 9.99289456e-01 -1.90986205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479000006 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:9.07, Z:-1.91 [[ 9.72509038e-01 -2.30029867e-01 3.62274849e-02 4.96664429e+01] [ 2.29801625e-01 9.73181926e-01 1.03995994e-02 9.07218603e+00] [-3.76481520e-02 -1.78856951e-03 9.99289456e-01 -1.91339397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87088847900001 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:9.09, Z:-1.92 [[ 9.72183930e-01 -2.31400173e-01 3.62265909e-02 4.97226858e+01] [ 2.31172764e-01 9.72857100e-01 1.04027127e-02 9.08634777e+00] [-3.76504857e-02 -1.73874894e-03 9.99289456e-01 -1.91727452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479000004 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:9.10, Z:-1.92 [[ 9.71589760e-01 -2.33882833e-01 3.62237313e-02 4.97794700e+01] [ 2.33656774e-01 9.72263384e-01 1.04126607e-02 9.09944265e+00] [-3.76543502e-02 -1.65291429e-03 9.99289456e-01 -1.91771184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479000006 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:9.11, Z:-1.92 [[ 9.70755980e-01 -2.37320139e-01 3.62212388e-02 4.98373403e+01] [ 2.37096143e-01 9.71430293e-01 1.04213239e-02 9.11017259e+00] [-3.76595987e-02 -1.52864649e-03 9.99289456e-01 -1.91635998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05088847900001 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:9.12, Z:-1.92 [[ 9.70323463e-01 -2.39082880e-01 3.62181522e-02 4.98935494e+01] [ 2.38859710e-01 9.70998049e-01 1.04320401e-02 9.12254551e+00] [-3.76618773e-02 -1.47139599e-03 9.99289457e-01 -1.91837732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:9.14, Z:-1.92 [[ 9.69926513e-01 -2.40688327e-01 3.62172337e-02 4.99509983e+01] [ 2.40466155e-01 9.70601429e-01 1.04352279e-02 9.13653219e+00] [-3.76641363e-02 -1.41238529e-03 9.99289457e-01 -1.92019511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:9.15, Z:-1.92 [[ 9.70171555e-01 -2.39699086e-01 3.62146796e-02 5.00077022e+01] [ 2.39475895e-01 9.70846134e-01 1.04440840e-02 9.14821523e+00] [-3.76623191e-02 -1.46001038e-03 9.99289457e-01 -1.92249941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:9.16, Z:-1.93 [[ 9.70670010e-01 -2.37672659e-01 3.62137857e-02 5.00638546e+01] [ 2.37447945e-01 9.71344084e-01 1.04471827e-02 9.16247231e+00] [-3.76590562e-02 -1.54187799e-03 9.99289457e-01 -1.92662464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:9.18, Z:-1.93 [[ 9.71256811e-01 -2.35263623e-01 3.62109650e-02 5.01206721e+01] [ 2.35036874e-01 9.71930203e-01 1.04569504e-02 9.17810959e+00] [-3.76546706e-02 -1.64547224e-03 9.99289457e-01 -1.93304949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479000005 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:9.19, Z:-1.93 [[ 9.72163573e-01 -2.31488550e-01 3.62082632e-02 5.01776984e+01] [ 2.31258839e-01 9.72835961e-01 1.04662972e-02 9.19015616e+00] [-3.76475285e-02 -1.80147199e-03 9.99289457e-01 -1.92885073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41088847900001 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:9.20, Z:-1.93 [[ 9.71785013e-01 -2.33072777e-01 3.62072990e-02 5.02325923e+01] [ 2.32844039e-01 9.72457732e-01 1.04696320e-02 9.20420830e+00] [-3.76502540e-02 -1.74357778e-03 9.99289457e-01 -1.93164973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:9.22, Z:-1.94 [[ 9.70962143e-01 -2.36477568e-01 3.62060269e-02 5.02885277e+01] [ 2.36251026e-01 9.71635604e-01 1.04740291e-02 9.22102112e+00] [-3.76559378e-02 -1.61617476e-03 9.99289457e-01 -1.93598773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479000005 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:9.23, Z:-1.94 [[ 9.70066284e-01 -2.40126515e-01 3.62030494e-02 5.03456806e+01] [ 2.39902123e-01 9.70740465e-01 1.04843107e-02 9.23405642e+00] [-3.76613260e-02 -1.48528791e-03 9.99289457e-01 -1.93790803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:9.25, Z:-1.94 [[ 9.69359682e-01 -2.42963701e-01 3.62000865e-02 5.04034208e+01] [ 2.42740901e-01 9.70034391e-01 1.04945310e-02 9.24832919e+00] [-3.76651190e-02 -1.38573361e-03 9.99289457e-01 -1.93722372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:9.27, Z:-1.94 [[ 9.68928870e-01 -2.44676488e-01 3.61975220e-02 5.04585074e+01] [ 2.44454552e-01 9.69603863e-01 1.05033692e-02 9.26631568e+00] [-3.76671846e-02 -1.32836863e-03 9.99289457e-01 -1.94099079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479000005 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:9.28, Z:-1.95 [[ 9.69169113e-01 -2.43723584e-01 3.61945544e-02 5.05142166e+01] [ 2.43500602e-01 9.69843761e-01 1.05135854e-02 9.28285679e+00] [-3.76654715e-02 -1.37604642e-03 9.99289457e-01 -1.94748775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:9.30, Z:-1.95 [[ 9.69315636e-01 -2.43140393e-01 3.61931924e-02 5.05704009e+01] [ 2.42916831e-01 9.69990092e-01 1.05182721e-02 9.29940259e+00] [-3.76644548e-02 -1.40359002e-03 9.99289457e-01 -1.95186277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83088847900001 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:50.63, Y:9.32, Z:-1.95 [[ 9.68931009e-01 -2.44669032e-01 3.61906586e-02 5.06257016e+01] [ 2.44446209e-01 9.69605710e-01 1.05269829e-02 9.31645580e+00] [-3.76662960e-02 -1.35325090e-03 9.99289457e-01 -1.95431356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479000004 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:50.69, Y:9.32, Z:-1.95 [[ 9.69767098e-01 -2.41333953e-01 3.61897704e-02 5.06851211e+01] [ 2.41108697e-01 9.70440990e-01 1.05300357e-02 9.32304860e+00] [-3.76612917e-02 -1.48601383e-03 9.99289457e-01 -1.95159130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.74, Y:9.34, Z:-1.95 [[ 9.69311972e-01 -2.43155704e-01 3.61884518e-02 5.07426012e+01] [ 2.42931545e-01 9.69986230e-01 1.05345652e-02 9.33820841e+00] [-3.76638396e-02 -1.41996361e-03 9.99289457e-01 -1.94955585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:9.35, Z:-1.95 [[ 9.68880856e-01 -2.44868282e-01 3.61857790e-02 5.07985885e+01] [ 2.44644973e-01 9.69555396e-01 1.05437383e-02 9.35442326e+00] [-3.76659444e-02 -1.36295730e-03 9.99289457e-01 -1.95052522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479000004 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:9.38, Z:-1.96 [[ 9.67312559e-01 -2.50992467e-01 3.61827850e-02 5.08521971e+01] [ 2.50773046e-01 9.67988374e-01 1.05540028e-02 9.38082762e+00] [-3.76734904e-02 -1.13535229e-03 9.99289457e-01 -1.95711092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479000006 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:9.39, Z:-1.95 [[ 9.68417843e-01 -2.46693889e-01 3.61801990e-02 5.09128562e+01] [ 2.46471138e-01 9.69092567e-01 1.05628604e-02 9.38578499e+00] [-3.76677550e-02 -1.31188762e-03 9.99289457e-01 -1.95142009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:9.41, Z:-1.96 [[ 9.66269477e-01 -2.54979358e-01 3.61776877e-02 5.09650985e+01] [ 2.54762072e-01 9.66945981e-01 1.05714546e-02 9.41208715e+00] [-3.76773724e-02 -9.98171178e-04 9.99289457e-01 -1.96079218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479000004 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:9.43, Z:-1.97 [[ 9.66166693e-01 -2.55368753e-01 3.61762472e-02 5.10204648e+01] [ 2.55151556e-01 9.66843226e-01 1.05763816e-02 9.42954204e+00] [-3.76776370e-02 -9.88121834e-04 9.99289457e-01 -1.96572872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:51.08, Y:9.45, Z:-1.97 [[ 9.65901193e-01 -2.56371567e-01 3.61732602e-02 5.10765957e+01] [ 2.56154690e-01 9.66577829e-01 1.05865881e-02 9.44556150e+00] [-3.76783714e-02 -9.59647820e-04 9.99289457e-01 -1.96926389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37088847900001 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:9.46, Z:-1.98 [[ 9.64637590e-01 -2.61086253e-01 3.61702611e-02 5.11326510e+01] [ 2.60872300e-01 9.65315156e-01 1.05968250e-02 9.46325868e+00] [-3.76823865e-02 -7.86276553e-04 9.99289457e-01 -1.98170256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479000004 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:9.48, Z:-1.98 [[ 9.64423387e-01 -2.61876728e-01 3.61677973e-02 5.11891399e+01] [ 2.61663015e-01 9.65101029e-01 1.06052275e-02 9.47758631e+00] [-3.76828406e-02 -7.64154518e-04 9.99289457e-01 -1.98056845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479000006 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:9.49, Z:-1.98 [[ 9.65271088e-01 -2.58735094e-01 3.61645974e-02 5.12443063e+01] [ 2.58518769e-01 9.65947899e-01 1.06161279e-02 9.49497875e+00] [-3.76798818e-02 -8.98214148e-04 9.99289457e-01 -1.97638548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:9.51, Z:-1.98 [[ 9.65234218e-01 -2.58872745e-01 3.61636129e-02 5.13006332e+01] [ 2.58656390e-01 9.65911020e-01 1.06194808e-02 9.51038023e+00] [-3.76799263e-02 -8.96336707e-04 9.99289457e-01 -1.97778385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:51.36, Y:9.53, Z:-1.99 [[ 9.63764181e-01 -2.64293405e-01 3.61607353e-02 5.13559340e+01] [ 2.64080490e-01 9.64442074e-01 1.06292704e-02 9.52892400e+00] [-3.76841806e-02 -6.94765389e-04 9.99289457e-01 -1.98800931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:9.54, Z:-1.98 [[ 9.65391313e-01 -2.58287058e-01 3.61581051e-02 5.14134212e+01] [ 2.58069592e-01 9.66067759e-01 1.06382100e-02 9.54274944e+00] [-3.76788915e-02 -9.38728116e-04 9.99289458e-01 -1.97949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:9.56, Z:-1.99 [[ 9.65994084e-01 -2.56023851e-01 3.61554584e-02 5.14683972e+01] [ 2.55804464e-01 9.66669909e-01 1.06471975e-02 9.56115710e+00] [-3.76763302e-02 -1.03640208e-03 9.99289458e-01 -1.99174500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:9.58, Z:-1.99 [[ 9.66398631e-01 -2.54493002e-01 3.61524228e-02 5.15246484e+01] [ 2.54272159e-01 9.67073982e-01 1.06574951e-02 9.57769172e+00] [-3.76743254e-02 -1.10683413e-03 9.99289458e-01 -1.98895992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479000005 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:9.59, Z:-1.99 [[ 9.65995625e-01 -2.56018834e-01 3.61498062e-02 5.15812433e+01] [ 2.55798726e-01 9.66671216e-01 1.06663630e-02 9.59468555e+00] [-3.76757670e-02 -1.05658557e-03 9.99289458e-01 -1.98990169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:9.61, Z:-1.99 [[ 9.65771880e-01 -2.56861942e-01 3.61471663e-02 5.16367966e+01] [ 2.56642090e-01 9.66447554e-01 1.06753019e-02 9.61087918e+00] [-3.76764192e-02 -1.03302204e-03 9.99289458e-01 -1.99071889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:9.63, Z:-2.01 [[ 9.64535253e-01 -2.61467388e-01 3.61462412e-02 5.16909392e+01] [ 2.61250645e-01 9.65211931e-01 1.06784332e-02 9.63405177e+00] [-3.76808453e-02 -8.56496428e-04 9.99289458e-01 -2.00786764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479000005 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:9.65, Z:-2.00 [[ 9.66693577e-01 -2.53371586e-01 3.61436954e-02 5.17477627e+01] [ 2.53148856e-01 9.67368308e-01 1.06870434e-02 9.64878468e+00] [-3.76720586e-02 -1.18136102e-03 9.99289458e-01 -2.00032637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:51.80, Y:9.67, Z:-2.00 [[ 9.67115470e-01 -2.51756544e-01 3.61429121e-02 5.18024436e+01] [ 2.51532588e-01 9.67789795e-01 1.06896916e-02 9.66668521e+00] [-3.76699413e-02 -1.24704585e-03 9.99289458e-01 -2.00301768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:9.69, Z:-2.01 [[ 9.67058457e-01 -2.51975585e-01 3.61420163e-02 5.18583283e+01] [ 2.51751669e-01 9.67732795e-01 1.06927196e-02 9.68503345e+00] [-3.76701187e-02 -1.24167201e-03 9.99289458e-01 -2.00588808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479000005 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:9.70, Z:-2.01 [[ 9.67049666e-01 -2.52009701e-01 3.61393639e-02 5.19132609e+01] [ 2.51785475e-01 9.67723901e-01 1.07016768e-02 9.70179953e+00] [-3.76698525e-02 -1.24968605e-03 9.99289458e-01 -2.01068834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27088847900001 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:51.97, Y:9.72, Z:-2.01 [[ 9.66535410e-01 -2.53975027e-01 3.61384304e-02 5.19692140e+01] [ 2.53752054e-01 9.67210061e-01 1.07048280e-02 9.71753474e+00] [-3.76722125e-02 -1.17639434e-03 9.99289458e-01 -2.01061820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:9.73, Z:-2.01 [[ 9.66029428e-01 -2.55893275e-01 3.61355273e-02 5.20248869e+01] [ 2.55671276e-01 9.66704399e-01 1.07146187e-02 9.73416279e+00] [-3.76741721e-02 -1.11182060e-03 9.99289458e-01 -2.01035130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:9.75, Z:-2.01 [[ 9.65498126e-01 -2.57891081e-01 3.61325223e-02 5.20797046e+01] [ 2.57670100e-01 9.66173431e-01 1.07247431e-02 9.75008520e+00] [-3.76760986e-02 -1.04444871e-03 9.99289458e-01 -2.01170611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45088847900001 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:9.77, Z:-2.01 [[ 9.65606517e-01 -2.57485363e-01 3.61295118e-02 5.21363923e+01] [ 2.57263720e-01 9.66281605e-01 1.07348752e-02 9.76690471e+00] [-3.76753559e-02 -1.07085285e-03 9.99289458e-01 -2.01084596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51088847900001 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:9.79, Z:-2.01 [[ 9.65647164e-01 -2.57333268e-01 3.61267774e-02 5.21901889e+01] [ 2.57111175e-01 9.66322104e-01 1.07440695e-02 9.78628633e+00] [-3.76749101e-02 -1.08638202e-03 9.99289458e-01 -2.01451200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479000004 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:9.80, Z:-2.02 [[ 9.65981774e-01 -2.56074627e-01 3.61247421e-02 5.22456111e+01] [ 2.55851399e-01 9.66656340e-01 1.07509085e-02 9.80497594e+00] [-3.76732459e-02 -1.14261591e-03 9.99289458e-01 -2.01694241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479000006 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:52.30, Y:9.82, Z:-2.02 [[ 9.66812267e-01 -2.52921395e-01 3.61221318e-02 5.23009905e+01] [ 2.52695640e-01 9.67485991e-01 1.07596719e-02 9.82181160e+00] [-3.76690077e-02 -1.27467759e-03 9.99289458e-01 -2.01986986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.36, Y:9.84, Z:-2.03 [[ 9.67905819e-01 -2.48703872e-01 3.61207763e-02 5.23560148e+01] [ 2.48475012e-01 9.68578495e-01 1.07642203e-02 9.84255825e+00] [-3.76629104e-02 -1.44364119e-03 9.99289458e-01 -2.02505944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479000004 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:9.86, Z:-2.03 [[ 9.68645138e-01 -2.45809026e-01 3.61181271e-02 5.24110988e+01] [ 2.45577825e-01 9.69317013e-01 1.07731022e-02 9.86400202e+00] [-3.76580408e-02 -1.56550196e-03 9.99289458e-01 -2.02950843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479000006 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:9.88, Z:-2.03 [[ 9.68714328e-01 -2.45536598e-01 3.61154992e-02 5.24666764e+01] [ 2.45304881e-01 9.69386025e-01 1.07819047e-02 9.87956316e+00] [-3.76572124e-02 -1.58527731e-03 9.99289458e-01 -2.02960292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:9.90, Z:-2.03 [[ 9.68317429e-01 -2.47097404e-01 3.61141122e-02 5.25219548e+01] [ 2.46866597e-01 9.68989439e-01 1.07865484e-02 9.89638882e+00] [-3.76595214e-02 -1.52943480e-03 9.99289458e-01 -2.02927866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:9.92, Z:-2.03 [[ 9.67872543e-01 -2.48834437e-01 3.61132120e-02 5.25773583e+01] [ 2.48604724e-01 9.68544927e-01 1.07895613e-02 9.91728058e+00] [-3.76620827e-02 -1.46500497e-03 9.99289458e-01 -2.03336327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479000006 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:9.93, Z:-2.04 [[ 9.68051537e-01 -2.48137529e-01 3.61107895e-02 5.26333702e+01] [ 2.47907030e-01 9.68723653e-01 1.07976631e-02 9.93455082e+00] [-3.76606813e-02 -1.50057579e-03 9.99289458e-01 -2.03557277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05088847900001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:9.95, Z:-2.04 [[ 9.67474607e-01 -2.50377893e-01 3.61081117e-02 5.26887452e+01] [ 2.50148617e-01 9.68147141e-01 1.08066105e-02 9.95221549e+00] [-3.76637014e-02 -1.42272705e-03 9.99289458e-01 -2.03647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:9.97, Z:-2.04 [[ 9.66717676e-01 -2.53285131e-01 3.61050881e-02 5.27433348e+01] [ 2.53057502e-01 9.67390769e-01 1.08167027e-02 9.97199083e+00] [-3.76674389e-02 -1.32003425e-03 9.99289458e-01 -2.04136521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479000006 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:9.99, Z:-2.04 [[ 9.66251749e-01 -2.55056948e-01 3.61041578e-02 5.27997452e+01] [ 2.54830436e-01 9.66925220e-01 1.08198070e-02 9.99057719e+00] [-3.76696877e-02 -1.25421912e-03 9.99289458e-01 -2.04314620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:10.01, Z:-2.05 [[ 9.65740507e-01 -2.56986110e-01 3.61028008e-02 5.28558752e+01] [ 2.56760775e-01 9.66414372e-01 1.08243332e-02 1.00090842e+01] [-3.76719688e-02 -1.18371396e-03 9.99289458e-01 -2.04818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:52.91, Y:10.03, Z:-2.05 [[ 9.64424027e-01 -2.61883680e-01 3.61003473e-02 5.29127551e+01] [ 2.61661462e-01 9.65098925e-01 1.08325098e-02 1.00261195e+01] [-3.76772639e-02 -1.00106310e-03 9.99289458e-01 -2.04790747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479000005 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:52.97, Y:10.04, Z:-2.05 [[ 9.63710228e-01 -2.64498689e-01 3.60976425e-02 5.29693035e+01] [ 2.64277965e-01 9.64385617e-01 1.08415155e-02 1.00405353e+01] [-3.76796139e-02 -9.08267835e-04 9.99289458e-01 -2.04830621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:53.03, Y:10.06, Z:-2.05 [[ 9.62831314e-01 -2.67680568e-01 3.60967309e-02 5.30254029e+01] [ 2.67461963e-01 9.63507392e-01 1.08445499e-02 1.00583498e+01] [-3.76823423e-02 -7.86969728e-04 9.99289458e-01 -2.04710800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47088847900001 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:10.08, Z:-2.05 [[ 9.62408933e-01 -2.69195581e-01 3.60941042e-02 5.30817877e+01] [ 2.68977713e-01 9.63085249e-01 1.08532853e-02 1.00757740e+01] [-3.76833558e-02 -7.36789089e-04 9.99289458e-01 -2.05008454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:53.14, Y:10.09, Z:-2.05 [[ 9.61706825e-01 -2.71693552e-01 3.60915103e-02 5.31390757e+01] [ 2.71477117e-01 9.62383600e-01 1.08619044e-02 1.00890040e+01] [-3.76849870e-02 -6.47948384e-04 9.99289459e-01 -2.05290957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:53.20, Y:10.10, Z:-2.06 [[ 9.61168908e-01 -2.73590787e-01 3.60889537e-02 5.31962291e+01] [ 2.73375369e-01 9.61846008e-01 1.08703920e-02 1.01041983e+01] [-3.76860551e-02 -5.82451811e-04 9.99289459e-01 -2.05511944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:10.12, Z:-2.05 [[ 9.61482029e-01 -2.72488673e-01 3.60864321e-02 5.32518710e+01] [ 2.72272166e-01 9.62158781e-01 1.08787563e-02 1.01202651e+01] [-3.76852155e-02 -6.34397672e-04 9.99289459e-01 -2.05402482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:10.14, Z:-2.07 [[ 9.60035606e-01 -2.77541844e-01 3.60854626e-02 5.33076448e+01] [ 2.77328778e-01 9.60713449e-01 1.08819714e-02 1.01415168e+01] [-3.76879917e-02 -4.39542726e-04 9.99289459e-01 -2.06795163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:10.15, Z:-2.06 [[ 9.62370612e-01 -2.69333740e-01 3.60852003e-02 5.33676190e+01] [ 2.69114861e-01 9.63046601e-01 1.08828410e-02 1.01484293e+01] [-3.76828458e-02 -7.62262745e-04 9.99289459e-01 -2.05810735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:10.16, Z:-2.06 [[ 9.63221224e-01 -2.66275722e-01 3.60847980e-02 5.34237183e+01] [ 2.66054647e-01 9.63896498e-01 1.08841748e-02 1.01640812e+01] [-3.76802020e-02 -8.83339932e-04 9.99289459e-01 -2.06143512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:10.18, Z:-2.06 [[ 9.64593492e-01 -2.61261141e-01 3.60833991e-02 5.34810769e+01] [ 2.61036383e-01 9.65267549e-01 1.08888106e-02 1.01786231e+01] [-3.76749573e-02 -1.08419587e-03 9.99289459e-01 -2.06175474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.54, Y:10.19, Z:-2.07 [[ 9.66208852e-01 -2.55222698e-01 3.60808520e-02 5.35366570e+01] [ 2.54993414e-01 9.66881383e-01 1.08972441e-02 1.01940676e+01] [-3.76671281e-02 -1.32863410e-03 9.99289459e-01 -2.06582247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:10.21, Z:-2.07 [[ 9.66702959e-01 -2.53344875e-01 3.60799540e-02 5.35937646e+01] [ 2.53114173e-01 9.67375005e-01 1.09002164e-02 1.02099212e+01] [-3.76643597e-02 -1.40492368e-03 9.99289459e-01 -2.06778959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:10.23, Z:-2.07 [[ 9.66868703e-01 -2.52711959e-01 3.60773746e-02 5.36491981e+01] [ 2.52480499e-01 9.67540488e-01 1.09087469e-02 1.02254976e+01] [-3.76630915e-02 -1.43849239e-03 9.99289459e-01 -2.07003751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.70, Y:10.24, Z:-2.07 [[ 9.67213990e-01 -2.51387633e-01 3.60742919e-02 5.37038709e+01] [ 2.51154875e-01 9.67885327e-01 1.09189317e-02 1.02401444e+01] [-3.76606622e-02 -1.50070918e-03 9.99289459e-01 -2.07343484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:10.26, Z:-2.08 [[ 9.67204325e-01 -2.51425117e-01 3.60722110e-02 5.37608562e+01] [ 2.51192129e-01 9.67875582e-01 1.09258018e-02 1.02551526e+01] [-3.76604332e-02 -1.50642731e-03 9.99289459e-01 -2.07847314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:10.27, Z:-2.08 [[ 9.66537318e-01 -2.53977552e-01 3.60695884e-02 5.38161223e+01] [ 2.53746014e-01 9.67209077e-01 1.09344532e-02 1.02728650e+01] [-3.76639389e-02 -1.41604281e-03 9.99289459e-01 -2.08377640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479000006 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:10.29, Z:-2.09 [[ 9.65189541e-01 -2.59052801e-01 3.60665428e-02 5.38731474e+01] [ 2.58824422e-01 9.65862380e-01 1.09444896e-02 1.02856609e+01] [-3.76705176e-02 -1.22860478e-03 9.99289459e-01 -2.08597214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:10.30, Z:-2.09 [[ 9.63536674e-01 -2.65134588e-01 3.60656094e-02 5.39306910e+01] [ 2.64910342e-01 9.64210901e-01 1.09475648e-02 1.02988462e+01] [-3.76774318e-02 -9.94227274e-04 9.99289459e-01 -2.08681459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:10.31, Z:-2.09 [[ 9.62061836e-01 -2.70437580e-01 3.60629844e-02 5.39877602e+01] [ 2.70216727e-01 9.62737182e-01 1.09562052e-02 1.03148392e+01] [-3.76821456e-02 -7.95725278e-04 9.99289459e-01 -2.08684134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.04, Y:10.33, Z:-2.09 [[ 9.59758895e-01 -2.78500486e-01 3.60602703e-02 5.40438410e+01] [ 2.78284972e-01 9.60435964e-01 1.09651307e-02 1.03291510e+01] [-3.76873747e-02 -4.88850383e-04 9.99289459e-01 -2.08842703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55088847900001 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:10.34, Z:-2.09 [[ 9.57780336e-01 -2.85230703e-01 3.60593168e-02 5.40996202e+01] [ 2.85019829e-01 9.58458864e-01 1.09682653e-02 1.03436689e+01] [-3.76898579e-02 -2.27568500e-04 9.99289459e-01 -2.09040211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:10.36, Z:-2.09 [[ 9.56872121e-01 -2.88263227e-01 3.60562926e-02 5.41547479e+01] [ 2.88054129e-01 9.57551199e-01 1.09781981e-02 1.03604936e+01] [-3.76903570e-02 -1.18567784e-04 9.99289459e-01 -2.09334624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479000006 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:10.38, Z:-2.09 [[ 9.55793715e-01 -2.91819351e-01 3.60532907e-02 5.42100185e+01] [ 2.91612408e-01 9.56473453e-01 1.09880477e-02 1.03770140e+01] [-3.76905404e-02 1.12800196e-05 9.99289459e-01 -2.09302049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73088847900001 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:10.40, Z:-2.10 [[ 9.54921214e-01 -2.94662012e-01 3.60523667e-02 5.42652907e+01] [ 2.94456978e-01 9.55601530e-01 1.09910784e-02 1.03952547e+01] [-3.76903501e-02 1.20257078e-04 9.99289459e-01 -2.09602881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:10.41, Z:-2.10 [[ 9.54501933e-01 -2.96017732e-01 3.60494347e-02 5.43205704e+01] [ 2.95813302e-01 9.55182430e-01 1.10006866e-02 1.04130897e+01] [-3.76901850e-02 1.63725689e-04 9.99289459e-01 -2.09960419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479000005 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:10.43, Z:-2.10 [[ 9.54210769e-01 -2.96955314e-01 3.60465002e-02 5.43753290e+01] [ 2.96751189e-01 9.54891358e-01 1.10102940e-02 1.04347831e+01] [-3.76900568e-02 1.90700639e-04 9.99289459e-01 -2.10249545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:10.45, Z:-2.10 [[ 9.53937689e-01 -2.97831696e-01 3.60439566e-02 5.44302776e+01] [ 2.97627882e-01 9.54618371e-01 1.10186146e-02 1.04524020e+01] [-3.76899158e-02 2.16614694e-04 9.99289459e-01 -2.10133904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:10.47, Z:-2.10 [[ 9.53876256e-01 -2.98028752e-01 3.60409741e-02 5.44854463e+01] [ 2.97824710e-01 9.54556870e-01 1.10283615e-02 1.04697797e+01] [-3.76899282e-02 2.14200516e-04 9.99289459e-01 -2.10087935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:10.49, Z:-2.10 [[ 9.55850145e-01 -2.91636357e-01 3.60379600e-02 5.45383647e+01] [ 2.91427393e-01 9.56529264e-01 1.10382021e-02 1.04915724e+01] [-3.76905044e-02 -4.84183983e-05 9.99289459e-01 -2.10427179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.59, Y:10.51, Z:-2.11 [[ 9.57935368e-01 -2.84712561e-01 3.60359249e-02 5.45917426e+01] [ 2.84498438e-01 9.58612878e-01 1.10448420e-02 1.05136918e+01] [-3.76891069e-02 -3.28080425e-04 9.99289459e-01 -2.10863832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:10.54, Z:-2.11 [[ 9.60720269e-01 -2.75169401e-01 3.60328363e-02 5.46447865e+01] [ 2.74948173e-01 9.61395492e-01 1.10549090e-02 1.05364080e+01] [-3.76837791e-02 -7.13512690e-04 9.99289459e-01 -2.11300765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:10.56, Z:-2.12 [[ 9.62248714e-01 -2.69776098e-01 3.60315067e-02 5.46989697e+01] [ 2.69550923e-01 9.62922631e-01 1.10592408e-02 1.05583538e+01] [-3.76790721e-02 -9.29414330e-04 9.99289459e-01 -2.11676541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:10.58, Z:-2.12 [[ 9.63090241e-01 -2.66756700e-01 3.60284621e-02 5.47522769e+01] [ 2.66529042e-01 9.63763323e-01 1.10691505e-02 1.05785360e+01] [-3.76756805e-02 -1.05795934e-03 9.99289459e-01 -2.11927492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:10.60, Z:-2.12 [[ 9.63249574e-01 -2.66180956e-01 3.60271555e-02 5.48069870e+01] [ 2.65952737e-01 9.63922467e-01 1.10734016e-02 1.05971642e+01] [-3.76749132e-02 -1.08492877e-03 9.99289459e-01 -2.12012093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:10.62, Z:-2.12 [[ 9.63042419e-01 -2.66929878e-01 3.60241434e-02 5.48605565e+01] [ 2.66701816e-01 9.63715365e-01 1.10831921e-02 1.06153719e+01] [-3.76754556e-02 -1.06587974e-03 9.99289460e-01 -2.12331631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:10.63, Z:-2.13 [[ 9.62574300e-01 -2.68613338e-01 3.60221095e-02 5.49163922e+01] [ 2.68386206e-01 9.63247559e-01 1.10897987e-02 1.06318694e+01] [-3.76770769e-02 -1.00691796e-03 9.99289460e-01 -2.12529088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:10.65, Z:-2.13 [[ 9.62269684e-01 -2.69702960e-01 3.60190057e-02 5.49721318e+01] [ 2.69476214e-01 9.62943074e-01 1.10998704e-02 1.06489195e+01] [-3.76779200e-02 -9.74803521e-04 9.99289460e-01 -2.12673110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479000004 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:10.67, Z:-2.13 [[ 9.62270540e-01 -2.69700318e-01 3.60159216e-02 5.50271417e+01] [ 2.69473195e-01 9.62943803e-01 1.11098686e-02 1.06662460e+01] [-3.76776436e-02 -9.85373746e-04 9.99289460e-01 -2.12798959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.08, Y:10.68, Z:-2.13 [[ 9.62476773e-01 -2.68963815e-01 3.60128718e-02 5.50825134e+01] [ 2.68735808e-01 9.63149737e-01 1.11197457e-02 1.06826610e+01] [-3.76765972e-02 -1.02454875e-03 9.99289460e-01 -2.12997392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:10.70, Z:-2.13 [[ 9.62190576e-01 -2.69986269e-01 3.60098619e-02 5.51384263e+01] [ 2.69758614e-01 9.62863659e-01 1.11294842e-02 1.07000509e+01] [-3.76773953e-02 -9.94714332e-04 9.99289460e-01 -2.13180740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479000004 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:10.72, Z:-2.13 [[ 9.61241699e-01 -2.73345751e-01 3.60068917e-02 5.51935432e+01] [ 2.73120089e-01 9.61915453e-01 1.11390855e-02 1.07181283e+01] [-3.76804072e-02 -8.73148033e-04 9.99289460e-01 -2.13361447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479000006 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:55.25, Y:10.74, Z:-2.13 [[ 9.59944680e-01 -2.77866768e-01 3.60037608e-02 5.52495685e+01] [ 2.77643900e-01 9.60619363e-01 1.11491959e-02 1.07363843e+01] [-3.76839008e-02 -7.06386700e-04 9.99289460e-01 -2.13451984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.31, Y:10.75, Z:-2.14 [[ 9.57875488e-01 -2.84918365e-01 3.60010449e-02 5.53057030e+01] [ 2.84700135e-01 9.58551685e-01 1.11579588e-02 1.07522774e+01] [-3.76879696e-02 -4.38432900e-04 9.99289460e-01 -2.13584483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:10.77, Z:-2.14 [[ 9.56674181e-01 -2.88926742e-01 3.59979164e-02 5.53603757e+01] [ 2.88710966e-01 9.57351165e-01 1.11680430e-02 1.07703628e+01] [-3.76893934e-02 -2.91185195e-04 9.99289460e-01 -2.13861304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479000006 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:10.79, Z:-2.14 [[ 9.55721930e-01 -2.92061580e-01 3.59948009e-02 5.54155009e+01] [ 2.91847647e-01 9.56399499e-01 1.11780752e-02 1.07890358e+01] [-3.76900959e-02 -1.78133602e-04 9.99289460e-01 -2.14037615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:10.81, Z:-2.14 [[ 9.56061955e-01 -2.90946699e-01 3.59938437e-02 5.54694013e+01] [ 2.90731860e-01 9.56739237e-01 1.11811566e-02 1.08072849e+01] [-3.76898432e-02 -2.25321316e-04 9.99289460e-01 -2.14400772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888479 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:10.83, Z:-2.15 [[ 9.56816540e-01 -2.88455715e-01 3.59917918e-02 5.55244789e+01] [ 2.88238864e-01 9.57493181e-01 1.11877576e-02 1.08266208e+01] [-3.76890679e-02 -3.30398358e-04 9.99289460e-01 -2.14726438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479000006 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:10.85, Z:-2.15 [[ 9.58265928e-01 -2.83603994e-01 3.59886997e-02 5.55789940e+01] [ 2.83383345e-01 9.58941339e-01 1.11976955e-02 1.08472830e+01] [-3.76867630e-02 -5.31772014e-04 9.99289460e-01 -2.15084273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23088847900001 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:10.86, Z:-2.15 [[ 9.59397830e-01 -2.79751405e-01 3.59854789e-02 5.56332845e+01] [ 2.79527656e-01 9.60072221e-01 1.12080363e-02 1.08649064e+01] [-3.76841226e-02 -6.94029158e-04 9.99289460e-01 -2.15259043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:10.88, Z:-2.15 [[ 9.61446736e-01 -2.72626805e-01 3.59833064e-02 5.56884247e+01] [ 2.72397798e-01 9.62119360e-01 1.12150068e-02 1.08834017e+01] [-3.76777472e-02 -9.80858291e-04 9.99289460e-01 -2.15375414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479000005 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:10.90, Z:-2.16 [[ 9.63111159e-01 -2.66687681e-01 3.59802172e-02 5.57427767e+01] [ 2.66454158e-01 9.63782228e-01 1.12249091e-02 1.09019026e+01] [-3.76706389e-02 -1.22375680e-03 9.99289460e-01 -2.15585246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41088847900001 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:10.92, Z:-2.16 [[ 9.64143380e-01 -2.62931619e-01 3.59792671e-02 5.57998028e+01] [ 2.62695368e-01 9.64813493e-01 1.12279535e-02 1.09172095e+01] [-3.76654664e-02 -1.37377024e-03 9.99289460e-01 -2.15867335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47088847900001 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:10.93, Z:-2.16 [[ 9.64424070e-01 -2.61900541e-01 3.59766480e-02 5.58550348e+01] [ 2.61663261e-01 9.65093820e-01 1.12363395e-02 1.09335284e+01] [-3.76636440e-02 -1.42282923e-03 9.99289460e-01 -2.16043343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479000005 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:10.95, Z:-2.16 [[ 9.64587358e-01 -2.61298919e-01 3.59736437e-02 5.59109192e+01] [ 2.61060864e-01 9.65256833e-01 1.12459497e-02 1.09498926e+01] [-3.76623599e-02 -1.45639044e-03 9.99289460e-01 -2.16383815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59088847900001 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:10.96, Z:-2.17 [[ 9.65174480e-01 -2.59122238e-01 3.59706627e-02 5.59680319e+01] [ 2.58882319e-01 9.65843289e-01 1.12554764e-02 1.09645135e+01] [-3.76585674e-02 -1.55132997e-03 9.99289460e-01 -2.16703568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65088847900001 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:10.98, Z:-2.17 [[ 9.65507553e-01 -2.57878773e-01 3.59680842e-02 5.60238037e+01] [ 2.57637687e-01 9.66175942e-01 1.12637104e-02 1.09789629e+01] [-3.76561694e-02 -1.60846343e-03 9.99289460e-01 -2.17315043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479000005 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:56.08, Y:10.99, Z:-2.18 [[ 9.65311741e-01 -2.58610915e-01 3.59671774e-02 5.60799916e+01] [ 2.58370228e-01 9.65980273e-01 1.12666053e-02 1.09938928e+01] [-3.76572509e-02 -1.58293852e-03 9.99289460e-01 -2.17530543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:11.01, Z:-2.18 [[ 9.64533676e-01 -2.61498291e-01 3.59643007e-02 5.61376626e+01] [ 2.61259264e-01 9.65202804e-01 1.12757803e-02 1.10082743e+01] [-3.76614412e-02 -1.47986305e-03 9.99289460e-01 -2.17673377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:11.02, Z:-2.18 [[ 9.64444983e-01 -2.61825608e-01 3.59614498e-02 5.61933490e+01] [ 2.61586470e-01 9.65114071e-01 1.12848652e-02 1.10235823e+01] [-3.76615680e-02 -1.47660295e-03 9.99289461e-01 -2.17852213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.25, Y:11.04, Z:-2.18 [[ 9.64348910e-01 -2.62179684e-01 3.59582069e-02 5.62502928e+01] [ 2.61940407e-01 9.65017949e-01 1.12951892e-02 1.10377618e+01] [-3.76616842e-02 -1.47359606e-03 9.99289461e-01 -2.18045354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:11.05, Z:-2.18 [[ 9.65258111e-01 -2.58812657e-01 3.59553557e-02 5.63072226e+01] [ 2.58570709e-01 9.65926189e-01 1.13042581e-02 1.10487694e+01] [-3.76559047e-02 -1.61452498e-03 9.99289461e-01 -2.18018796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.36, Y:11.06, Z:-2.18 [[ 9.65147469e-01 -2.59225158e-01 3.59538786e-02 5.63640755e+01] [ 2.58983321e-01 9.65815586e-01 1.13089540e-02 1.10635340e+01] [-3.76563817e-02 -1.60335345e-03 9.99289461e-01 -2.18250207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.42, Y:11.07, Z:-2.18 [[ 9.63705695e-01 -2.64535161e-01 3.59510998e-02 5.64223212e+01] [ 2.64296678e-01 9.64375017e-01 1.13177810e-02 1.10725997e+01] [-3.76642935e-02 -1.40525376e-03 9.99289461e-01 -2.18224445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.48, Y:11.09, Z:-2.18 [[ 9.62259199e-01 -2.69749553e-01 3.59501268e-02 5.64802607e+01] [ 2.69514582e-01 9.62929763e-01 1.13208708e-02 1.10863006e+01] [-3.76712469e-02 -1.20452867e-03 9.99289461e-01 -2.18322745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:56.54, Y:11.10, Z:-2.18 [[ 9.60913894e-01 -2.74503681e-01 3.59474282e-02 5.65377746e+01] [ 2.74271708e-01 9.61585500e-01 1.13294332e-02 1.10992729e+01] [-3.76764968e-02 -1.02724723e-03 9.99289461e-01 -2.18166471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:11.11, Z:-2.18 [[ 9.59574533e-01 -2.79149953e-01 3.59446623e-02 5.65944114e+01] [ 2.78920905e-01 9.60247142e-01 1.13382018e-02 1.11117314e+01] [-3.76808177e-02 -8.54132006e-04 9.99289461e-01 -2.18224144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.65, Y:11.13, Z:-2.20 [[ 9.57983383e-01 -2.84562907e-01 3.59414747e-02 5.66489979e+01] [ 2.84337281e-01 9.58657148e-01 1.13482972e-02 1.11317771e+01] [-3.76848561e-02 -6.51978928e-04 9.99289461e-01 -2.19565413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.71, Y:11.14, Z:-2.19 [[ 9.59547068e-01 -2.79245119e-01 3.59386668e-02 5.67075499e+01] [ 2.79015426e-01 9.60219457e-01 1.13571826e-02 1.11408395e+01] [-3.76804449e-02 -8.70308782e-04 9.99289461e-01 -2.19242431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:11.16, Z:-2.20 [[ 9.59158265e-01 -2.80578031e-01 3.59359281e-02 5.67639279e+01] [ 2.80348949e-01 9.59830862e-01 1.13658416e-02 1.11578675e+01] [-3.76814183e-02 -8.27041202e-04 9.99289461e-01 -2.19604809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479000006 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:11.17, Z:-2.19 [[ 9.59430999e-01 -2.79644350e-01 3.59332053e-02 5.68218185e+01] [ 2.79414292e-01 9.60103263e-01 1.13744434e-02 1.11710908e+01] [-3.76803865e-02 -8.72742517e-04 9.99289461e-01 -2.19284075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:11.19, Z:-2.20 [[ 9.59149787e-01 -2.80607720e-01 3.59304035e-02 5.68762353e+01] [ 2.80378005e-01 9.59822168e-01 1.13832870e-02 1.11892931e+01] [-3.76810360e-02 -8.44182477e-04 9.99289461e-01 -2.19598096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888479 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:11.21, Z:-2.20 [[ 9.59196388e-01 -2.80448557e-01 3.59290351e-02 5.69312918e+01] [ 2.80218570e-01 9.59868676e-01 1.13876043e-02 1.12091399e+01] [-3.76807926e-02 -8.54966086e-04 9.99289461e-01 -2.20267953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479000006 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:11.22, Z:-2.21 [[ 9.59130298e-01 -2.80674854e-01 3.59262764e-02 5.69877904e+01] [ 2.80444699e-01 9.59802529e-01 1.13963010e-02 1.12249807e+01] [-3.76807861e-02 -8.55203748e-04 9.99289461e-01 -2.20549971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73088847900001 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:11.24, Z:-2.20 [[ 9.58688032e-01 -2.82182141e-01 3.59234749e-02 5.70443066e+01] [ 2.81952713e-01 9.59360511e-01 1.14051251e-02 1.12405419e+01] [-3.76818859e-02 -8.05235693e-04 9.99289461e-01 -2.20479458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79088847900001 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:11.26, Z:-2.21 [[ 9.57908346e-01 -2.84818021e-01 3.59206912e-02 5.70989558e+01] [ 2.84590115e-01 9.58581342e-01 1.14138859e-02 1.12593340e+01] [-3.76837847e-02 -7.10782948e-04 9.99289461e-01 -2.20555786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.15, Y:11.28, Z:-2.21 [[ 9.57198036e-01 -2.87196265e-01 3.59197138e-02 5.71546484e+01] [ 2.86969916e-01 9.57871557e-01 1.14169607e-02 1.12755318e+01] [-3.76853807e-02 -6.20415105e-04 9.99289461e-01 -2.20694195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.21, Y:11.29, Z:-2.21 [[ 9.55776162e-01 -2.91893694e-01 3.59165584e-02 5.72097806e+01] [ 2.91670282e-01 9.56450664e-01 1.14268787e-02 1.12915150e+01] [-3.76878500e-02 -4.45745548e-04 9.99289461e-01 -2.20740631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.27, Y:11.31, Z:-2.21 [[ 9.54581375e-01 -2.95777877e-01 3.59144344e-02 5.72654211e+01] [ 2.95556959e-01 9.55256697e-01 1.14335505e-02 1.13107840e+01] [-3.76892953e-02 -2.99493279e-04 9.99289461e-01 -2.21021203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479000005 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:57.32, Y:11.33, Z:-2.21 [[ 9.52717160e-01 -3.01728950e-01 3.59117583e-02 5.73219893e+01] [ 3.01511935e-01 9.53393746e-01 1.14419498e-02 1.13285008e+01] [-3.76904133e-02 -7.31182074e-05 9.99289461e-01 -2.21019044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:11.35, Z:-2.21 [[ 9.52004891e-01 -3.03969131e-01 3.59089846e-02 5.73775707e+01] [ 3.03753379e-01 9.52681882e-01 1.14506480e-02 1.13479689e+01] [-3.76904826e-02 6.40245047e-06 9.99289461e-01 -2.21072095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:11.37, Z:-2.21 [[ 9.52286751e-01 -3.03085281e-01 3.59062143e-02 5.74315703e+01] [ 3.02868574e-01 9.52963436e-01 1.14593284e-02 1.13689716e+01] [-3.76904631e-02 -3.77026701e-05 9.99289461e-01 -2.21335743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:11.39, Z:-2.22 [[ 9.54044715e-01 -2.97505715e-01 3.59030736e-02 5.74854679e+01] [ 2.97284680e-01 9.54720000e-01 1.14691602e-02 1.13901464e+01] [-3.76895231e-02 -2.68657939e-04 9.99289461e-01 -2.21556827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:11.41, Z:-2.22 [[ 9.55879479e-01 -2.91556959e-01 3.59021062e-02 5.75397072e+01] [ 2.91331608e-01 9.56553335e-01 1.14721875e-02 1.14122907e+01] [-3.76870755e-02 -5.06610285e-04 9.99289461e-01 -2.21905310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:11.43, Z:-2.22 [[ 9.56740107e-01 -2.88720685e-01 3.58989306e-02 5.75944367e+01] [ 2.88492964e-01 9.57413166e-01 1.14821161e-02 1.14341991e+01] [-3.76852332e-02 -6.28812117e-04 9.99289461e-01 -2.22185413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479000004 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:57.65, Y:11.45, Z:-2.22 [[ 9.56801379e-01 -2.88517915e-01 3.58961606e-02 5.76504092e+01] [ 2.88289727e-01 9.57474279e-01 1.14907693e-02 1.14528505e+01] [-3.76849433e-02 -6.45889590e-04 9.99289462e-01 -2.22198922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:11.47, Z:-2.22 [[ 9.56552383e-01 -2.89342715e-01 3.58933416e-02 5.77050839e+01] [ 2.89114777e-01 9.57225368e-01 1.14995684e-02 1.14724347e+01] [-3.76853334e-02 -6.22644084e-04 9.99289462e-01 -2.22439341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.76, Y:11.49, Z:-2.23 [[ 9.56446165e-01 -2.89694031e-01 3.58901353e-02 5.77589674e+01] [ 2.89465965e-01 9.57119107e-01 1.15095665e-02 1.14912010e+01] [-3.76853869e-02 -6.19308055e-04 9.99289462e-01 -2.22638619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:11.51, Z:-2.24 [[ 9.54997190e-01 -2.94435671e-01 3.58887577e-02 5.78141072e+01] [ 2.94210786e-01 9.55671201e-01 1.15138603e-02 1.15123861e+01] [-3.76879434e-02 -4.36844598e-04 9.99289462e-01 -2.23826776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479000006 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:11.53, Z:-2.23 [[ 9.55118093e-01 -2.94043584e-01 3.58859044e-02 5.78701255e+01] [ 2.93818088e-01 9.55791901e-01 1.15227466e-02 1.15267535e+01] [-3.76876465e-02 -4.61655919e-04 9.99289462e-01 -2.23299748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.93, Y:11.54, Z:-2.23 [[ 9.54741287e-01 -2.95264878e-01 3.58849055e-02 5.79254622e+01] [ 2.95040127e-01 9.55415343e-01 1.15258565e-02 1.15441914e+01] [-3.76881699e-02 -4.16724040e-04 9.99289462e-01 -2.23359598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:11.56, Z:-2.23 [[ 9.54624174e-01 -2.95643687e-01 3.58817039e-02 5.79808857e+01] [ 2.95418829e-01 9.55298194e-01 1.15358150e-02 1.15620773e+01] [-3.76882178e-02 -4.12236887e-04 9.99289462e-01 -2.23450887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:11.58, Z:-2.24 [[ 9.55019786e-01 -2.94363617e-01 3.58785366e-02 5.80355746e+01] [ 2.94137486e-01 9.55693380e-01 1.15456576e-02 1.15804390e+01] [-3.76875014e-02 -4.73108957e-04 9.99289462e-01 -2.23882761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:11.60, Z:-2.24 [[ 9.55748921e-01 -2.91987942e-01 3.58753740e-02 5.80912034e+01] [ 2.91759768e-01 9.56421826e-01 1.15554761e-02 1.15980932e+01] [-3.76860504e-02 -5.77142965e-04 9.99289462e-01 -2.24365946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479000004 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:11.62, Z:-2.25 [[ 9.56167890e-01 -2.90613400e-01 3.58722301e-02 5.81460356e+01] [ 2.90383893e-01 9.56840342e-01 1.15652276e-02 1.16164674e+01] [-3.76850071e-02 -6.41581472e-04 9.99289462e-01 -2.24719343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:11.63, Z:-2.25 [[ 9.56180017e-01 -2.90573881e-01 3.58691232e-02 5.82005448e+01] [ 2.90343985e-01 9.56852336e-01 1.15748558e-02 1.16326751e+01] [-3.76848051e-02 -6.53261635e-04 9.99289462e-01 -2.24686548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:11.65, Z:-2.25 [[ 9.55553706e-01 -2.92627187e-01 3.58670258e-02 5.82564384e+01] [ 2.92398493e-01 9.56226434e-01 1.15813512e-02 1.16490865e+01] [-3.76860164e-02 -5.79138815e-04 9.99289462e-01 -2.24784067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:11.67, Z:-2.25 [[ 9.54575625e-01 -2.95802553e-01 3.58639868e-02 5.83126213e+01] [ 2.95575743e-01 9.55248991e-01 1.15907546e-02 1.16653904e+01] [-3.76876120e-02 -4.63727274e-04 9.99289462e-01 -2.25024391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479000006 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:11.68, Z:-2.26 [[ 9.54318586e-01 -2.96631163e-01 3.58607107e-02 5.83671542e+01] [ 2.96404557e-01 9.54992020e-01 1.16008815e-02 1.16830447e+01] [-3.76878755e-02 -4.41658795e-04 9.99289462e-01 -2.25570615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23088847900001 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:11.70, Z:-2.26 [[ 9.54413619e-01 -2.96325421e-01 3.58593033e-02 5.84226197e+01] [ 2.96098436e-01 9.55086925e-01 1.16052303e-02 1.16992749e+01] [-3.76876765e-02 -4.58306277e-04 9.99289462e-01 -2.26083493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29088847900001 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:11.72, Z:-2.26 [[ 9.54203387e-01 -2.97002092e-01 3.58560171e-02 5.84776668e+01] [ 2.96775204e-01 9.54876726e-01 1.16153747e-02 1.17158602e+01] [-3.76878668e-02 -4.42253061e-04 9.99289462e-01 -2.26297585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479000005 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:11.73, Z:-2.26 [[ 9.54106638e-01 -2.97312917e-01 3.58546066e-02 5.85332253e+01] [ 2.97086084e-01 9.54779996e-01 1.16197269e-02 1.17315432e+01] [-3.76879561e-02 -4.34553849e-04 9.99289462e-01 -2.26443955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41088847900001 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:58.59, Y:11.75, Z:-2.27 [[ 9.54237641e-01 -2.96892576e-01 3.58513952e-02 5.85870085e+01] [ 2.96665075e-01 9.54910773e-01 1.16296269e-02 1.17489789e+01] [-3.76876334e-02 -4.61570877e-04 9.99289462e-01 -2.26662561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:11.77, Z:-2.27 [[ 9.55052592e-01 -2.94260771e-01 3.58489298e-02 5.86411080e+01] [ 2.94031130e-01 9.55724997e-01 1.16372216e-02 1.17677207e+01] [-3.76860962e-02 -5.73457343e-04 9.99289462e-01 -2.26960684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479000005 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:11.78, Z:-2.27 [[ 9.55840579e-01 -2.91691266e-01 3.58468139e-02 5.86971243e+01] [ 2.91459573e-01 9.56512280e-01 1.16437358e-02 1.17846907e+01] [-3.76842937e-02 -6.81658046e-04 9.99289462e-01 -2.27116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:11.80, Z:-2.27 [[ 9.57045105e-01 -2.87714953e-01 3.58437400e-02 5.87527683e+01] [ 2.87480115e-01 9.57715713e-01 1.16531908e-02 1.18018493e+01] [-3.76809102e-02 -8.48266652e-04 9.99289462e-01 -2.27093640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:11.82, Z:-2.28 [[ 9.58202243e-01 -2.83837843e-01 3.58404755e-02 5.88064932e+01] [ 2.83599917e-01 9.58871762e-01 1.16632223e-02 1.18219659e+01] [-3.76768838e-02 -1.01136992e-03 9.99289462e-01 -2.27668609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479000005 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:11.84, Z:-2.28 [[ 9.58866987e-01 -2.81584200e-01 3.58390728e-02 5.88626596e+01] [ 2.81344541e-01 9.59535887e-01 1.16675310e-02 1.18404654e+01] [-3.76742689e-02 -1.10448280e-03 9.99289462e-01 -2.28165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:11.86, Z:-2.29 [[ 9.59116014e-01 -2.80735173e-01 3.58362079e-02 5.89179787e+01] [ 2.80494593e-01 9.59784584e-01 1.16763238e-02 1.18558125e+01] [-3.76729947e-02 -1.14708661e-03 9.99289462e-01 -2.28604105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83088847900001 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:11.87, Z:-2.29 [[ 9.58282786e-01 -2.83566465e-01 3.58352024e-02 5.89741734e+01] [ 2.83327745e-01 9.58952022e-01 1.16794091e-02 1.18726150e+01] [-3.76761285e-02 -1.03906957e-03 9.99289462e-01 -2.28519938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479000004 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:11.89, Z:-2.28 [[ 9.57602752e-01 -2.85854929e-01 3.58319468e-02 5.90307746e+01] [ 2.85617436e-01 9.58272424e-01 1.16893885e-02 1.18882923e+01] [-3.76782358e-02 -9.59561847e-04 9.99289462e-01 -2.28203585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:11.91, Z:-2.29 [[ 9.56455398e-01 -2.89671124e-01 3.58289319e-02 5.90860382e+01] [ 2.89435957e-01 9.57125890e-01 1.16986223e-02 1.19051786e+01] [-3.76815514e-02 -8.19029266e-04 9.99289463e-01 -2.28508396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01088847900001 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:59.14, Y:11.92, Z:-2.29 [[ 9.56332454e-01 -2.90076951e-01 3.58273611e-02 5.91409452e+01] [ 2.89841888e-01 9.57002983e-01 1.17034307e-02 1.19216968e+01] [-3.76817870e-02 -8.08100596e-04 9.99289463e-01 -2.28709453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.20, Y:11.94, Z:-2.29 [[ 9.56684512e-01 -2.88913909e-01 3.58259488e-02 5.91952066e+01] [ 2.88677869e-01 9.57354697e-01 1.17077526e-02 1.19413866e+01] [-3.76806729e-02 -8.58467002e-04 9.99289463e-01 -2.28931565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.25, Y:11.96, Z:-2.29 [[ 9.57222797e-01 -2.87125849e-01 3.58226574e-02 5.92491449e+01] [ 2.86888182e-01 9.57892407e-01 1.17178146e-02 1.19604292e+01] [-3.76787390e-02 -9.39462191e-04 9.99289463e-01 -2.29233439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:11.98, Z:-2.30 [[ 9.57986190e-01 -2.84568618e-01 3.58212433e-02 5.93044684e+01] [ 2.84329001e-01 9.58655105e-01 1.17221359e-02 1.19811632e+01] [-3.76759698e-02 -1.04462596e-03 9.99289463e-01 -2.29593465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:12.00, Z:-2.30 [[ 9.58439130e-01 -2.83039714e-01 3.58183637e-02 5.93596501e+01] [ 2.82798702e-01 9.59107543e-01 1.17309283e-02 1.20014927e+01] [-3.76739814e-02 -1.11399395e-03 9.99289463e-01 -2.29962318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479000006 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:12.02, Z:-2.30 [[ 9.58438783e-01 -2.83041250e-01 3.58155030e-02 5.94124559e+01] [ 2.82799914e-01 9.59107079e-01 1.17396558e-02 1.20220100e+01] [-3.76737093e-02 -1.12312020e-03 9.99289463e-01 -2.30239790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:12.04, Z:-2.30 [[ 9.57520269e-01 -2.86133335e-01 3.58140998e-02 5.94660140e+01] [ 2.85893997e-01 9.58189283e-01 1.17439351e-02 1.20430190e+01] [-3.76770179e-02 -1.00601971e-03 9.99289463e-01 -2.30228877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:12.06, Z:-2.30 [[ 9.55930152e-01 -2.91401808e-01 3.58124450e-02 5.95206265e+01] [ 2.91165968e-01 9.56600408e-01 1.17489790e-02 1.20628637e+01] [-3.76818732e-02 -8.03838038e-04 9.99289463e-01 -2.30228169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:12.08, Z:-2.31 [[ 9.54826810e-01 -2.94997408e-01 3.58091145e-02 5.95746723e+01] [ 2.94763713e-01 9.55497816e-01 1.17591212e-02 1.20828724e+01] [-3.76844410e-02 -6.72696661e-04 9.99289463e-01 -2.30510270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:12.10, Z:-2.31 [[ 9.53107389e-01 -3.00506656e-01 3.58057982e-02 5.96282269e+01] [ 3.00276461e-01 9.53779604e-01 1.17692105e-02 1.21038457e+01] [-3.76875661e-02 -4.65683127e-04 9.99289463e-01 -2.30806025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:12.12, Z:-2.31 [[ 9.52473644e-01 -3.02509607e-01 3.58035661e-02 5.96834936e+01] [ 3.02280570e-01 9.53146255e-01 1.17759969e-02 1.21230374e+01] [-3.76883871e-02 -3.93604303e-04 9.99289463e-01 -2.30999077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:12.14, Z:-2.31 [[ 9.50747114e-01 -3.07893269e-01 3.58002680e-02 5.97378699e+01] [ 3.07667664e-01 9.51420884e-01 1.17860148e-02 1.21433971e+01] [-3.76899573e-02 -1.90934689e-04 9.99289463e-01 -2.31316363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.79, Y:12.17, Z:-2.32 [[ 9.48795601e-01 -3.13855633e-01 3.57987373e-02 5.97918296e+01] [ 3.13634086e-01 9.49470716e-01 1.17906623e-02 1.21651218e+01] [-3.76904185e-02 4.07757474e-05 9.99289463e-01 -2.31745025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:12.18, Z:-2.32 [[ 9.47803268e-01 -3.16840093e-01 3.57955352e-02 5.98464248e+01] [ 3.16620305e-01 9.48478958e-01 1.18003758e-02 1.21848258e+01] [-3.76901441e-02 1.49158524e-04 9.99289463e-01 -2.32038734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.90, Y:12.21, Z:-2.32 [[ 9.46777143e-01 -3.19893653e-01 3.57923372e-02 5.99002883e+01] [ 3.19675679e-01 9.47453420e-01 1.18100679e-02 1.22068170e+01] [-3.76895380e-02 2.60437278e-04 9.99289463e-01 -2.32129807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:12.23, Z:-2.32 [[ 9.46787671e-01 -3.19862604e-01 3.57913562e-02 5.99540602e+01] [ 3.19644495e-01 9.47463904e-01 1.18130400e-02 1.22307276e+01] [-3.76895678e-02 2.56069364e-04 9.99289463e-01 -2.32242285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:12.25, Z:-2.33 [[ 9.47325842e-01 -3.18265505e-01 3.57885114e-02 6.00076124e+01] [ 3.18045931e-01 9.48001600e-01 1.18216522e-02 1.22520040e+01] [-3.76899902e-02 1.83433831e-04 9.99289463e-01 -2.32552628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:60.06, Y:12.28, Z:-2.33 [[ 9.48767425e-01 -3.13942330e-01 3.57852868e-02 6.00611567e+01] [ 3.13719308e-01 9.49442054e-01 1.18314054e-02 1.22779416e+01] [-3.76904352e-02 1.28336323e-06 9.99289463e-01 -2.33118541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:12.30, Z:-2.34 [[ 9.49669652e-01 -3.11202778e-01 3.57824264e-02 6.01142555e+01] [ 3.10977485e-01 9.50343526e-01 1.18400502e-02 1.22998521e+01] [-3.76902537e-02 -1.16607381e-04 9.99289463e-01 -2.33613544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:12.32, Z:-2.34 [[ 9.50257293e-01 -3.09403889e-01 3.57814218e-02 6.01681340e+01] [ 3.09177205e-01 9.50930700e-01 1.18430854e-02 1.23230374e+01] [-3.76899491e-02 -1.91178247e-04 9.99289463e-01 -2.33614725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:60.22, Y:12.35, Z:-2.34 [[ 9.50271272e-01 -3.09361336e-01 3.57781005e-02 6.02222853e+01] [ 3.09134245e-01 9.50944542e-01 1.18531104e-02 1.23452465e+01] [-3.76898835e-02 -2.03434229e-04 9.99289463e-01 -2.33699079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.270888479 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:60.28, Y:12.37, Z:-2.34 [[ 9.50860734e-01 -3.07544903e-01 3.57770436e-02 6.02757107e+01] [ 3.07316406e-01 9.51533528e-01 1.18562997e-02 1.23665771e+01] [-3.76894011e-02 -2.78817339e-04 9.99289463e-01 -2.33798914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33088847900001 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:60.33, Y:12.39, Z:-2.34 [[ 9.52246973e-01 -3.03225625e-01 3.57760025e-02 6.03285346e+01] [ 3.02993958e-01 9.52918682e-01 1.18594405e-02 1.23904534e+01] [-3.76877074e-02 -4.53203705e-04 9.99289463e-01 -2.34002615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39088847900001 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:12.42, Z:-2.35 [[ 9.52577526e-01 -3.02185994e-01 3.57726489e-02 6.03797552e+01] [ 3.01953215e-01 9.53248850e-01 1.18695476e-02 1.24194990e+01] [-3.76870474e-02 -5.04997920e-04 9.99289463e-01 -2.35393680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45088847900001 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:12.43, Z:-2.35 [[ 9.55286730e-01 -2.93509502e-01 3.57691993e-02 6.04365943e+01] [ 2.93270237e-01 9.55955770e-01 1.18799337e-02 1.24339428e+01] [-3.76806459e-02 -8.58701447e-04 9.99289463e-01 -2.34808484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:12.46, Z:-2.35 [[ 9.56546473e-01 -2.89377754e-01 3.57681435e-02 6.04892384e+01] [ 2.89135482e-01 9.57214430e-01 1.18831118e-02 1.24561330e+01] [-3.76764913e-02 -1.02490934e-03 9.99289463e-01 -2.35108517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:60.54, Y:12.48, Z:-2.36 [[ 9.57151417e-01 -2.87370679e-01 3.57667132e-02 6.05433104e+01] [ 2.87126846e-01 9.57818805e-01 1.18874153e-02 1.24777170e+01] [-3.76741251e-02 -1.10847283e-03 9.99289463e-01 -2.35536273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:12.50, Z:-2.35 [[ 9.57155849e-01 -2.87356326e-01 3.57634156e-02 6.05992881e+01] [ 2.87112112e-01 9.57823099e-01 1.18973278e-02 1.24969869e+01] [-3.76737980e-02 -1.11948706e-03 9.99289463e-01 -2.35490952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69088847900001 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:60.65, Y:12.52, Z:-2.36 [[ 9.56678328e-01 -2.88942492e-01 3.57605067e-02 6.06539817e+01] [ 2.88699058e-01 9.57345862e-01 1.19060650e-02 1.25167614e+01] [-3.76753412e-02 -1.06624977e-03 9.99289463e-01 -2.35658947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75088847900001 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:60.71, Y:12.54, Z:-2.37 [[ 9.54843818e-01 -2.94948373e-01 3.57594871e-02 6.07067584e+01] [ 2.94709024e-01 9.55512828e-01 1.19091264e-02 1.25421307e+01] [-3.76812261e-02 -8.32712159e-04 9.99289463e-01 -2.36510434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81088847900001 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:60.76, Y:12.55, Z:-2.36 [[ 9.56184916e-01 -2.90571411e-01 3.57583784e-02 6.07642450e+01] [ 2.90328876e-01 9.56852777e-01 1.19124544e-02 1.25535701e+01] [-3.76769224e-02 -1.00881938e-03 9.99289463e-01 -2.36074174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:60.82, Y:12.57, Z:-2.36 [[ 9.56130663e-01 -2.90750016e-01 3.57572947e-02 6.08178992e+01] [ 2.90507484e-01 9.56798525e-01 1.19157066e-02 1.25738464e+01] [-3.76770187e-02 -1.00521071e-03 9.99289463e-01 -2.36467563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:12.59, Z:-2.37 [[ 9.56030150e-01 -2.91080473e-01 3.57562558e-02 6.08744149e+01] [ 2.90838056e-01 9.56698054e-01 1.19188232e-02 1.25912160e+01] [-3.76772771e-02 -9.95474374e-04 9.99289463e-01 -2.36932220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:12.61, Z:-2.37 [[ 9.55958697e-01 -2.91315393e-01 3.57534821e-02 6.09302422e+01] [ 2.91072829e-01 9.56626548e-01 1.19271377e-02 1.26070831e+01] [-3.76772890e-02 -9.94983846e-04 9.99289464e-01 -2.37290395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05088847900001 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:12.63, Z:-2.37 [[ 9.55685970e-01 -2.92208974e-01 3.57525060e-02 6.09862139e+01] [ 2.91966925e-01 9.56354008e-01 1.19300632e-02 1.26251326e+01] [-3.76781239e-02 -9.62844804e-04 9.99289464e-01 -2.37349888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11088847900001 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:12.64, Z:-2.38 [[ 9.55313921e-01 -2.93423366e-01 3.57496867e-02 6.10416555e+01] [ 2.93181850e-01 9.55982152e-01 1.19385054e-02 1.26412159e+01] [-3.76790989e-02 -9.23861077e-04 9.99289464e-01 -2.37535037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17088847900001 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:12.65, Z:-2.37 [[ 9.54474898e-01 -2.96141350e-01 3.57486960e-02 6.10983247e+01] [ 2.95901626e-01 9.55143774e-01 1.19414713e-02 1.26549923e+01] [-3.76815078e-02 -8.19737324e-04 9.99289464e-01 -2.37447703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:12.67, Z:-2.38 [[ 9.54272683e-01 -2.96792702e-01 3.57454730e-02 6.11539125e+01] [ 2.96553074e-01 9.54941593e-01 1.19511111e-02 1.26724788e+01] [-3.76818415e-02 -8.04188945e-04 9.99289464e-01 -2.37727872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:12.69, Z:-2.38 [[ 9.54582343e-01 -2.95795628e-01 3.57420923e-02 6.12100784e+01] [ 2.95554923e-01 9.55250866e-01 1.19612132e-02 1.26882086e+01] [-3.76807392e-02 -8.54211543e-04 9.99289464e-01 -2.37798662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:12.71, Z:-2.38 [[ 9.55016304e-01 -2.94391917e-01 3.57387595e-02 6.12657747e+01] [ 2.94149857e-01 9.55684337e-01 1.19711631e-02 1.27050167e+01] [-3.76791863e-02 -9.20104983e-04 9.99289464e-01 -2.38077257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41088847900001 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:61.32, Y:12.72, Z:-2.39 [[ 9.55453337e-01 -2.92970819e-01 3.57354003e-02 6.13220196e+01] [ 2.92727392e-01 9.56120874e-01 1.19811823e-02 1.27225839e+01] [-3.76774989e-02 -9.86730067e-04 9.99289464e-01 -2.38730404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47088847900001 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:12.74, Z:-2.39 [[ 9.55510993e-01 -2.92783079e-01 3.57324825e-02 6.13774837e+01] [ 2.92539195e-01 9.56178363e-01 1.19898779e-02 1.27385271e+01] [-3.76770600e-02 -1.00330851e-03 9.99289464e-01 -2.38994681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53088847900001 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:61.43, Y:12.76, Z:-2.39 [[ 9.55360302e-01 -2.93274819e-01 3.57291705e-02 6.14333049e+01] [ 2.93030910e-01 9.56027663e-01 1.19997394e-02 1.27558538e+01] [-3.76772968e-02 -9.94323334e-04 9.99289464e-01 -2.39178529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:61.49, Y:12.77, Z:-2.39 [[ 9.55175740e-01 -2.93875766e-01 3.57259032e-02 6.14880855e+01] [ 2.93631914e-01 9.55843121e-01 1.20094592e-02 1.27719339e+01] [-3.76776478e-02 -9.80878768e-04 9.99289464e-01 -2.39298459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:12.79, Z:-2.39 [[ 9.55522704e-01 -2.92745930e-01 3.57236943e-02 6.15445028e+01] [ 2.92501044e-01 9.56189706e-01 1.20160262e-02 1.27894698e+01] [-3.76762715e-02 -1.03236803e-03 9.99289464e-01 -2.39344801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:12.81, Z:-2.40 [[ 9.56138730e-01 -2.90727962e-01 3.57208663e-02 6.16004696e+01] [ 2.90481354e-01 9.56805098e-01 1.20244274e-02 1.28051990e+01] [-3.76737442e-02 -1.12077510e-03 9.99289464e-01 -2.39646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.770888479 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:12.82, Z:-2.40 [[ 9.56635227e-01 -2.89090459e-01 3.57176236e-02 6.16554751e+01] [ 2.88842352e-01 9.57301038e-01 1.20340518e-02 1.28220912e+01] [-3.76714477e-02 -1.19543549e-03 9.99289464e-01 -2.39989352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83088847900001 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:12.84, Z:-2.40 [[ 9.57442236e-01 -2.86406787e-01 3.57143825e-02 6.17123886e+01] [ 2.86156455e-01 9.58107214e-01 1.20436630e-02 1.28375512e+01] [-3.76675943e-02 -1.31121055e-03 9.99289464e-01 -2.40075980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89088847900001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:12.85, Z:-2.40 [[ 9.57710511e-01 -2.85508780e-01 3.57115334e-02 6.17680278e+01] [ 2.85257511e-01 9.58375135e-01 1.20521052e-02 1.28547513e+01] [-3.76660275e-02 -1.35544474e-03 9.99289464e-01 -2.40238069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95088847900001 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:12.87, Z:-2.40 [[ 9.57439527e-01 -2.86416607e-01 3.57082579e-02 6.18242797e+01] [ 2.86165607e-01 9.58104252e-01 1.20618020e-02 1.28689799e+01] [-3.76669341e-02 -1.32997066e-03 9.99289464e-01 -2.40499785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:12.88, Z:-2.41 [[ 9.56965782e-01 -2.87995914e-01 3.57049729e-02 6.18796004e+01] [ 2.87745649e-01 9.57630785e-01 1.20715184e-02 1.28843504e+01] [-3.76687292e-02 -1.27807941e-03 9.99289464e-01 -2.40780858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.94, Y:12.90, Z:-2.41 [[ 9.55858458e-01 -2.91650242e-01 3.57035607e-02 6.19369835e+01] [ 2.91402364e-01 9.56524354e-01 1.20756936e-02 1.28970027e+01] [-3.76732043e-02 -1.13855190e-03 9.99289464e-01 -2.40767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.99, Y:12.91, Z:-2.41 [[ 9.55171890e-01 -2.93891393e-01 3.57002789e-02 6.19932462e+01] [ 2.93644715e-01 9.55838231e-01 1.20853882e-02 1.29127705e+01] [-3.76754830e-02 -1.06042484e-03 9.99289464e-01 -2.40901036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19088847900001 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:12.93, Z:-2.41 [[ 9.54830251e-01 -2.94999645e-01 3.56987627e-02 6.20500844e+01] [ 2.94753573e-01 9.55496817e-01 1.20898652e-02 1.29263818e+01] [-3.76765600e-02 -1.02143118e-03 9.99289464e-01 -2.40970055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:12.94, Z:-2.41 [[ 9.54214401e-01 -2.96986028e-01 3.56956165e-02 6.21066664e+01] [ 2.96740997e-01 9.54881349e-01 1.20991474e-02 1.29405830e+01] [-3.76783561e-02 -9.52827841e-04 9.99289464e-01 -2.41144374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.16, Y:12.96, Z:-2.41 [[ 9.54127018e-01 -2.97267049e-01 3.56922189e-02 6.21636975e+01] [ 2.97021840e-01 9.54793902e-01 1.21091618e-02 1.29561150e+01] [-3.76783678e-02 -9.52309847e-04 9.99289464e-01 -2.41207779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.22, Y:12.97, Z:-2.42 [[ 9.53206675e-01 -3.00205449e-01 3.56892562e-02 6.22196227e+01] [ 2.99961970e-01 9.53874192e-01 1.21178875e-02 1.29709799e+01] [-3.76809163e-02 -8.45431611e-04 9.99289464e-01 -2.41712147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:12.98, Z:-2.41 [[ 9.51946946e-01 -3.04176594e-01 3.56876809e-02 6.22765766e+01] [ 3.03935726e-01 9.52615410e-01 1.21225250e-02 1.29841642e+01] [-3.76840232e-02 -6.93239443e-04 9.99289464e-01 -2.41370445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:13.00, Z:-2.41 [[ 9.50897067e-01 -3.07443330e-01 3.56842785e-02 6.23322447e+01] [ 3.07204382e-01 9.51566219e-01 1.21325322e-02 1.30008539e+01] [-3.76860201e-02 -5.74422586e-04 9.99289465e-01 -2.41427954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:13.02, Z:-2.41 [[ 9.49541331e-01 -3.11605734e-01 3.56809069e-02 6.23892533e+01] [ 3.11369348e-01 9.50211393e-01 1.21424398e-02 1.30160322e+01] [-3.76880581e-02 -4.19807728e-04 9.99289465e-01 -2.41399863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:13.03, Z:-2.42 [[ 9.49061431e-01 -3.13064658e-01 3.56779969e-02 6.24438256e+01] [ 3.12828981e-01 9.49731742e-01 1.21509842e-02 1.30327749e+01] [-3.76885699e-02 -3.70919061e-04 9.99289465e-01 -2.41547111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67088847900001 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:13.05, Z:-2.42 [[ 9.48581348e-01 -3.14516468e-01 3.56765650e-02 6.24994010e+01] [ 3.14281658e-01 9.49251964e-01 1.21551869e-02 1.30490828e+01] [-3.76890559e-02 -3.17693508e-04 9.99289465e-01 -2.41726921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:13.07, Z:-2.42 [[ 9.48385846e-01 -3.15105867e-01 3.56732294e-02 6.25548927e+01] [ 3.14871106e-01 9.49056479e-01 1.21649685e-02 1.30666415e+01] [-3.76891624e-02 -3.04614740e-04 9.99289465e-01 -2.41991223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:13.08, Z:-2.42 [[ 9.48366159e-01 -3.15165492e-01 3.56699033e-02 6.26102956e+01] [ 3.14930407e-01 9.49036678e-01 1.21747133e-02 1.30833582e+01] [-3.76890961e-02 -3.12548928e-04 9.99289465e-01 -2.42205200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:13.10, Z:-2.42 [[ 9.48482212e-01 -3.14816435e-01 3.56665892e-02 6.26646947e+01] [ 3.14580739e-01 9.49152516e-01 1.21844146e-02 1.31021498e+01] [-3.76888868e-02 -3.36678570e-04 9.99289465e-01 -2.42449745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:13.12, Z:-2.43 [[ 9.48874543e-01 -3.13632319e-01 3.56632786e-02 6.27194695e+01] [ 3.13395423e-01 9.49544424e-01 1.21940969e-02 1.31210724e+01] [-3.76883302e-02 -3.93959814e-04 9.99289465e-01 -2.42513241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.77, Y:13.14, Z:-2.43 [[ 9.48910503e-01 -3.13523884e-01 3.56599351e-02 6.27743930e+01] [ 3.13286544e-01 9.49580227e-01 1.22038667e-02 1.31393122e+01] [-3.76881729e-02 -4.08599541e-04 9.99289465e-01 -2.42567101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:13.16, Z:-2.43 [[ 9.48489572e-01 -3.14795395e-01 3.56565817e-02 6.28285150e+01] [ 3.14558585e-01 9.49159483e-01 1.22136566e-02 1.31582219e+01] [-3.76885855e-02 -3.68442072e-04 9.99289465e-01 -2.42800301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:13.18, Z:-2.43 [[ 9.48298716e-01 -3.15370057e-01 3.56549084e-02 6.28832974e+01] [ 3.15133468e-01 9.48968706e-01 1.22185395e-02 1.31774879e+01] [-3.76887537e-02 -3.50770347e-04 9.99289465e-01 -2.42878138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:13.20, Z:-2.43 [[ 9.48675913e-01 -3.14233956e-01 3.56515581e-02 6.29388826e+01] [ 3.13996198e-01 9.49345488e-01 1.22283071e-02 1.31963648e+01] [-3.76881952e-02 -4.06246646e-04 9.99289465e-01 -2.43121399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.99, Y:13.22, Z:-2.43 [[ 9.48944871e-01 -3.13421135e-01 3.56486122e-02 6.29940246e+01] [ 3.13182481e-01 9.49614128e-01 1.22368893e-02 1.32159723e+01] [-3.76877255e-02 -4.47612537e-04 9.99289465e-01 -2.43386237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.05, Y:13.24, Z:-2.44 [[ 9.49196837e-01 -3.12657609e-01 3.56452541e-02 6.30487797e+01] [ 3.12418050e-01 9.49865770e-01 1.22466633e-02 1.32373236e+01] [-3.76872192e-02 -4.88273273e-04 9.99289465e-01 -2.43985602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33088847900001 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:63.10, Y:13.26, Z:-2.44 [[ 9.49096293e-01 -3.12963018e-01 3.56423470e-02 6.31043863e+01] [ 3.12723357e-01 9.49765189e-01 1.22551182e-02 1.32557771e+01] [-3.76872592e-02 -4.85092891e-04 9.99289465e-01 -2.44258908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.16, Y:13.27, Z:-2.44 [[ 9.48786765e-01 -3.13900470e-01 3.56394379e-02 6.31600688e+01] [ 3.13661152e-01 9.49455784e-01 1.22635725e-02 1.32746975e+01] [-3.76876116e-02 -4.56808131e-04 9.99289465e-01 -2.44207215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45088847900001 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:63.21, Y:13.29, Z:-2.44 [[ 9.48596413e-01 -3.14475578e-01 3.56364408e-02 6.32148428e+01] [ 3.14236339e-01 9.49265461e-01 1.22722756e-02 1.32933615e+01] [-3.76877733e-02 -4.43171950e-04 9.99289465e-01 -2.44318549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:63.27, Y:13.31, Z:-2.44 [[ 9.48058048e-01 -3.16095288e-01 3.56329505e-02 6.32698974e+01] [ 3.15856812e-01 9.48727367e-01 1.22824015e-02 1.33112668e+01] [-3.76883645e-02 -3.89519441e-04 9.99289465e-01 -2.44449092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.32, Y:13.33, Z:-2.45 [[ 9.47935217e-01 -3.16463572e-01 3.56318877e-02 6.33245016e+01] [ 3.16225240e-01 9.48604588e-01 1.22854839e-02 1.33296586e+01] [-3.76884802e-02 -3.78140587e-04 9.99289465e-01 -2.44815474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:63.38, Y:13.35, Z:-2.45 [[ 9.48511814e-01 -3.14731547e-01 3.56285366e-02 6.33803216e+01] [ 3.14491627e-01 9.49180617e-01 1.22951944e-02 1.33482150e+01] [-3.76876020e-02 -4.57260647e-04 9.99289465e-01 -2.45140996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69088847900001 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:13.37, Z:-2.45 [[ 9.49285489e-01 -3.12390587e-01 3.56255681e-02 6.34350597e+01] [ 3.12148697e-01 9.49953582e-01 1.23037899e-02 1.33666813e+01] [-3.76862241e-02 -5.59334582e-04 9.99289465e-01 -2.45428252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75088847900001 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:13.39, Z:-2.46 [[ 9.49583985e-01 -3.11482451e-01 3.56221580e-02 6.34890447e+01] [ 3.11239551e-01 9.50251712e-01 1.23136550e-02 1.33853724e+01] [-3.76855040e-02 -6.05825108e-04 9.99289465e-01 -2.45800042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81088847900001 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:13.40, Z:-2.46 [[ 9.50303204e-01 -3.09281500e-01 3.56198557e-02 6.35456710e+01] [ 3.09036804e-01 9.50970275e-01 1.23203110e-02 1.34033377e+01] [-3.76838683e-02 -7.00184675e-04 9.99289465e-01 -2.45812764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:13.42, Z:-2.46 [[ 9.50893630e-01 -3.07461774e-01 3.56168811e-02 6.36009705e+01] [ 3.07215480e-01 9.51560112e-01 1.23289045e-02 1.34214136e+01] [-3.76822702e-02 -7.81419510e-04 9.99289466e-01 -2.45918655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:13.44, Z:-2.46 [[ 9.50576290e-01 -3.08441673e-01 3.56153130e-02 6.36557868e+01] [ 3.08195897e-01 9.51242963e-01 1.23334328e-02 1.34411417e+01] [-3.76829605e-02 -7.47375491e-04 9.99289466e-01 -2.46299417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:13.46, Z:-2.47 [[ 9.49829590e-01 -3.10733872e-01 3.56119437e-02 6.37110302e+01] [ 3.10489340e-01 9.50496721e-01 1.23431538e-02 1.34589449e+01] [-3.76844716e-02 -6.66763809e-04 9.99289466e-01 -2.46605066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:13.48, Z:-2.47 [[ 9.48065299e-01 -3.16076285e-01 3.56085749e-02 6.37651920e+01] [ 3.15835148e-01 9.48733664e-01 1.23528645e-02 1.34821574e+01] [-3.76875013e-02 -4.64882654e-04 9.99289466e-01 -2.47420653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:13.50, Z:-2.47 [[ 9.48855091e-01 -3.13697724e-01 3.56055378e-02 6.38214447e+01] [ 3.13454583e-01 9.49522730e-01 1.23616125e-02 1.34959309e+01] [-3.76860771e-02 -5.68659917e-04 9.99289466e-01 -2.46949187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.88, Y:13.52, Z:-2.47 [[ 9.48561382e-01 -3.14584906e-01 3.56039587e-02 6.38762120e+01] [ 3.14342220e-01 9.49229186e-01 1.23661588e-02 1.35165076e+01] [-3.76865237e-02 -5.38233281e-04 9.99289466e-01 -2.47249502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:13.54, Z:-2.48 [[ 9.47385976e-01 -3.18107560e-01 3.56004560e-02 6.39297102e+01] [ 3.17866978e-01 9.48054541e-01 1.23762345e-02 1.35386702e+01] [-3.76881477e-02 -4.08861600e-04 9.99289466e-01 -2.47962982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:13.56, Z:-2.48 [[ 9.47020360e-01 -3.19194488e-01 3.55993784e-02 6.39870279e+01] [ 3.18954557e-01 9.47689159e-01 1.23793333e-02 1.35551841e+01] [-3.76885600e-02 -3.68896670e-04 9.99289466e-01 -2.47664652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:13.58, Z:-2.48 [[ 9.45495338e-01 -3.23684177e-01 3.55966252e-02 6.40422944e+01] [ 3.23447124e-01 9.46165162e-01 1.23872452e-02 1.35756082e+01] [-3.76898419e-02 -1.98456523e-04 9.99289466e-01 -2.47775989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41088847900001 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:13.60, Z:-2.48 [[ 9.44725850e-01 -3.25923546e-01 3.55936765e-02 6.40965579e+01] [ 3.25687762e-01 9.45396122e-01 1.23957123e-02 1.35962089e+01] [-3.76901782e-02 -1.18125021e-04 9.99289466e-01 -2.48068998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:64.15, Y:13.62, Z:-2.48 [[ 9.43930295e-01 -3.28220856e-01 3.55902793e-02 6.41508223e+01] [ 3.27986335e-01 9.44601010e-01 1.24054584e-02 1.36163876e+01] [-3.76903440e-02 -3.67627607e-05 9.99289466e-01 -2.48363041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:13.64, Z:-2.49 [[ 9.43656226e-01 -3.29008361e-01 3.55868771e-02 6.42028918e+01] [ 3.28774033e-01 9.44327008e-01 1.24152106e-02 1.36388886e+01] [-3.76903572e-02 -1.56497318e-05 9.99289466e-01 -2.48690400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:13.66, Z:-2.49 [[ 9.43548407e-01 -3.29317601e-01 3.55854184e-02 6.42564337e+01] [ 3.29083335e-01 9.44219211e-01 1.24193901e-02 1.36607513e+01] [-3.76903594e-02 -7.72763202e-06 9.99289466e-01 -2.48820728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:13.68, Z:-2.49 [[ 9.43434637e-01 -3.29643740e-01 3.55821711e-02 6.43107685e+01] [ 3.29409355e-01 9.44105399e-01 1.24286868e-02 1.36815499e+01] [-3.76903587e-02 -4.55361465e-06 9.99289466e-01 -2.48917959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.36, Y:13.70, Z:-2.49 [[ 9.43567909e-01 -3.29262430e-01 3.55788398e-02 6.43641341e+01] [ 3.29027415e-01 9.44238450e-01 1.24382159e-02 1.37049380e+01] [-3.76903458e-02 -2.98876620e-05 9.99289466e-01 -2.49252589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:13.72, Z:-2.49 [[ 9.44380933e-01 -3.26923592e-01 3.55755340e-02 6.44192285e+01] [ 3.26686560e-01 9.45050764e-01 1.24476640e-02 1.37237288e+01] [-3.76901206e-02 -1.33287685e-04 9.99289466e-01 -2.49464890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:13.75, Z:-2.50 [[ 9.44428295e-01 -3.26787127e-01 3.55720224e-02 6.44718830e+01] [ 3.26549621e-01 9.45097959e-01 1.24576909e-02 1.37475858e+01] [-3.76900588e-02 -1.49365388e-04 9.99289466e-01 -2.49694787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:13.77, Z:-2.50 [[ 9.45645197e-01 -3.23248928e-01 3.55709458e-02 6.45255756e+01] [ 3.23008801e-01 9.46313925e-01 1.24607643e-02 1.37695596e+01] [-3.76892100e-02 -2.93733362e-04 9.99289466e-01 -2.50181754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:13.79, Z:-2.50 [[ 9.46609220e-01 -3.20415262e-01 3.55674625e-02 6.45795289e+01] [ 3.20172759e-01 9.47277090e-01 1.24706989e-02 1.37910479e+01] [-3.76880447e-02 -4.17145965e-04 9.99289466e-01 -2.50468558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:13.81, Z:-2.51 [[ 9.47801254e-01 -3.16872194e-01 3.55639625e-02 6.46318377e+01] [ 3.16626820e-01 9.48468075e-01 1.24806724e-02 1.38127241e+01] [-3.76860611e-02 -5.68692624e-04 9.99289466e-01 -2.50849328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:13.83, Z:-2.51 [[ 9.47856187e-01 -3.16708006e-01 3.55624501e-02 6.46855045e+01] [ 3.16462355e-01 9.48522906e-01 1.24849802e-02 1.38336102e+01] [-3.76858917e-02 -5.79788991e-04 9.99289466e-01 -2.51234165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.74, Y:13.85, Z:-2.51 [[ 9.47111593e-01 -3.18928193e-01 3.55589516e-02 6.47403670e+01] [ 3.18683732e-01 9.47778748e-01 1.24949365e-02 1.38536546e+01] [-3.76870062e-02 -5.02039851e-04 9.99289466e-01 -2.51425855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.79, Y:13.87, Z:-2.51 [[ 9.46219459e-01 -3.21565769e-01 3.55554571e-02 6.47944779e+01] [ 3.21322795e-01 9.46887158e-01 1.25048726e-02 1.38714905e+01] [-3.76881447e-02 -4.07575007e-04 9.99289466e-01 -2.51461595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:13.89, Z:-2.52 [[ 9.45674308e-01 -3.23165621e-01 3.55539571e-02 6.48485431e+01] [ 3.22923615e-01 9.46342359e-01 1.25091358e-02 1.38918868e+01] [-3.76887383e-02 -3.48355984e-04 9.99289466e-01 -2.51660513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.90, Y:13.91, Z:-2.52 [[ 9.45748747e-01 -3.22948095e-01 3.55504680e-02 6.49025185e+01] [ 3.22705564e-01 9.46416606e-01 1.25190441e-02 1.39117189e+01] [-3.76885547e-02 -3.67536487e-04 9.99289466e-01 -2.51856183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.96, Y:13.93, Z:-2.52 [[ 9.45701433e-01 -3.23086786e-01 3.55489669e-02 6.49567825e+01] [ 3.22844192e-01 9.46369270e-01 1.25233050e-02 1.39326428e+01] [-3.76885642e-02 -3.66529950e-04 9.99289466e-01 -2.52050929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:13.95, Z:-2.52 [[ 9.45436316e-01 -3.23862144e-01 3.55455250e-02 6.50110478e+01] [ 3.23619731e-01 9.46104218e-01 1.25330667e-02 1.39513222e+01] [-3.76887570e-02 -3.45983157e-04 9.99289467e-01 -2.52350622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:13.97, Z:-2.52 [[ 9.44318810e-01 -3.27106414e-01 3.55440417e-02 6.50662851e+01] [ 3.26866138e-01 9.44987484e-01 1.25372720e-02 1.39691773e+01] [-3.76896966e-02 -2.21038153e-04 9.99289467e-01 -2.52445596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.12, Y:13.99, Z:-2.53 [[ 9.43290546e-01 -3.30060312e-01 3.55406212e-02 6.51206308e+01] [ 3.29821765e-01 9.43959839e-01 1.25469609e-02 1.39910670e+01] [-3.76901729e-02 -1.13359164e-04 9.99289467e-01 -2.52717495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:14.01, Z:-2.53 [[ 9.42811789e-01 -3.31425776e-01 3.55371083e-02 6.51744922e+01] [ 3.31187823e-01 9.43481293e-01 1.25569027e-02 1.40101017e+01] [-3.76902781e-02 -6.93383482e-05 9.99289467e-01 -2.52934930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:14.03, Z:-2.53 [[ 9.41968785e-01 -3.33814363e-01 3.55355962e-02 6.52293536e+01] [ 3.33577946e-01 9.42638834e-01 1.25611804e-02 1.40289308e+01] [-3.76903354e-02 2.16513279e-05 9.99289467e-01 -2.53003850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:14.05, Z:-2.53 [[ 9.41696150e-01 -3.34583069e-01 3.55320972e-02 6.52829822e+01] [ 3.34346826e-01 9.42366260e-01 1.25710705e-02 1.40501151e+01] [-3.76903169e-02 4.19152662e-05 9.99289467e-01 -2.53287943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:14.07, Z:-2.54 [[ 9.42394164e-01 -3.32612324e-01 3.55286093e-02 6.53359802e+01] [ 3.32374308e-01 9.43063646e-01 1.25809203e-02 1.40729438e+01] [-3.76903089e-02 -4.73889027e-05 9.99289467e-01 -2.53643669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:14.09, Z:-2.54 [[ 9.43094923e-01 -3.30620530e-01 3.55250805e-02 6.53899691e+01] [ 3.30380726e-01 9.43763766e-01 1.25908769e-02 1.40947994e+01] [-3.76900861e-02 -1.37590193e-04 9.99289467e-01 -2.53651027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.44, Y:14.12, Z:-2.54 [[ 9.43740131e-01 -3.28774674e-01 3.55215268e-02 6.54427824e+01] [ 3.28533184e-01 9.44408367e-01 1.26008946e-02 1.41163358e+01] [-3.76896821e-02 -2.21969573e-04 9.99289467e-01 -2.53902697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.50, Y:14.14, Z:-2.54 [[ 9.44418924e-01 -3.26819866e-01 3.55199980e-02 6.54959198e+01] [ 3.26576831e-01 9.45086600e-01 1.26052026e-02 1.41392007e+01] [-3.76891048e-02 -3.04583536e-04 9.99289467e-01 -2.54133682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.55, Y:14.16, Z:-2.54 [[ 9.43971835e-01 -3.28109355e-01 3.55165570e-02 6.55496964e+01] [ 3.27866867e-01 9.44639710e-01 1.26148906e-02 1.41604800e+01] [-3.76894137e-02 -2.63399181e-04 9.99289467e-01 -2.54374583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:14.18, Z:-2.55 [[ 9.42229292e-01 -3.33080759e-01 3.55129519e-02 6.56021100e+01] [ 3.32841413e-01 9.42898299e-01 1.26250312e-02 1.41829150e+01] [-3.76902569e-02 -7.54930808e-05 9.99289467e-01 -2.54716380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:14.20, Z:-2.55 [[ 9.39744402e-01 -3.40028618e-01 3.55105228e-02 6.56565294e+01] [ 3.39793960e-01 9.40415068e-01 1.26318600e-02 1.42040917e+01] [-3.76898246e-02 1.95541386e-04 9.99289467e-01 -2.55069216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:14.22, Z:-2.55 [[ 9.38005548e-01 -3.44796805e-01 3.55071216e-02 6.57104227e+01] [ 3.44565194e-01 9.38677272e-01 1.26414132e-02 1.42246850e+01] [-3.76884469e-02 3.76802507e-04 9.99289467e-01 -2.55239042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.270888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.76, Y:14.25, Z:-2.56 [[ 9.36355859e-01 -3.49252340e-01 3.55036214e-02 6.57635964e+01] [ 3.49023554e-01 9.37028551e-01 1.26512360e-02 1.42492248e+01] [-3.76863807e-02 5.45541188e-04 9.99289467e-01 -2.55520628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33088847900001 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:65.82, Y:14.27, Z:-2.56 [[ 9.35887383e-01 -3.50506134e-01 3.55000793e-02 6.58165540e+01] [ 3.50277872e-01 9.36560253e-01 1.26611674e-02 1.42713515e+01] [-3.76857801e-02 5.85465389e-04 9.99289467e-01 -2.55807747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39088847900001 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:14.29, Z:-2.56 [[ 9.36458973e-01 -3.48976369e-01 3.54976925e-02 6.58690880e+01] [ 3.48746754e-01 9.37131382e-01 1.26678558e-02 1.42945134e+01] [-3.76867839e-02 5.16777775e-04 9.99289467e-01 -2.56097702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45088847900001 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:14.32, Z:-2.56 [[ 9.37202283e-01 -3.46975361e-01 3.54962028e-02 6.59226991e+01] [ 3.46744152e-01 9.37874145e-01 1.26720286e-02 1.43170309e+01] [-3.76878526e-02 4.31846672e-04 9.99289467e-01 -2.56275521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:14.34, Z:-2.57 [[ 9.39312858e-01 -3.41220785e-01 3.54926916e-02 6.59750589e+01] [ 3.40985089e-01 9.39983159e-01 1.26818554e-02 1.43427393e+01] [-3.76898450e-02 1.90248775e-04 9.99289467e-01 -2.56578174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:14.37, Z:-2.57 [[ 9.41097330e-01 -3.36268256e-01 3.54890822e-02 6.60288194e+01] [ 3.36028652e-01 9.41766245e-01 1.26919479e-02 1.43655381e+01] [-3.76903189e-02 -1.90098250e-05 9.99289467e-01 -2.56810141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.630888479 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:66.08, Y:14.39, Z:-2.57 [[ 9.43685423e-01 -3.28935560e-01 3.54854961e-02 6.60808529e+01] [ 3.28690382e-01 9.44352314e-01 1.27019664e-02 1.43898110e+01] [-3.76889388e-02 -3.22919308e-04 9.99289467e-01 -2.56966164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69088847900001 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:14.42, Z:-2.57 [[ 9.45332863e-01 -3.24170835e-01 3.54830757e-02 6.61336410e+01] [ 3.23922042e-01 9.45998414e-01 1.27087244e-02 1.44154590e+01] [-3.76867311e-02 -5.20224523e-04 9.99289467e-01 -2.57283965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75088847900001 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:66.19, Y:14.44, Z:-2.57 [[ 9.45789312e-01 -3.22837085e-01 3.54794984e-02 6.61874567e+01] [ 3.22586979e-01 9.46454371e-01 1.27187034e-02 1.44373955e+01] [-3.76857955e-02 -5.83989536e-04 9.99289467e-01 -2.57490723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81088847900001 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:66.24, Y:14.46, Z:-2.58 [[ 9.46060592e-01 -3.22041637e-01 3.54759069e-02 6.62405722e+01] [ 3.21790596e-01 9.46725299e-01 1.27287132e-02 1.44593987e+01] [-3.76851142e-02 -6.26320674e-04 9.99289468e-01 -2.57605622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:14.48, Z:-2.58 [[ 9.46008348e-01 -3.22195243e-01 3.54743619e-02 6.62941365e+01] [ 3.21944149e-01 9.46673035e-01 1.27330175e-02 1.44816929e+01] [-3.76851395e-02 -6.24777534e-04 9.99289468e-01 -2.57791959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:14.50, Z:-2.58 [[ 9.45407787e-01 -3.23953590e-01 3.54709511e-02 6.63481983e+01] [ 3.23703376e-01 9.46072805e-01 1.27425121e-02 1.45017516e+01] [-3.76860848e-02 -5.64803575e-04 9.99289468e-01 -2.58020518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:14.52, Z:-2.58 [[ 9.44867765e-01 -3.25525673e-01 3.54674870e-02 6.64025838e+01] [ 3.25276204e-01 9.45533063e-01 1.27521468e-02 1.45224672e+01] [-3.76868328e-02 -5.12362922e-04 9.99289468e-01 -2.58445226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05088847900001 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:14.54, Z:-2.59 [[ 9.44766322e-01 -3.25820360e-01 3.54639327e-02 6.64565670e+01] [ 3.25570728e-01 9.45431559e-01 1.27620238e-02 1.45435736e+01] [-3.76868483e-02 -5.11111886e-04 9.99289468e-01 -2.58829830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11088847900001 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:14.56, Z:-2.59 [[ 9.44813851e-01 -3.25682895e-01 3.54603730e-02 6.65116702e+01] [ 3.25432795e-01 9.45478913e-01 1.27719070e-02 1.45618899e+01] [-3.76866266e-02 -5.27106280e-04 9.99289468e-01 -2.58831981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17088847900001 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:14.58, Z:-2.59 [[ 9.45041447e-01 -3.25022280e-01 3.54567519e-02 6.65654229e+01] [ 3.24771339e-01 9.45706191e-01 1.27819519e-02 1.45804773e+01] [-3.76860889e-02 -5.64137520e-04 9.99289468e-01 -2.58943843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:14.60, Z:-2.59 [[ 9.45608663e-01 -3.23368499e-01 3.54551943e-02 6.66191159e+01] [ 3.23116233e-01 9.46272905e-01 1.27862710e-02 1.46016647e+01] [-3.76849670e-02 -6.34659809e-04 9.99289468e-01 -2.59232970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:14.62, Z:-2.60 [[ 9.46444546e-01 -3.20914167e-01 3.54516553e-02 6.66731299e+01] [ 3.20659811e-01 9.47107991e-01 1.27960759e-02 1.46219675e+01] [-3.76829880e-02 -7.42855157e-04 9.99289468e-01 -2.59548163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:66.73, Y:14.64, Z:-2.60 [[ 9.48037815e-01 -3.16176739e-01 3.54481493e-02 6.67277699e+01] [ 3.15918706e-01 9.48699838e-01 1.28057808e-02 1.46385176e+01] [-3.76785435e-02 -9.41630979e-04 9.99289468e-01 -2.59545034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41088847900001 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:14.66, Z:-2.60 [[ 9.48927328e-01 -3.13497148e-01 3.54466397e-02 6.67813978e+01] [ 3.13237090e-01 9.49588559e-01 1.28099580e-02 1.46605208e+01] [-3.76756088e-02 -1.05251695e-03 9.99289468e-01 -2.59935938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47088847900001 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:66.83, Y:14.68, Z:-2.60 [[ 9.49344917e-01 -3.12230705e-01 3.54431312e-02 6.68348593e+01] [ 3.11969403e-01 9.50005657e-01 1.28196581e-02 1.46787945e+01] [-3.76738661e-02 -1.11310479e-03 9.99289468e-01 -2.60313266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53088847900001 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:14.70, Z:-2.61 [[ 9.49595612e-01 -3.11467599e-01 3.54416200e-02 6.68914452e+01] [ 3.11205611e-01 9.50256080e-01 1.28238348e-02 1.46954388e+01] [-3.76728239e-02 -1.14782621e-03 9.99289468e-01 -2.60502245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59088847900001 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:66.95, Y:14.72, Z:-2.61 [[ 9.49507065e-01 -3.11737770e-01 3.54386397e-02 6.69451963e+01] [ 3.11475662e-01 9.50167485e-01 1.28320657e-02 1.47161543e+01] [-3.76728827e-02 -1.14586325e-03 9.99289468e-01 -2.60806914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:14.73, Z:-2.61 [[ 9.48781664e-01 -3.13939002e-01 3.54352558e-02 6.70012089e+01] [ 3.13678078e-01 9.49442553e-01 1.28414033e-02 1.47337750e+01] [-3.76751571e-02 -1.06842508e-03 9.99289468e-01 -2.60794589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:14.75, Z:-2.61 [[ 9.47737190e-01 -3.17078489e-01 3.54323319e-02 6.70562505e+01] [ 3.16819454e-01 9.48398822e-01 1.28494660e-02 1.47518648e+01] [-3.76782711e-02 -9.52264762e-04 9.99289468e-01 -2.60909207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.770888479 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:14.77, Z:-2.61 [[ 9.45906370e-01 -3.22499519e-01 3.54287835e-02 6.71111482e+01] [ 3.22243910e-01 9.46569333e-01 1.28592422e-02 1.47708000e+01] [-3.76828994e-02 -7.46929419e-04 9.99289468e-01 -2.61371910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83088847900001 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:14.79, Z:-2.62 [[ 9.43842706e-01 -3.28490491e-01 3.54251994e-02 6.71675122e+01] [ 3.28238720e-01 9.44507135e-01 1.28691084e-02 1.47881466e+01] [-3.76867333e-02 -5.18491980e-04 9.99289468e-01 -2.61749410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89088847900001 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:14.81, Z:-2.62 [[ 9.42596723e-01 -3.32049236e-01 3.54220523e-02 6.72223160e+01] [ 3.31799649e-01 9.43261976e-01 1.28777649e-02 1.48062631e+01] [-3.76883270e-02 -3.85514440e-04 9.99289468e-01 -2.61899627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95088847900001 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:14.82, Z:-2.62 [[ 9.40683446e-01 -3.37431751e-01 3.54184643e-02 6.72776173e+01] [ 3.37185599e-01 9.41349978e-01 1.28876257e-02 1.48240856e+01] [-3.76898646e-02 -1.80580025e-04 9.99289468e-01 -2.62122014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:14.84, Z:-2.62 [[ 9.39660232e-01 -3.40271126e-01 3.54148081e-02 6.73316684e+01] [ 3.40026610e-01 9.40327366e-01 1.28976648e-02 1.48421994e+01] [-3.76902162e-02 -7.74455459e-05 9.99289468e-01 -2.62357108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:14.86, Z:-2.62 [[ 9.38709955e-01 -3.42884125e-01 3.54132391e-02 6.73861796e+01] [ 3.42641304e-01 9.39377707e-01 1.29019713e-02 1.48609411e+01] [-3.76902885e-02 2.28295078e-05 9.99289468e-01 -2.62493994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.130888479 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:14.88, Z:-2.63 [[ 9.38825461e-01 -3.42568111e-01 3.54096357e-02 6.74403396e+01] [ 3.42324692e-01 9.39492996e-01 1.29118535e-02 1.48801584e+01] [-3.76902940e-02 -3.84176047e-07 9.99289468e-01 -2.62736038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19088847900001 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:14.90, Z:-2.63 [[ 9.39959606e-01 -3.39444058e-01 3.54072074e-02 6.74956168e+01] [ 3.39198170e-01 9.40626235e-01 1.29185091e-02 1.49003472e+01] [-3.76900593e-02 -1.32816740e-04 9.99289468e-01 -2.62823935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25088847900001 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:14.93, Z:-2.64 [[ 9.39704478e-01 -3.40150030e-01 3.54040987e-02 6.75486605e+01] [ 3.39904322e-01 9.40371173e-01 1.29270231e-02 1.49271556e+01] [-3.76901211e-02 -1.13575347e-04 9.99289469e-01 -2.63734577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31088847900001 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:14.94, Z:-2.63 [[ 9.42849661e-01 -3.31332616e-01 3.54007656e-02 6.76050942e+01] [ 3.31080331e-01 9.43513895e-01 1.29361444e-02 1.49436444e+01] [-3.76872808e-02 -4.76342188e-04 9.99289469e-01 -2.63210470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:14.97, Z:-2.64 [[ 9.44297256e-01 -3.27184520e-01 3.53974839e-02 6.76593183e+01] [ 3.26928981e-01 9.44960246e-01 1.29451178e-02 1.49653311e+01] [-3.76846572e-02 -6.51575849e-04 9.99289469e-01 -2.63543023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:14.99, Z:-2.64 [[ 9.45305466e-01 -3.24260476e-01 3.53937874e-02 6.77126667e+01] [ 3.24002508e-01 9.45967514e-01 1.29552168e-02 1.49864937e+01] [-3.76822378e-02 -7.78961308e-04 9.99289469e-01 -2.63840826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:15.01, Z:-2.65 [[ 9.46367583e-01 -3.21147565e-01 3.53926524e-02 6.77671288e+01] [ 3.20887304e-01 9.47028733e-01 1.29583169e-02 1.50085351e+01] [-3.76793906e-02 -9.06278224e-04 9.99289469e-01 -2.64565458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55088847900001 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:15.03, Z:-2.64 [[ 9.47716756e-01 -3.17144349e-01 3.53894421e-02 6.78223633e+01] [ 3.16880969e-01 9.48376669e-01 1.29670783e-02 1.50262189e+01] [-3.76749568e-02 -1.07487665e-03 9.99289469e-01 -2.64373692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61088847900001 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:15.05, Z:-2.65 [[ 9.48338178e-01 -3.15281411e-01 3.53883105e-02 6.78771805e+01] [ 3.15016620e-01 9.48997526e-01 1.29701656e-02 1.50462983e+01] [-3.76726713e-02 -1.15219727e-03 9.99289469e-01 -2.64724810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67088847900001 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:15.06, Z:-2.65 [[ 9.48570264e-01 -3.14582852e-01 3.53848065e-02 6.79327124e+01] [ 3.14317218e-01 9.49229273e-01 1.29797182e-02 1.50648112e+01] [-3.76714909e-02 -1.19012075e-03 9.99289469e-01 -2.64843424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:15.08, Z:-2.65 [[ 9.48623532e-01 -3.14422596e-01 3.53811401e-02 6.79873595e+01] [ 3.14156480e-01 9.49282347e-01 1.29897048e-02 1.50801471e+01] [-3.76709484e-02 -1.20712524e-03 9.99289469e-01 -2.65052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:15.10, Z:-2.65 [[ 9.48495733e-01 -3.14808085e-01 3.53795641e-02 6.80433288e+01] [ 3.14542076e-01 9.49154591e-01 1.29939958e-02 1.50972105e+01] [-3.76712906e-02 -1.19638806e-03 9.99289469e-01 -2.65265152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:15.11, Z:-2.65 [[ 9.48237726e-01 -3.15584789e-01 3.53759124e-02 6.80990342e+01] [ 3.15318950e-01 9.48896653e-01 1.30039299e-02 1.51135560e+01] [-3.76719273e-02 -1.17612138e-03 9.99289469e-01 -2.65273085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91088847900001 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:15.13, Z:-2.65 [[ 9.47982634e-01 -3.16350360e-01 3.53747916e-02 6.81551687e+01] [ 3.16084939e-01 9.48641729e-01 1.30069780e-02 1.51288056e+01] [-3.76727657e-02 -1.14895037e-03 9.99289469e-01 -2.65380478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97088847900001 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:15.15, Z:-2.66 [[ 9.47928077e-01 -3.16513983e-01 3.53731543e-02 6.82112803e+01] [ 3.16248511e-01 9.48587151e-01 1.30114294e-02 1.51453107e+01] [-3.76728189e-02 -1.14719188e-03 9.99289469e-01 -2.65515052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03088847900001 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:15.16, Z:-2.66 [[ 9.47833154e-01 -3.16798522e-01 3.53695987e-02 6.82669370e+01] [ 3.16532887e-01 9.48492163e-01 1.30210875e-02 1.51623255e+01] [-3.76728484e-02 -1.14617731e-03 9.99289469e-01 -2.65730068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09088847900001 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:15.18, Z:-2.66 [[ 9.47816668e-01 -3.16848260e-01 3.53658489e-02 6.83234500e+01] [ 3.16582280e-01 9.48475538e-01 1.30312642e-02 1.51765953e+01] [-3.76725759e-02 -1.15504837e-03 9.99289469e-01 -2.66025163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:15.19, Z:-2.66 [[ 9.47720507e-01 -3.17135899e-01 3.53646953e-02 6.83778829e+01] [ 3.16870002e-01 9.48379410e-01 1.30343941e-02 1.51943936e+01] [-3.76728232e-02 -1.14695150e-03 9.99289469e-01 -2.66290078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:15.21, Z:-2.66 [[ 9.47414369e-01 -3.18049464e-01 3.53631298e-02 6.84343939e+01] [ 3.17784045e-01 9.48073465e-01 1.30386399e-02 1.52081633e+01] [-3.76737775e-02 -1.11515640e-03 9.99289469e-01 -2.66448844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.270888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:15.22, Z:-2.67 [[ 9.47496518e-01 -3.17805060e-01 3.53594803e-02 6.84907203e+01] [ 3.17539102e-01 9.48155396e-01 1.30485296e-02 1.52239981e+01] [-3.76731708e-02 -1.13541877e-03 9.99289469e-01 -2.66637471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:15.24, Z:-2.67 [[ 9.47830674e-01 -3.16807480e-01 3.53558142e-02 6.85469255e+01] [ 3.16540459e-01 9.48489122e-01 1.30584556e-02 1.52392892e+01] [-3.76716216e-02 -1.18565917e-03 9.99289469e-01 -2.66827963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:15.26, Z:-2.67 [[ 9.47893093e-01 -3.16620862e-01 3.53541226e-02 6.86021338e+01] [ 3.16353540e-01 9.48551419e-01 1.30630337e-02 1.52560641e+01] [-3.76712322e-02 -1.19795759e-03 9.99289469e-01 -2.67026184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45088847900001 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:68.66, Y:15.27, Z:-2.68 [[ 9.47722799e-01 -3.17130630e-01 3.53505286e-02 6.86594934e+01] [ 3.16863300e-01 9.48381122e-01 1.30727523e-02 1.52711609e+01] [-3.76715442e-02 -1.18806024e-03 9.99289469e-01 -2.67594366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:15.29, Z:-2.68 [[ 9.48305508e-01 -3.15384263e-01 3.53472893e-02 6.87153889e+01] [ 3.15115395e-01 9.48963204e-01 1.30815052e-02 1.52885666e+01] [-3.76689778e-02 -1.26678842e-03 9.99289469e-01 -2.67581255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:15.31, Z:-2.68 [[ 9.48508849e-01 -3.14772549e-01 3.53441038e-02 6.87708696e+01] [ 3.14502937e-01 9.49166240e-01 1.30901064e-02 1.53056801e+01] [-3.76678363e-02 -1.30025727e-03 9.99289469e-01 -2.67773595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:15.32, Z:-2.68 [[ 9.48073023e-01 -3.16083208e-01 3.53404650e-02 6.88262008e+01] [ 3.15814140e-01 9.48730637e-01 1.30999228e-02 1.53231009e+01] [-3.76692475e-02 -1.25866488e-03 9.99289469e-01 -2.68075780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69088847900001 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:68.88, Y:15.34, Z:-2.68 [[ 9.47610790e-01 -3.17466685e-01 3.53368601e-02 6.88819942e+01] [ 3.17198215e-01 9.48268649e-01 1.31096400e-02 1.53401306e+01] [-3.76707105e-02 -1.21404740e-03 9.99289469e-01 -2.68250576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75088847900001 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:15.36, Z:-2.69 [[ 9.46172966e-01 -3.21727035e-01 3.53331642e-02 6.89367253e+01] [ 3.21461156e-01 9.46831876e-01 1.31195936e-02 1.53587799e+01] [-3.76754941e-02 -1.05516502e-03 9.99289469e-01 -2.68721287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:15.38, Z:-2.69 [[ 9.45304720e-01 -3.24269384e-01 3.53320324e-02 6.89917097e+01] [ 3.24005163e-01 9.45964297e-01 1.31226408e-02 1.53764119e+01] [-3.76781119e-02 -9.57133341e-04 9.99289469e-01 -2.68861971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:15.40, Z:-2.69 [[ 9.44916691e-01 -3.25398484e-01 3.53309247e-02 6.90470256e+01] [ 3.25134940e-01 9.45576538e-01 1.31256226e-02 1.53952535e+01] [-3.76791511e-02 -9.15301811e-04 9.99289469e-01 -2.68992278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:15.42, Z:-2.69 [[ 9.44691640e-01 -3.26051656e-01 3.53273741e-02 6.91021519e+01] [ 3.25788211e-01 9.45351527e-01 1.31351720e-02 1.54160316e+01] [-3.76795316e-02 -8.99445139e-04 9.99289470e-01 -2.69323428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:15.44, Z:-2.70 [[ 9.44614185e-01 -3.26276332e-01 3.53241577e-02 6.91564216e+01] [ 3.26012722e-01 9.45274006e-01 1.31438160e-02 1.54361195e+01] [-3.76795241e-02 -8.99710287e-04 9.99289470e-01 -2.69552049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05088847900001 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:15.46, Z:-2.70 [[ 9.44204298e-01 -3.27461006e-01 3.53204280e-02 6.92105026e+01] [ 3.27197848e-01 9.44864300e-01 1.31538309e-02 1.54554784e+01] [-3.76803782e-02 -8.63135640e-04 9.99289470e-01 -2.69661380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:15.47, Z:-2.70 [[ 9.43588676e-01 -3.29230859e-01 3.53192903e-02 6.92661737e+01] [ 3.28968825e-01 9.44249124e-01 1.31568850e-02 1.54736508e+01] [-3.76818615e-02 -7.95742269e-04 9.99289470e-01 -2.70076334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:15.50, Z:-2.70 [[ 9.42804757e-01 -3.31469404e-01 3.53160708e-02 6.93197543e+01] [ 3.31208616e-01 9.43465697e-01 1.31655214e-02 1.54961265e+01] [-3.76834689e-02 -7.15529271e-04 9.99289470e-01 -2.70066381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:15.52, Z:-2.71 [[ 9.42831544e-01 -3.31393597e-01 3.53123674e-02 6.93755423e+01] [ 3.31132383e-01 9.43492317e-01 1.31754471e-02 1.55152089e+01] [-3.76832061e-02 -7.29158763e-04 9.99289470e-01 -2.70513972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.43, Y:15.53, Z:-2.71 [[ 9.42621579e-01 -3.31990708e-01 3.53090488e-02 6.94307109e+01] [ 3.31729580e-01 9.43282386e-01 1.31843346e-02 1.55345549e+01] [-3.76834804e-02 -7.14782323e-04 9.99289470e-01 -2.70639353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.48, Y:15.56, Z:-2.71 [[ 9.41662282e-01 -3.34702380e-01 3.53052943e-02 6.94832876e+01] [ 3.34442779e-01 9.42323689e-01 1.31943809e-02 1.55583552e+01] [-3.76852059e-02 -6.17050132e-04 9.99289470e-01 -2.70617394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:15.58, Z:-2.71 [[ 9.40676259e-01 -3.37463765e-01 3.53041372e-02 6.95371229e+01] [ 3.37205990e-01 9.41338381e-01 1.31974762e-02 1.55796327e+01] [-3.76868094e-02 -5.09785999e-04 9.99289470e-01 -2.70948091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:69.59, Y:15.60, Z:-2.71 [[ 9.39120951e-01 -3.41768249e-01 3.53030308e-02 6.95919671e+01] [ 3.41513397e-01 9.39784203e-01 1.32004351e-02 1.55985621e+01] [-3.76887203e-02 -3.40347203e-04 9.99289470e-01 -2.70954937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:69.65, Y:15.62, Z:-2.71 [[ 9.38225499e-01 -3.44219214e-01 3.52993654e-02 6.96465833e+01] [ 3.43965726e-01 9.38889274e-01 1.32102296e-02 1.56188626e+01] [-3.76894104e-02 -2.52402395e-04 9.99289470e-01 -2.71037970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59088847900001 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:15.64, Z:-2.71 [[ 9.37751913e-01 -3.45507690e-01 3.52957030e-02 6.97002991e+01] [ 3.45254746e-01 9.38415895e-01 1.32200077e-02 1.56410137e+01] [-3.76896630e-02 -2.11078529e-04 9.99289470e-01 -2.71328491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:69.75, Y:15.66, Z:-2.72 [[ 9.37875716e-01 -3.45171861e-01 3.52920246e-02 6.97547142e+01] [ 3.44918310e-01 9.38539467e-01 1.32298202e-02 1.56619675e+01] [-3.76895196e-02 -2.35061658e-04 9.99289470e-01 -2.71538803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:69.81, Y:15.68, Z:-2.72 [[ 9.38311528e-01 -3.43985765e-01 3.52883839e-02 6.98076858e+01] [ 3.43731010e-01 9.38974817e-01 1.32395241e-02 1.56831844e+01] [-3.76891116e-02 -2.93086229e-04 9.99289470e-01 -2.71797576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.770888479 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:69.86, Y:15.71, Z:-2.72 [[ 9.38809494e-01 -3.42624541e-01 3.52868090e-02 6.98614071e+01] [ 3.42368666e-01 9.39472352e-01 1.32437202e-02 1.57054085e+01] [-3.76886050e-02 -3.52232498e-04 9.99289470e-01 -2.72104402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.92, Y:15.72, Z:-2.72 [[ 9.40253865e-01 -3.38641047e-01 3.52832921e-02 6.99184341e+01] [ 3.38382013e-01 9.40915495e-01 1.32530831e-02 1.57200081e+01] [-3.76866342e-02 -5.22031228e-04 9.99289470e-01 -2.72241801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:15.75, Z:-2.72 [[ 9.38975280e-01 -3.42170684e-01 3.52795527e-02 6.99693718e+01] [ 3.41913764e-01 9.39637733e-01 1.32630301e-02 1.57487514e+01] [-3.76882190e-02 -3.91092784e-04 9.99289470e-01 -2.72355871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:15.77, Z:-2.73 [[ 9.39690519e-01 -3.40201652e-01 3.52783891e-02 7.00248689e+01] [ 3.39943228e-01 9.40352387e-01 1.32661244e-02 1.57653881e+01] [-3.76872748e-02 -4.73401858e-04 9.99289470e-01 -2.72774884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:15.79, Z:-2.73 [[ 9.37918575e-01 -3.45057162e-01 3.52746541e-02 7.00765013e+01] [ 3.44801791e-01 9.38581627e-01 1.32760482e-02 1.57921375e+01] [-3.76891378e-02 -2.89088259e-04 9.99289470e-01 -2.72721732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:70.13, Y:15.81, Z:-2.73 [[ 9.37315184e-01 -3.46693246e-01 3.52709413e-02 7.01306301e+01] [ 3.46438661e-01 9.37978539e-01 1.32859048e-02 1.58139250e+01] [-3.76895195e-02 -2.33862591e-04 9.99289470e-01 -2.72873751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.130888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:15.83, Z:-2.73 [[ 9.36826462e-01 -3.48012073e-01 3.52672109e-02 7.01843472e+01] [ 3.47758050e-01 9.37490032e-01 1.32957999e-02 1.58321547e+01] [-3.76897575e-02 -1.91400727e-04 9.99289470e-01 -2.73459490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.24, Y:15.86, Z:-2.73 [[ 9.35250296e-01 -3.52226336e-01 3.52631980e-02 7.02355916e+01] [ 3.51974902e-01 9.35914851e-01 1.33064343e-02 1.58609375e+01] [-3.76902273e-02 -3.30859365e-05 9.99289470e-01 -2.73404000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:70.29, Y:15.88, Z:-2.74 [[ 9.34077823e-01 -3.55324383e-01 3.52590944e-02 7.02889941e+01] [ 3.55074743e-01 9.34743054e-01 1.33172990e-02 1.58845874e+01] [-3.76901547e-02 8.02202256e-05 9.99289470e-01 -2.73582564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.34, Y:15.91, Z:-2.74 [[ 9.33924882e-01 -3.55726536e-01 3.52554384e-02 7.03427233e+01] [ 3.55476817e-01 9.34590084e-01 1.33269708e-02 1.59078803e+01] [-3.76901403e-02 8.61014507e-05 9.99289471e-01 -2.73786457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.40, Y:15.93, Z:-2.74 [[ 9.34905442e-01 -3.53141801e-01 3.52517182e-02 7.03952754e+01] [ 3.52889872e-01 9.35569809e-01 1.33368041e-02 1.59334960e+01] [-3.76902263e-02 -2.86763675e-05 9.99289471e-01 -2.73947240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:15.96, Z:-2.74 [[ 9.36897680e-01 -3.47822247e-01 3.52479961e-02 7.04474526e+01] [ 3.47566177e-01 9.37560462e-01 1.33466339e-02 1.59587797e+01] [-3.76893837e-02 -2.53419136e-04 9.99289471e-01 -2.74029407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:15.98, Z:-2.74 [[ 9.39521034e-01 -3.40672962e-01 3.52442753e-02 7.04999431e+01] [ 3.40411480e-01 9.40181700e-01 1.33564521e-02 1.59840848e+01] [-3.76862048e-02 -5.51111764e-04 9.99289471e-01 -2.74319447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:16.01, Z:-2.75 [[ 9.40765531e-01 -3.37221467e-01 3.52405648e-02 7.05525123e+01] [ 3.36957195e-01 9.41425086e-01 1.33662350e-02 1.60087783e+01] [-3.76837331e-02 -6.99931284e-04 9.99289471e-01 -2.74521250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61088847900001 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:16.03, Z:-2.74 [[ 9.42038515e-01 -3.33649227e-01 3.52367711e-02 7.06042258e+01] [ 3.33382081e-01 9.42696910e-01 1.33762286e-02 1.60324786e+01] [-3.76805636e-02 -8.53614468e-04 9.99289471e-01 -2.74490095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67088847900001 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:16.06, Z:-2.75 [[ 9.42531173e-01 -3.32255131e-01 3.52351383e-02 7.06563849e+01] [ 3.31986850e-01 9.43189108e-01 1.33805284e-02 1.60581927e+01] [-3.76791479e-02 -9.13962567e-04 9.99289471e-01 -2.74687887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:70.71, Y:16.08, Z:-2.75 [[ 9.42217466e-01 -3.33144093e-01 3.52315142e-02 7.07097972e+01] [ 3.32876077e-01 9.42875508e-01 1.33900642e-02 1.60812978e+01] [-3.76797526e-02 -8.88624142e-04 9.99289471e-01 -2.74988071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:16.10, Z:-2.76 [[ 9.41101285e-01 -3.36284652e-01 3.52278836e-02 7.07634913e+01] [ 3.36018475e-01 9.41760073e-01 1.33996090e-02 1.61043092e+01] [-3.76822971e-02 -7.73169541e-04 9.99289471e-01 -2.76039359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:16.13, Z:-2.76 [[ 9.40730541e-01 -3.37320757e-01 3.52243728e-02 7.08166326e+01] [ 3.37054960e-01 9.41389482e-01 1.34088317e-02 1.61270211e+01] [-3.76829313e-02 -7.41547964e-04 9.99289471e-01 -2.75645377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91088847900001 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:16.15, Z:-2.76 [[ 9.39625421e-01 -3.40387131e-01 3.52231443e-02 7.08700610e+01] [ 3.40123364e-01 9.40285177e-01 1.34120581e-02 1.61500242e+01] [-3.76850924e-02 -6.22096363e-04 9.99289471e-01 -2.75891917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97088847900001 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:16.17, Z:-2.76 [[ 9.38425082e-01 -3.43682942e-01 3.52193240e-02 7.09227024e+01] [ 3.43421115e-01 9.39085611e-01 1.34220825e-02 1.61729282e+01] [-3.76869012e-02 -5.00559316e-04 9.99289471e-01 -2.76224222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03088847900001 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:70.98, Y:16.20, Z:-2.76 [[ 9.37373572e-01 -3.46540765e-01 3.52176827e-02 7.09764518e+01] [ 3.46280791e-01 9.38034832e-01 1.34263876e-02 1.61956534e+01] [-3.76882037e-02 -3.90333895e-04 9.99289471e-01 -2.76470005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09088847900001 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:16.22, Z:-2.77 [[ 9.36258653e-01 -3.49542155e-01 3.52138729e-02 7.10298780e+01] [ 3.49283926e-01 9.36920596e-01 1.34363723e-02 1.62185921e+01] [-3.76891813e-02 -2.80280046e-04 9.99289471e-01 -2.76582727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:16.25, Z:-2.78 [[ 9.33305000e-01 -3.57354203e-01 3.52100748e-02 7.10813231e+01] [ 3.57101140e-01 9.33968936e-01 1.34463180e-02 1.62495175e+01] [-3.76902143e-02 2.40420103e-05 9.99289471e-01 -2.78127162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:16.26, Z:-2.77 [[ 9.36466753e-01 -3.48984680e-01 3.52095722e-02 7.11394025e+01] [ 3.48725633e-01 9.37128376e-01 1.34476338e-02 1.62643355e+01] [-3.76889074e-02 -3.14781582e-04 9.99289471e-01 -2.76790037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.270888479 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:16.29, Z:-2.77 [[ 9.37849213e-01 -3.45252371e-01 3.52087243e-02 7.11919470e+01] [ 3.44990608e-01 9.38509767e-01 1.34498533e-02 1.62893413e+01] [-3.76873254e-02 -4.67255161e-04 9.99289471e-01 -2.77256666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33088847900001 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:16.31, Z:-2.78 [[ 9.39146919e-01 -3.41706999e-01 3.52049857e-02 7.12463254e+01] [ 3.41442375e-01 9.39806332e-01 1.34596322e-02 1.63124092e+01] [-3.76851190e-02 -6.20098156e-04 9.99289471e-01 -2.77616625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39088847900001 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:71.30, Y:16.34, Z:-2.78 [[ 9.40648675e-01 -3.37551350e-01 3.52016521e-02 7.12996221e+01] [ 3.37283488e-01 9.41306779e-01 1.34683451e-02 1.63350871e+01] [-3.76818118e-02 -7.96044995e-04 9.99289471e-01 -2.78056146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45088847900001 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:16.36, Z:-2.78 [[ 9.40862717e-01 -3.36954410e-01 3.52004810e-02 7.13550924e+01] [ 3.36686016e-01 9.41520604e-01 1.34714051e-02 1.63562120e+01] [-3.76812275e-02 -8.23233101e-04 9.99289471e-01 -2.78036564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:16.38, Z:-2.78 [[ 9.40432967e-01 -3.38152323e-01 3.51971845e-02 7.14102000e+01] [ 3.37884445e-01 9.41091064e-01 1.34800124e-02 1.63774800e+01] [-3.76820533e-02 -7.84466906e-04 9.99289471e-01 -2.78447785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:16.40, Z:-2.78 [[ 9.39564262e-01 -3.40558956e-01 3.51936760e-02 7.14649664e+01] [ 3.40292421e-01 9.40222905e-01 1.34891661e-02 1.63974578e+01] [-3.76837566e-02 -6.97797220e-04 9.99289471e-01 -2.78370821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.630888479 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:16.42, Z:-2.78 [[ 9.39301456e-01 -3.41283326e-01 3.51918521e-02 7.15191182e+01] [ 3.41017121e-01 9.39960232e-01 1.34939230e-02 1.64172652e+01] [-3.76841924e-02 -6.73837443e-04 9.99289471e-01 -2.78444443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69088847900001 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:71.57, Y:16.44, Z:-2.79 [[ 9.38854264e-01 -3.42512012e-01 3.51879599e-02 7.15725338e+01] [ 3.42246289e-01 9.39513235e-01 1.35040650e-02 1.64387692e+01] [-3.76848585e-02 -6.35400300e-04 9.99289471e-01 -2.79200143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75088847900001 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:71.63, Y:16.46, Z:-2.79 [[ 9.39478809e-01 -3.40795582e-01 3.51843495e-02 7.16265940e+01] [ 3.40528303e-01 9.40137150e-01 1.35134651e-02 1.64562826e+01] [-3.76834433e-02 -7.14347266e-04 9.99289471e-01 -2.79254555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81088847900001 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:16.48, Z:-2.80 [[ 9.39520490e-01 -3.40680944e-01 3.51815707e-02 7.16824101e+01] [ 3.40413314e-01 9.40178688e-01 1.35206957e-02 1.64756631e+01] [-3.76832064e-02 -7.26695500e-04 9.99289472e-01 -2.79691696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:16.49, Z:-2.80 [[ 9.39925816e-01 -3.39561403e-01 3.51783198e-02 7.17387402e+01] [ 3.39292673e-01 9.40583566e-01 1.35291486e-02 1.64945067e+01] [-3.76821262e-02 -7.80649877e-04 9.99289472e-01 -2.79571242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:16.51, Z:-2.80 [[ 9.39834383e-01 -3.39814761e-01 3.51747307e-02 7.17928927e+01] [ 3.39545859e-01 9.40492062e-01 1.35384737e-02 1.65144155e+01] [-3.76821282e-02 -7.80488942e-04 9.99289472e-01 -2.79817876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:16.53, Z:-2.80 [[ 9.39621246e-01 -3.40404046e-01 3.51710109e-02 7.18482304e+01] [ 3.40135195e-01 9.40278946e-01 1.35481303e-02 1.65311488e+01] [-3.76823994e-02 -7.67212412e-04 9.99289472e-01 -2.79893823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05088847900001 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:16.55, Z:-2.80 [[ 9.39658946e-01 -3.40300355e-01 3.51672239e-02 7.19026709e+01] [ 3.40031065e-01 9.40316466e-01 1.35579531e-02 1.65492724e+01] [-3.76820960e-02 -7.81903341e-04 9.99289472e-01 -2.80076804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11088847900001 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:16.57, Z:-2.80 [[ 9.39707230e-01 -3.40167144e-01 3.51658314e-02 7.19575540e+01] [ 3.39897625e-01 9.40364657e-01 1.35615641e-02 1.65672642e+01] [-3.76819035e-02 -7.91117324e-04 9.99289472e-01 -2.80300899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17088847900001 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:16.59, Z:-2.80 [[ 9.39727033e-01 -3.40112813e-01 3.51621801e-02 7.20118758e+01] [ 3.39842902e-01 9.40384299e-01 1.35710245e-02 1.65866412e+01] [-3.76816414e-02 -8.03441280e-04 9.99289472e-01 -2.80450197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23088847900001 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:16.60, Z:-2.81 [[ 9.39615737e-01 -3.40420556e-01 3.51583839e-02 7.20668223e+01] [ 3.40150494e-01 9.40272940e-01 1.35808521e-02 1.66047428e+01] [-3.76816783e-02 -8.01640684e-04 9.99289472e-01 -2.80594382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:72.12, Y:16.62, Z:-2.81 [[ 9.38948366e-01 -3.42257389e-01 3.51545887e-02 7.21221308e+01] [ 3.41988244e-01 9.39605946e-01 1.35906690e-02 1.66234469e+01] [-3.76829675e-02 -7.38480351e-04 9.99289472e-01 -2.80810590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:16.64, Z:-2.81 [[ 9.37551531e-01 -3.46065809e-01 3.51508528e-02 7.21767586e+01] [ 3.45798974e-01 9.38210052e-01 1.36003246e-02 1.66418688e+01] [-3.76854908e-02 -5.95876343e-04 9.99289472e-01 -2.81081982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:16.66, Z:-2.81 [[ 9.35783915e-01 -3.50817822e-01 3.51471112e-02 7.22329255e+01] [ 3.50553968e-01 9.36443636e-01 1.36099873e-02 1.66590182e+01] [-3.76879147e-02 -4.15047895e-04 9.99289472e-01 -2.81154126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47088847900001 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:16.68, Z:-2.81 [[ 9.34469059e-01 -3.54305639e-01 3.51438765e-02 7.22888017e+01] [ 3.54043934e-01 9.35129635e-01 1.36183348e-02 1.66783135e+01] [-3.76891332e-02 -2.83436214e-04 9.99289472e-01 -2.81327958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:16.70, Z:-2.82 [[ 9.34134998e-01 -3.55185786e-01 3.51406138e-02 7.23425937e+01] [ 3.54924387e-01 9.34795695e-01 1.36267487e-02 1.66979569e+01] [-3.76893219e-02 -2.56962109e-04 9.99289472e-01 -2.81654086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:16.72, Z:-2.82 [[ 9.34113874e-01 -3.55241495e-01 3.51390116e-02 7.23969806e+01] [ 3.54979980e-01 9.34774525e-01 1.36308791e-02 1.67184729e+01] [-3.76893067e-02 -2.59147622e-04 9.99289472e-01 -2.81807747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:72.45, Y:16.74, Z:-2.82 [[ 9.34059046e-01 -3.55386011e-01 3.51351955e-02 7.24508497e+01] [ 3.55124228e-01 9.34719591e-01 1.36407084e-02 1.67376679e+01] [-3.76892725e-02 -2.63867942e-04 9.99289472e-01 -2.82058660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.51, Y:16.76, Z:-2.82 [[ 9.34467545e-01 -3.54310655e-01 3.51335536e-02 7.25054768e+01] [ 3.54047953e-01 9.35127725e-01 1.36449361e-02 1.67578603e+01] [-3.76889063e-02 -3.11787214e-04 9.99289472e-01 -2.82225765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.770888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:16.78, Z:-2.83 [[ 9.35417792e-01 -3.51794624e-01 3.51297078e-02 7.25589996e+01] [ 3.51529775e-01 9.36077114e-01 1.36548300e-02 1.67774139e+01] [-3.76878113e-02 -4.23832585e-04 9.99289472e-01 -2.82512528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:16.80, Z:-2.83 [[ 9.35975204e-01 -3.50309060e-01 3.51280557e-02 7.26124545e+01] [ 3.50043005e-01 9.36634039e-01 1.36590788e-02 1.67977667e+01] [-3.76870318e-02 -4.88228895e-04 9.99289472e-01 -2.82833636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:16.82, Z:-2.83 [[ 9.36201217e-01 -3.49704752e-01 3.51264476e-02 7.26670668e+01] [ 3.49438117e-01 9.36859818e-01 1.36632130e-02 1.68179696e+01] [-3.76866479e-02 -5.16996895e-04 9.99289472e-01 -2.83085578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:72.72, Y:16.84, Z:-2.83 [[ 9.36143156e-01 -3.49860530e-01 3.51226589e-02 7.27214855e+01] [ 3.49593639e-01 9.36801654e-01 1.36729455e-02 1.68379787e+01] [-3.76865889e-02 -5.21176266e-04 9.99289472e-01 -2.83407598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:16.86, Z:-2.84 [[ 9.36131873e-01 -3.49891095e-01 3.51189080e-02 7.27751699e+01] [ 3.49623865e-01 9.36790233e-01 1.36825729e-02 1.68560313e+01] [-3.76864604e-02 -5.30284227e-04 9.99289472e-01 -2.83513340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.83, Y:16.88, Z:-2.84 [[ 9.36048054e-01 -3.50115432e-01 3.51172951e-02 7.28290835e+01] [ 3.49848204e-01 9.36706415e-01 1.36867113e-02 1.68759205e+01] [-3.76865244e-02 -5.25696809e-04 9.99289472e-01 -2.83715070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.130888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:16.90, Z:-2.84 [[ 9.35960721e-01 -3.50349079e-01 3.51148238e-02 7.28833735e+01] [ 3.50081778e-01 9.36619052e-01 1.36930488e-02 1.68951729e+01] [-3.76865600e-02 -5.23095867e-04 9.99289472e-01 -2.83957634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:16.91, Z:-2.84 [[ 9.35427336e-01 -3.51771108e-01 3.51110597e-02 7.29378932e+01] [ 3.51504446e-01 9.36085926e-01 1.37026935e-02 1.69144002e+01] [-3.76871805e-02 -4.76180474e-04 9.99289472e-01 -2.84311479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.99, Y:16.94, Z:-2.84 [[ 9.35332513e-01 -3.52023538e-01 3.51072319e-02 7.29919348e+01] [ 3.51756686e-01 9.35991026e-01 1.37124937e-02 1.69350049e+01] [-3.76871746e-02 -4.76537639e-04 9.99289472e-01 -2.84473537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:73.05, Y:16.95, Z:-2.85 [[ 9.35498030e-01 -3.51583819e-01 3.51034652e-02 7.30457809e+01] [ 3.51316296e-01 9.36156271e-01 1.37221294e-02 1.69534567e+01] [-3.76868078e-02 -5.04605635e-04 9.99289473e-01 -2.84656385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:16.97, Z:-2.85 [[ 9.34723654e-01 -3.53637599e-01 3.51018496e-02 7.30998368e+01] [ 3.53371366e-01 9.35382418e-01 1.37262610e-02 1.69739585e+01] [-3.76877749e-02 -4.26272315e-04 9.99289473e-01 -2.84875510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:16.99, Z:-2.85 [[ 9.33776187e-01 -3.56132225e-01 3.50980059e-02 7.31554810e+01] [ 3.55867384e-01 9.34435511e-01 1.37360824e-02 1.69935931e+01] [-3.76886847e-02 -3.36191132e-04 9.99289473e-01 -2.85359942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:17.01, Z:-2.85 [[ 9.32414799e-01 -3.59681838e-01 3.50944274e-02 7.32102239e+01] [ 3.59419163e-01 9.33074989e-01 1.37452189e-02 1.70124933e+01] [-3.76896381e-02 -2.02635799e-04 9.99289473e-01 -2.85215941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:17.03, Z:-2.85 [[ 9.30733689e-01 -3.64009986e-01 3.50931763e-02 7.32650761e+01] [ 3.63750260e-01 9.31395045e-01 1.37484124e-02 1.70321656e+01] [-3.76901699e-02 -3.09585564e-05 9.99289473e-01 -2.85359328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61088847900001 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:17.05, Z:-2.86 [[ 9.30168301e-01 -3.65452690e-01 3.50893529e-02 7.33187849e+01] [ 3.65193622e-01 9.30829915e-01 1.37581638e-02 1.70536894e+01] [-3.76901774e-02 1.69999764e-05 9.99289473e-01 -2.85696800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:17.07, Z:-2.86 [[ 9.29652041e-01 -3.66764348e-01 3.50855469e-02 7.33729115e+01] [ 3.66505848e-01 9.30313877e-01 1.37678628e-02 1.70731401e+01] [-3.76901324e-02 5.97363824e-05 9.99289473e-01 -2.85892469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:17.09, Z:-2.86 [[ 9.29007841e-01 -3.68393201e-01 3.50839135e-02 7.34269964e+01] [ 3.68135704e-01 9.29670068e-01 1.37720240e-02 1.70935487e+01] [-3.76899842e-02 1.21322922e-04 9.99289473e-01 -2.86194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:17.12, Z:-2.87 [[ 9.29275713e-01 -3.67717321e-01 3.50802082e-02 7.34810227e+01] [ 3.67458987e-01 9.29937613e-01 1.37814557e-02 1.71160693e+01] [-3.76900851e-02 8.37657174e-05 9.99289473e-01 -2.86599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:73.54, Y:17.14, Z:-2.87 [[ 9.29730631e-01 -3.66565904e-01 3.50769356e-02 7.35351192e+01] [ 3.66306436e-01 9.30392088e-01 1.37897801e-02 1.71376129e+01] [-3.76901666e-02 2.81263548e-05 9.99289473e-01 -2.86867394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:17.16, Z:-2.87 [[ 9.30742679e-01 -3.63988925e-01 3.50731853e-02 7.35898346e+01] [ 3.63727266e-01 9.31403272e-01 1.37993122e-02 1.71594139e+01] [-3.76900764e-02 -8.65349620e-05 9.99289473e-01 -2.87130516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:17.18, Z:-2.87 [[ 9.31092688e-01 -3.63092975e-01 3.50699000e-02 7.36441683e+01] [ 3.62830366e-01 9.31752904e-01 1.38076565e-02 1.71816419e+01] [-3.76899442e-02 -1.31783353e-04 9.99289473e-01 -2.87273605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:17.20, Z:-2.87 [[ 9.31828264e-01 -3.61201353e-01 3.50666437e-02 7.36991437e+01] [ 3.60937093e-01 9.32487821e-01 1.38159214e-02 1.72031721e+01] [-3.76895477e-02 -2.17213642e-04 9.99289473e-01 -2.87339626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:17.22, Z:-2.88 [[ 9.32498461e-01 -3.59467908e-01 3.50634336e-02 7.37531548e+01] [ 3.59202115e-01 9.33157401e-01 1.38240635e-02 1.72249442e+01] [-3.76890098e-02 -2.96058399e-04 9.99289473e-01 -2.87515736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:17.25, Z:-2.88 [[ 9.32943656e-01 -3.58311249e-01 3.50597204e-02 7.38072455e+01] [ 3.58044286e-01 9.33602123e-01 1.38334743e-02 1.72469645e+01] [-3.76885189e-02 -3.52919595e-04 9.99289473e-01 -2.87900928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:17.26, Z:-2.88 [[ 9.35405207e-01 -3.51835447e-01 3.50559205e-02 7.38658898e+01] [ 3.51563565e-01 9.36061658e-01 1.38430970e-02 1.72617491e+01] [-3.76849953e-02 -6.24520609e-04 9.99289473e-01 -2.87671687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.92, Y:17.29, Z:-2.89 [[ 9.34830946e-01 -3.53358575e-01 3.50545318e-02 7.39176272e+01] [ 3.53087631e-01 9.35487785e-01 1.38466129e-02 1.72901002e+01] [-3.76859057e-02 -5.66920615e-04 9.99289473e-01 -2.88673089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.97, Y:17.31, Z:-2.89 [[ 9.35171851e-01 -3.52455476e-01 3.50534759e-02 7.39710416e+01] [ 3.52183797e-01 9.35828387e-01 1.38492853e-02 1.73118588e+01] [-3.76852943e-02 -6.06195499e-04 9.99289473e-01 -2.88862008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39088847900001 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:17.33, Z:-2.89 [[ 9.35350909e-01 -3.51980401e-01 3.50495831e-02 7.40244887e+01] [ 3.51708021e-01 9.36007154e-01 1.38591301e-02 1.73308669e+01] [-3.76848027e-02 -6.35930465e-04 9.99289473e-01 -2.89077990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:17.35, Z:-2.89 [[ 9.35072166e-01 -3.52720411e-01 3.50479105e-02 7.40794055e+01] [ 3.52448391e-01 9.35728560e-01 1.38633586e-02 1.73528156e+01] [-3.76852204e-02 -6.10661038e-04 9.99289473e-01 -2.89172159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:74.13, Y:17.37, Z:-2.89 [[ 9.34288005e-01 -3.54792616e-01 3.50445942e-02 7.41337302e+01] [ 3.54521738e-01 9.34944871e-01 1.38717368e-02 1.73735007e+01] [-3.76863534e-02 -5.36126836e-04 9.99289473e-01 -2.89437771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:17.39, Z:-2.90 [[ 9.33377168e-01 -3.57182055e-01 3.50434233e-02 7.41883222e+01] [ 3.56912748e-01 9.34034680e-01 1.38746940e-02 1.73928352e+01] [-3.76875644e-02 -4.42878101e-04 9.99289473e-01 -2.89551914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.630888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:74.24, Y:17.41, Z:-2.90 [[ 9.32548179e-01 -3.59341236e-01 3.50395648e-02 7.42429880e+01] [ 3.59073085e-01 9.33206163e-01 1.38844317e-02 1.74136091e+01] [-3.76883866e-02 -3.66136833e-04 9.99289473e-01 -2.89883943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.30, Y:17.44, Z:-2.90 [[ 9.31236118e-01 -3.62728212e-01 3.50362275e-02 7.42970483e+01] [ 3.62462138e-01 9.31894945e-01 1.38928480e-02 1.74357571e+01] [-3.76894112e-02 -2.38215962e-04 9.99289473e-01 -2.90367545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:17.46, Z:-2.91 [[ 9.29518101e-01 -3.67108698e-01 3.50329012e-02 7.43519177e+01] [ 3.66845412e-01 9.30178047e-01 1.39012307e-02 1.74554737e+01] [-3.76900983e-02 -6.97864364e-05 9.99289473e-01 -2.90542062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:17.48, Z:-2.90 [[ 9.27142708e-01 -3.73067255e-01 3.50317339e-02 7.44074958e+01] [ 3.72808100e-01 9.27804287e-01 1.39041718e-02 1.74763185e+01] [-3.76897840e-02 1.68962649e-04 9.99289473e-01 -2.90495357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.46, Y:17.50, Z:-2.91 [[ 9.25592092e-01 -3.76898245e-01 3.50284414e-02 7.44612542e+01] [ 3.76641514e-01 9.26254616e-01 1.39124614e-02 1.74982469e+01] [-3.76888378e-02 3.15900922e-04 9.99289473e-01 -2.90691703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:17.52, Z:-2.91 [[ 9.23985954e-01 -3.80818915e-01 3.50272844e-02 7.45141788e+01] [ 3.80564885e-01 9.24649518e-01 1.39153737e-02 1.75211836e+01] [-3.76871992e-02 4.72544578e-04 9.99289473e-01 -2.91035392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:17.54, Z:-2.91 [[ 9.23274707e-01 -3.82540388e-01 3.50238084e-02 7.45675630e+01] [ 3.82287264e-01 9.23938616e-01 1.39241172e-02 1.75431232e+01] [-3.76863862e-02 5.33370613e-04 9.99289473e-01 -2.91140881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.62, Y:17.57, Z:-2.91 [[ 9.23139672e-01 -3.82866486e-01 3.50199959e-02 7.46210212e+01] [ 3.82613233e-01 9.23803532e-01 1.39336993e-02 1.75659554e+01] [-3.76863424e-02 5.36363243e-04 9.99289474e-01 -2.91297404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:17.59, Z:-2.92 [[ 9.23606960e-01 -3.81738199e-01 3.50161515e-02 7.46743137e+01] [ 3.81483769e-01 9.24270370e-01 1.39433536e-02 1.75903679e+01] [-3.76871020e-02 4.79915042e-04 9.99289474e-01 -2.91545761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:17.62, Z:-2.92 [[ 9.24820909e-01 -3.78788074e-01 3.50125876e-02 7.47264668e+01] [ 3.78531188e-01 9.25483373e-01 1.39522971e-02 1.76156621e+01] [-3.76885314e-02 3.49980293e-04 9.99289474e-01 -2.91724805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:17.64, Z:-2.92 [[ 9.26418329e-01 -3.74864598e-01 3.50087624e-02 7.47789701e+01] [ 3.74604545e-01 9.27079555e-01 1.39618886e-02 1.76411306e+01] [-3.76897256e-02 1.79891988e-04 9.99289474e-01 -2.91767970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:17.67, Z:-2.92 [[ 9.27548303e-01 -3.72060210e-01 3.50049437e-02 7.48311363e+01] [ 3.71797796e-01 9.28208596e-01 1.39714563e-02 1.76667128e+01] [-3.76901126e-02 5.55603146e-05 9.99289474e-01 -2.91924508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:17.69, Z:-2.92 [[ 9.29852691e-01 -3.66263428e-01 3.50010676e-02 7.48825446e+01] [ 3.65996533e-01 9.30511185e-01 1.39811599e-02 1.76942330e+01] [-3.76896724e-02 -1.90149762e-04 9.99289474e-01 -2.92157294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:74.93, Y:17.72, Z:-2.93 [[ 9.31900756e-01 -3.61021020e-01 3.49972120e-02 7.49342370e+01] [ 3.60750058e-01 9.32557587e-01 1.39908043e-02 1.77217351e+01] [-3.76878901e-02 -4.12794834e-04 9.99289474e-01 -2.92717682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47088847900001 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:17.75, Z:-2.94 [[ 9.30140054e-01 -3.65533533e-01 3.49959481e-02 7.49845021e+01] [ 3.65265639e-01 9.30798142e-01 1.39939653e-02 1.77532669e+01] [-3.76894270e-02 -2.33530302e-04 9.99289474e-01 -2.93903887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53088847900001 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:17.78, Z:-2.94 [[ 9.27637704e-01 -3.71838452e-01 3.49922186e-02 7.50351669e+01] [ 3.71574679e-01 9.28297455e-01 1.40032847e-02 1.77814090e+01] [-3.76901472e-02 1.22475382e-05 9.99289474e-01 -2.94335988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59088847900001 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:75.09, Y:17.80, Z:-2.93 [[ 9.32021730e-01 -3.60709205e-01 3.49909102e-02 7.50916987e+01] [ 3.60437433e-01 9.32678226e-01 1.40065534e-02 1.77970817e+01] [-3.76875528e-02 -4.42378329e-04 9.99289474e-01 -2.92907436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:75.15, Y:17.82, Z:-2.93 [[ 9.31247251e-01 -3.62704124e-01 3.49896579e-02 7.51451594e+01] [ 3.62433640e-01 9.31904279e-01 1.40096810e-02 1.78198038e+01] [-3.76883810e-02 -3.65047817e-04 9.99289474e-01 -2.92879291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:75.20, Y:17.84, Z:-2.93 [[ 9.29549326e-01 -3.67034124e-01 3.49857368e-02 7.51976915e+01] [ 3.66766332e-01 9.30207456e-01 1.40194662e-02 1.78434361e+01] [-3.76896157e-02 -2.00194950e-04 9.99289474e-01 -2.93121904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.770888479 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:17.86, Z:-2.94 [[ 9.29253229e-01 -3.67783507e-01 3.49818286e-02 7.52516074e+01] [ 3.67515879e-01 9.29911426e-01 1.40292112e-02 1.78634169e+01] [-3.76897146e-02 -1.80312318e-04 9.99289474e-01 -2.93814201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83088847900001 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:75.30, Y:17.89, Z:-2.94 [[ 9.28255412e-01 -3.70295172e-01 3.49767961e-02 7.53039697e+01] [ 3.70028853e-01 9.28914139e-01 1.40417467e-02 1.78893107e+01] [-3.76900315e-02 -9.19035776e-05 9.99289474e-01 -2.93652661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89088847900001 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:75.36, Y:17.91, Z:-2.94 [[ 9.27950454e-01 -3.71058876e-01 3.49752266e-02 7.53582281e+01] [ 3.70792952e-01 9.28609340e-01 1.40456550e-02 1.79132916e+01] [-3.76900870e-02 -6.51044652e-05 9.99289474e-01 -2.93832989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95088847900001 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:17.94, Z:-2.94 [[ 9.28209013e-01 -3.70411930e-01 3.49718557e-02 7.54111579e+01] [ 3.70145230e-01 9.28867586e-01 1.40540431e-02 1.79373623e+01] [-3.76900084e-02 -1.00423934e-04 9.99289474e-01 -2.94098709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:17.96, Z:-2.95 [[ 9.28579043e-01 -3.69483702e-01 3.49679063e-02 7.54636138e+01] [ 3.69215975e-01 9.29237199e-01 1.40638626e-02 1.79640493e+01] [-3.76898474e-02 -1.48698476e-04 9.99289474e-01 -2.94518778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:17.99, Z:-2.95 [[ 9.30109179e-01 -3.65615098e-01 3.49644946e-02 7.55187486e+01] [ 3.65344315e-01 9.30766083e-01 1.40723395e-02 1.79854991e+01] [-3.76888255e-02 -3.14732811e-04 9.99289474e-01 -2.94506715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.130888479 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:18.01, Z:-2.95 [[ 9.29825386e-01 -3.66336577e-01 3.49609076e-02 7.55699846e+01] [ 3.66065968e-01 9.30482362e-01 1.40812453e-02 1.80129175e+01] [-3.76889831e-02 -2.95100865e-04 9.99289474e-01 -2.94819900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19088847900001 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:18.04, Z:-2.95 [[ 9.30630456e-01 -3.64286670e-01 3.49596353e-02 7.56241083e+01] [ 3.64014496e-01 9.31286785e-01 1.40844033e-02 1.80371428e+01] [-3.76882068e-02 -3.81560671e-04 9.99289474e-01 -2.94962061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25088847900001 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:18.06, Z:-2.95 [[ 9.32289023e-01 -3.60021173e-01 3.49561557e-02 7.56762265e+01] [ 3.59745673e-01 9.32943963e-01 1.40930342e-02 1.80623288e+01] [-3.76859251e-02 -5.63455305e-04 9.99289474e-01 -2.95412383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31088847900001 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:18.09, Z:-2.96 [[ 9.34933257e-01 -3.53097931e-01 3.49522070e-02 7.57292092e+01] [ 3.52817216e-01 9.35585978e-01 1.41028206e-02 1.80856980e+01] [-3.76804715e-02 -8.53455665e-04 9.99289474e-01 -2.95813887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:18.11, Z:-2.96 [[ 9.36261946e-01 -3.49559994e-01 3.49482357e-02 7.57823615e+01] [ 3.49276446e-01 9.36913442e-01 1.41126550e-02 1.81084758e+01] [-3.76766914e-02 -1.00654631e-03 9.99289474e-01 -2.96059588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:18.13, Z:-2.96 [[ 9.37619139e-01 -3.45903246e-01 3.49470162e-02 7.58364494e+01] [ 3.45617044e-01 9.38269474e-01 1.41156742e-02 1.81320724e+01] [-3.76723760e-02 -1.15684182e-03 9.99289474e-01 -2.96233875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:75.89, Y:18.15, Z:-2.96 [[ 9.38111056e-01 -3.44567262e-01 3.49434972e-02 7.58900201e+01] [ 3.44279810e-01 9.38760840e-01 1.41243800e-02 1.81520308e+01] [-3.76703858e-02 -1.21989647e-03 9.99289475e-01 -2.96394628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55088847900001 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:18.17, Z:-2.97 [[ 9.37759507e-01 -3.45523053e-01 3.49417669e-02 7.59445684e+01] [ 3.45236105e-01 9.38409512e-01 1.41286594e-02 1.81732903e+01] [-3.76714640e-02 -1.18612511e-03 9.99289475e-01 -2.96580240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61088847900001 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:18.19, Z:-2.97 [[ 9.37342314e-01 -3.46653633e-01 3.49377397e-02 7.59979703e+01] [ 3.46367099e-01 9.37992501e-01 1.41386110e-02 1.81920665e+01] [-3.76725387e-02 -1.15143488e-03 9.99289475e-01 -2.96879493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67088847900001 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:18.21, Z:-2.97 [[ 9.37040312e-01 -3.47469320e-01 3.49360115e-02 7.60523364e+01] [ 3.47183192e-01 9.37690679e-01 1.41428800e-02 1.82125745e+01] [-3.76733892e-02 -1.12325272e-03 9.99289475e-01 -2.97094780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73088847900001 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:18.24, Z:-2.98 [[ 9.34123385e-01 -3.55236902e-01 3.49320168e-02 7.61051699e+01] [ 3.54955815e-01 9.34775946e-01 1.41527399e-02 1.82402353e+01] [-3.76811845e-02 -8.21082764e-04 9.99289475e-01 -2.98461106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:18.25, Z:-2.98 [[ 9.35790250e-01 -3.50822596e-01 3.49301456e-02 7.61643081e+01] [ 3.50538259e-01 9.36441402e-01 1.41573565e-02 1.82514512e+01] [-3.76767551e-02 -1.00396381e-03 9.99289475e-01 -2.97561937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:18.27, Z:-2.98 [[ 9.34498843e-01 -3.54248305e-01 3.49292318e-02 7.62190518e+01] [ 3.53966271e-01 9.35150996e-01 1.41596106e-02 1.82709170e+01] [-3.76801240e-02 -8.68369828e-04 9.99289475e-01 -2.97827309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91088847900001 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:18.29, Z:-2.98 [[ 9.32387250e-01 -3.59769718e-01 3.49251478e-02 7.62738682e+01] [ 3.59491170e-01 9.33040899e-01 1.41696769e-02 1.82900947e+01] [-3.76844120e-02 -6.56343824e-04 9.99289475e-01 -2.98120227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97088847900001 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:18.31, Z:-2.98 [[ 9.31296034e-01 -3.62585455e-01 3.49211184e-02 7.63276721e+01] [ 3.62308511e-01 9.31950364e-01 1.41796005e-02 1.83102818e+01] [-3.76860659e-02 -5.53187277e-04 9.99289475e-01 -2.98292940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03088847900001 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:76.38, Y:18.33, Z:-2.99 [[ 9.29888478e-01 -3.66180359e-01 3.49193882e-02 7.63828707e+01] [ 3.65905785e-01 9.30543806e-01 1.41838600e-02 1.83291297e+01] [-3.76878713e-02 -4.12201809e-04 9.99289475e-01 -2.98648945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09088847900001 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:76.44, Y:18.35, Z:-2.99 [[ 9.28731340e-01 -3.69105693e-01 3.49154155e-02 7.64356253e+01] [ 3.68832816e-01 9.29387376e-01 1.41936326e-02 1.83492759e+01] [-3.76888970e-02 -3.04120463e-04 9.99289475e-01 -2.99092185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:76.49, Y:18.37, Z:-2.99 [[ 9.27806751e-01 -3.71423837e-01 3.49137041e-02 7.64905271e+01] [ 3.71152440e-01 9.28463401e-01 1.41978411e-02 1.83688890e+01] [-3.76895131e-02 -2.14546311e-04 9.99289475e-01 -2.99216482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:76.55, Y:18.39, Z:-2.99 [[ 9.26895268e-01 -3.73693014e-01 3.49097818e-02 7.65457851e+01] [ 3.73422862e-01 9.27552432e-01 1.42074787e-02 1.83882287e+01] [-3.76898885e-02 -1.32734190e-04 9.99289475e-01 -2.99446843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.270888479 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:18.41, Z:-3.00 [[ 9.27469545e-01 -3.72265807e-01 3.49057703e-02 7.66002627e+01] [ 3.71994273e-01 9.28126138e-01 1.42173276e-02 1.84086096e+01] [-3.76895827e-02 -2.01391721e-04 9.99289475e-01 -2.99691760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33088847900001 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:18.43, Z:-3.00 [[ 9.28440621e-01 -3.69837646e-01 3.49016910e-02 7.66538213e+01] [ 3.69564019e-01 9.29096345e-01 1.42273346e-02 1.84306871e+01] [-3.76888375e-02 -3.10826127e-04 9.99289475e-01 -2.99800717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39088847900001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:18.44, Z:-2.99 [[ 9.31459691e-01 -3.62167085e-01 3.48976631e-02 7.67116328e+01] [ 3.61887689e-01 9.32112977e-01 1.42372077e-02 1.84449849e+01] [-3.76848127e-02 -6.32350489e-04 9.99289475e-01 -2.98916185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:18.47, Z:-3.00 [[ 9.30960395e-01 -3.63448969e-01 3.48939967e-02 7.67618316e+01] [ 3.63170135e-01 9.31613922e-01 1.42461880e-02 1.84742000e+01] [-3.76854955e-02 -5.90179242e-04 9.99289475e-01 -3.00331932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:76.81, Y:18.50, Z:-3.02 [[ 9.29112226e-01 -3.68148028e-01 3.48927036e-02 7.68128990e+01] [ 3.67872382e-01 9.29767104e-01 1.42493544e-02 1.85035132e+01] [-3.76879597e-02 -4.03187394e-04 9.99289475e-01 -3.01549818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:18.52, Z:-3.02 [[ 9.29284248e-01 -3.67713690e-01 3.48916672e-02 7.68666702e+01] [ 3.67437642e-01 9.29938956e-01 1.42518919e-02 1.85246622e+01] [-3.76877363e-02 -4.23546698e-04 9.99289475e-01 -3.01760796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.630888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:76.93, Y:18.54, Z:-3.01 [[ 9.31745160e-01 -3.61433008e-01 3.48874875e-02 7.69261480e+01] [ 3.61152165e-01 9.32397826e-01 1.42621160e-02 1.85381399e+01] [-3.76838170e-02 -6.88965895e-04 9.99289475e-01 -3.01005273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:76.98, Y:18.56, Z:-3.02 [[ 9.30977437e-01 -3.63406086e-01 3.48859351e-02 7.69782802e+01] [ 3.63126484e-01 9.31630635e-01 1.42659122e-02 1.85610578e+01] [-3.76851252e-02 -6.13235442e-04 9.99289475e-01 -3.01602721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75088847900001 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:77.03, Y:18.58, Z:-3.02 [[ 9.29908710e-01 -3.66132437e-01 3.48830867e-02 7.70315682e+01] [ 3.65854489e-01 9.30562614e-01 1.42728738e-02 1.85824609e+01] [-3.76866584e-02 -5.10335864e-04 9.99289475e-01 -3.01768741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:77.09, Y:18.60, Z:-3.02 [[ 9.28203217e-01 -3.70434988e-01 3.48813435e-02 7.70865276e+01] [ 3.70159911e-01 9.28858334e-01 1.42771326e-02 1.86018326e+01] [-3.76885761e-02 -3.40405421e-04 9.99289475e-01 -3.01584295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:18.62, Z:-3.02 [[ 9.26403601e-01 -3.74913265e-01 3.48770910e-02 7.71391297e+01] [ 3.74640964e-01 9.27059877e-01 1.42875134e-02 1.86246025e+01] [-3.76897300e-02 -1.69616806e-04 9.99289475e-01 -3.02152393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:18.64, Z:-3.02 [[ 9.24621957e-01 -3.79286346e-01 3.48727045e-02 7.71930053e+01] [ 3.79016745e-01 9.25279346e-01 1.42982119e-02 1.86442875e+01] [-3.76901098e-02 -3.10166037e-06 9.99289475e-01 -3.02499635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:18.67, Z:-3.03 [[ 9.23065836e-01 -3.83058288e-01 3.48684818e-02 7.72470751e+01] [ 3.82790985e-01 9.23724163e-01 1.43085023e-02 1.86659552e+01] [-3.76898495e-02 1.39650807e-04 9.99289475e-01 -3.02713625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05088847900001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:18.69, Z:-3.03 [[ 9.22794806e-01 -3.83711138e-01 3.48641420e-02 7.73007341e+01] [ 3.83443901e-01 9.23453160e-01 1.43190688e-02 1.86883972e+01] [-3.76897883e-02 1.54880303e-04 9.99289476e-01 -3.03017102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:18.71, Z:-3.03 [[ 9.23894196e-01 -3.81056802e-01 3.48601290e-02 7.73547853e+01] [ 3.80787306e-01 9.24551628e-01 1.43288319e-02 1.87106490e+01] [-3.76900879e-02 3.59700289e-05 9.99289476e-01 -3.03232118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:18.73, Z:-3.03 [[ 9.25019174e-01 -3.78318089e-01 3.48561486e-02 7.74080936e+01] [ 3.78046282e-01 9.25675654e-01 1.43385081e-02 1.87325217e+01] [-3.76900051e-02 -8.61574883e-05 9.99289476e-01 -3.03394998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:18.76, Z:-3.04 [[ 9.26369865e-01 -3.74998930e-01 3.48522031e-02 7.74611086e+01] [ 3.74724410e-01 9.27025215e-01 1.43480919e-02 1.87550552e+01] [-3.76893902e-02 -2.31668750e-04 9.99289476e-01 -3.03543538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:18.77, Z:-3.04 [[ 9.27626943e-01 -3.71878820e-01 3.48482150e-02 7.75160065e+01] [ 3.71601732e-01 9.28281211e-01 1.43577717e-02 1.87749493e+01] [-3.76882944e-02 -3.68998825e-04 9.99289476e-01 -3.03730088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:18.80, Z:-3.04 [[ 9.28315123e-01 -3.70157956e-01 3.48442328e-02 7.75700570e+01] [ 3.69879293e-01 9.28968722e-01 1.43674294e-02 1.87965785e+01] [-3.76874207e-02 -4.49341827e-04 9.99289476e-01 -3.03921763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:18.82, Z:-3.04 [[ 9.28943243e-01 -3.68579183e-01 3.48401562e-02 7.76238613e+01] [ 3.68299039e-01 9.29596209e-01 1.43773081e-02 1.88192406e+01] [-3.76864536e-02 -5.24107206e-04 9.99289476e-01 -3.04238761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47088847900001 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:18.83, Z:-3.04 [[ 9.30179038e-01 -3.65449594e-01 3.48360692e-02 7.76823301e+01] [ 3.65166883e-01 9.30830896e-01 1.43872040e-02 1.88335316e+01] [-3.76842874e-02 -6.61696739e-04 9.99289476e-01 -3.04096197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.73, Y:18.86, Z:-3.04 [[ 9.27255742e-01 -3.72804758e-01 3.48339160e-02 7.77348992e+01] [ 3.72527022e-01 9.27909735e-01 1.43924153e-02 1.88583968e+01] [-3.76882907e-02 -3.68874722e-04 9.99289476e-01 -3.04341666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:18.88, Z:-3.04 [[ 9.25698066e-01 -3.76656073e-01 3.48323628e-02 7.77882236e+01] [ 3.76380916e-01 9.26353149e-01 1.43961735e-02 1.88782518e+01] [-3.76894751e-02 -2.16273373e-04 9.99289476e-01 -3.04436231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:18.90, Z:-3.05 [[ 9.24306277e-01 -3.80059058e-01 3.48284211e-02 7.78424363e+01] [ 3.79785954e-01 9.24962218e-01 1.44057032e-02 1.88986953e+01] [-3.76899916e-02 -8.79366998e-05 9.99289476e-01 -3.04623734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:18.92, Z:-3.05 [[ 9.24453729e-01 -3.79700602e-01 3.48246475e-02 7.78980267e+01] [ 3.79426901e-01 9.25109421e-01 1.44148197e-02 1.89191219e+01] [-3.76899252e-02 -1.12425763e-04 9.99289476e-01 -3.04949549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.95, Y:18.94, Z:-3.05 [[ 9.25207524e-01 -3.77860464e-01 3.48210759e-02 7.79519884e+01] [ 3.77585134e-01 9.25862534e-01 1.44234423e-02 1.89408729e+01] [-3.76895782e-02 -1.96756753e-04 9.99289476e-01 -3.05090457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:18.96, Z:-3.06 [[ 9.26642785e-01 -3.74327300e-01 3.48169744e-02 7.80077644e+01] [ 3.74049101e-01 9.27296581e-01 1.44333363e-02 1.89606638e+01] [-3.76884531e-02 -3.51289011e-04 9.99289476e-01 -3.05511324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:18.98, Z:-3.05 [[ 9.27689207e-01 -3.71726742e-01 3.48132878e-02 7.80609411e+01] [ 3.71446376e-01 9.28342077e-01 1.44422230e-02 1.89844497e+01] [-3.76872004e-02 -4.66624814e-04 9.99289476e-01 -3.05464899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:19.01, Z:-3.06 [[ 9.28259854e-01 -3.70299567e-01 3.48119853e-02 7.81139177e+01] [ 3.70018080e-01 9.28912241e-01 1.44453617e-02 1.90072368e+01] [-3.76863905e-02 -5.27985383e-04 9.99289476e-01 -3.05600728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:19.03, Z:-3.06 [[ 9.28671816e-01 -3.69265575e-01 3.48079502e-02 7.81682879e+01] [ 3.68982998e-01 9.29323732e-01 1.44550783e-02 1.90291660e+01] [-3.76856170e-02 -5.80482049e-04 9.99289476e-01 -3.05668963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:19.05, Z:-3.06 [[ 9.28534348e-01 -3.69611444e-01 3.48043735e-02 7.82225962e+01] [ 3.69328787e-01 9.29186230e-01 1.44636852e-02 1.90502110e+01] [-3.76856881e-02 -5.75771499e-04 9.99289476e-01 -3.05916215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:19.06, Z:-3.06 [[ 9.29881635e-01 -3.66209074e-01 3.48002741e-02 7.82796999e+01] [ 3.65923663e-01 9.30532315e-01 1.44735417e-02 1.90634265e+01] [-3.76831219e-02 -7.24436840e-04 9.99289476e-01 -3.06108009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.33, Y:19.09, Z:-3.06 [[ 9.27368911e-01 -3.72526693e-01 3.47960718e-02 7.83297350e+01] [ 3.72245337e-01 9.28021354e-01 1.44836375e-02 1.90936744e+01] [-3.76870393e-02 -4.78999624e-04 9.99289476e-01 -3.06294813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25088847900001 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:19.12, Z:-3.06 [[ 9.25439916e-01 -3.77293377e-01 3.47946732e-02 7.83834624e+01] [ 3.77015256e-01 9.26093745e-01 1.44869966e-02 1.91155961e+01] [-3.76889771e-02 -2.88722288e-04 9.99289476e-01 -3.06402427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31088847900001 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:19.14, Z:-3.07 [[ 9.22910815e-01 -3.83438707e-01 3.47906013e-02 7.84372161e+01] [ 3.83164571e-01 9.23566324e-01 1.44967687e-02 1.91366972e+01] [-3.76900500e-02 -4.86987776e-05 9.99289476e-01 -3.06629192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37088847900002 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:78.49, Y:19.16, Z:-3.07 [[ 9.20936069e-01 -3.88158023e-01 3.47865787e-02 7.84897460e+01] [ 3.87886882e-01 9.21592823e-01 1.45064151e-02 1.91585571e+01] [-3.76898426e-02 1.33776606e-04 9.99289477e-01 -3.06854425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:78.55, Y:19.17, Z:-3.07 [[ 9.22036636e-01 -3.85536583e-01 3.47848523e-02 7.85493458e+01] [ 3.85263417e-01 9.22692551e-01 1.45105536e-02 1.91689058e+01] [-3.76900733e-02 2.20690403e-05 9.99289477e-01 -3.06699863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:19.21, Z:-3.07 [[ 9.17850632e-01 -3.95399156e-01 3.47811012e-02 7.85965395e+01] [ 3.95132698e-01 9.18509300e-01 1.45195392e-02 1.92060733e+01] [-3.76877785e-02 4.16382084e-04 9.99289477e-01 -3.07198661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55088847900001 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:19.23, Z:-3.07 [[ 9.18155674e-01 -3.94690426e-01 3.47796601e-02 7.86496983e+01] [ 3.94423329e-01 9.18814084e-01 1.45229904e-02 1.92288707e+01] [-3.76881268e-02 3.83543241e-04 9.99289477e-01 -3.07383971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:78.70, Y:19.25, Z:-3.08 [[ 9.19156958e-01 -3.92353334e-01 3.47756814e-02 7.87022758e+01] [ 3.92084203e-01 9.19814538e-01 1.45325112e-02 1.92537137e+01] [-3.76890565e-02 2.77336515e-04 9.99289477e-01 -3.07668132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:19.28, Z:-3.08 [[ 9.22163267e-01 -3.85234779e-01 3.47717353e-02 7.87547715e+01] [ 3.84960215e-01 9.22818598e-01 1.45419469e-02 1.92775128e+01] [-3.76900677e-02 -2.43145625e-05 9.99289477e-01 -3.07777010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:19.30, Z:-3.08 [[ 9.25529513e-01 -3.77076027e-01 3.47676579e-02 7.88064598e+01] [ 3.76795320e-01 9.26182236e-01 1.45516888e-02 1.93037851e+01] [-3.76882801e-02 -3.67726694e-04 9.99289477e-01 -3.08070924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:19.33, Z:-3.08 [[ 9.27764197e-01 -3.71544172e-01 3.47638325e-02 7.88605615e+01] [ 3.71259232e-01 9.28415082e-01 1.45608220e-02 1.93283693e+01] [-3.76852549e-02 -6.02615610e-04 9.99289477e-01 -3.07934653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:78.91, Y:19.35, Z:-3.08 [[ 9.29640898e-01 -3.66823566e-01 3.47602092e-02 7.89126055e+01] [ 3.66534999e-01 9.30290183e-01 1.45694665e-02 1.93534790e+01] [-3.76815051e-02 -8.03538708e-04 9.99289477e-01 -3.08093586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91088847900001 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:19.38, Z:-3.10 [[ 9.28229753e-01 -3.70380256e-01 3.47561649e-02 7.89647039e+01] [ 3.70093815e-01 9.28879980e-01 1.45791079e-02 1.93806160e+01] [-3.76841195e-02 -6.69720073e-04 9.99289477e-01 -3.09539857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97088847900001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:19.41, Z:-3.10 [[ 9.29155639e-01 -3.68051720e-01 3.47524263e-02 7.90167587e+01] [ 3.67763317e-01 9.29804997e-01 1.45880142e-02 1.94061665e+01] [-3.76821234e-02 -7.73868076e-04 9.99289477e-01 -3.09896904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03088847900001 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:19.42, Z:-3.09 [[ 9.31212924e-01 -3.62815235e-01 3.47504714e-02 7.90724100e+01] [ 3.62523008e-01 9.31860570e-01 1.45926696e-02 1.94248266e+01] [-3.76770370e-02 -9.91037085e-04 9.99289477e-01 -3.09269616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09088847900001 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:19.45, Z:-3.09 [[ 9.30937598e-01 -3.63521224e-01 3.47492170e-02 7.91278180e+01] [ 3.63229376e-01 9.31585416e-01 1.45956562e-02 1.94461745e+01] [-3.76776945e-02 -9.65708714e-04 9.99289477e-01 -3.09423707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:19.47, Z:-3.10 [[ 9.31094575e-01 -3.63119318e-01 3.47455669e-02 7.91817947e+01] [ 3.62826866e-01 9.31742120e-01 1.46043402e-02 1.94665796e+01] [-3.76770262e-02 -9.91396824e-04 9.99289477e-01 -3.09706368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:19.49, Z:-3.10 [[ 9.31830908e-01 -3.61225683e-01 3.47442863e-02 7.92364296e+01] [ 3.60931803e-01 9.32477806e-01 1.46073861e-02 1.94885078e+01] [-3.76748389e-02 -1.07129594e-03 9.99289477e-01 -3.10138292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.270888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:19.51, Z:-3.10 [[ 9.32181461e-01 -3.60320404e-01 3.47408982e-02 7.92920174e+01] [ 3.60025595e-01 9.32827937e-01 1.46154397e-02 1.95085808e+01] [-3.76735215e-02 -1.11662936e-03 9.99289477e-01 -3.10347765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33088847900001 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:79.35, Y:19.53, Z:-3.10 [[ 9.32256462e-01 -3.60126634e-01 3.47375351e-02 7.93470974e+01] [ 3.59831393e-01 9.32902741e-01 1.46234285e-02 1.95269470e+01] [-3.76730278e-02 -1.13313004e-03 9.99289477e-01 -3.10222197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:19.55, Z:-3.11 [[ 9.30460943e-01 -3.64741033e-01 3.47334434e-02 7.94000863e+01] [ 3.64448636e-01 9.31108513e-01 1.46331407e-02 1.95517913e+01] [-3.76779117e-02 -9.57009827e-04 9.99289477e-01 -3.11025949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:19.57, Z:-3.10 [[ 9.32995398e-01 -3.58208656e-01 3.47296026e-02 7.94564427e+01] [ 3.57911388e-01 9.33640746e-01 1.46422506e-02 1.95687797e+01] [-3.76699530e-02 -1.23103217e-03 9.99289477e-01 -3.10234950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:19.59, Z:-3.10 [[ 9.34370435e-01 -3.54606596e-01 3.47282693e-02 7.95112004e+01] [ 3.54306723e-01 9.35014576e-01 1.46454122e-02 1.95909303e+01] [-3.76647978e-02 -1.37978092e-03 9.99289477e-01 -3.10411904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:19.61, Z:-3.11 [[ 9.35485527e-01 -3.51654697e-01 3.47246673e-02 7.95639848e+01] [ 3.51352475e-01 9.36128570e-01 1.46539476e-02 1.96134168e+01] [-3.76598827e-02 -1.50795812e-03 9.99289477e-01 -3.10876005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.630888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:19.64, Z:-3.11 [[ 9.36280314e-01 -3.49533265e-01 3.47227742e-02 7.96169743e+01] [ 3.49229420e-01 9.36922592e-01 1.46584321e-02 1.96355606e+01] [-3.76561612e-02 -1.59818716e-03 9.99289477e-01 -3.11364204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:79.67, Y:19.66, Z:-3.11 [[ 9.35803258e-01 -3.50808857e-01 3.47189882e-02 7.96727829e+01] [ 3.50505555e-01 9.36445793e-01 1.46673939e-02 1.96560467e+01] [-3.76579021e-02 -1.55659674e-03 9.99289477e-01 -3.11361297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:79.73, Y:19.68, Z:-3.11 [[ 9.35602358e-01 -3.51344655e-01 3.47154286e-02 7.97274174e+01] [ 3.51041410e-01 9.36244919e-01 1.46758141e-02 1.96769779e+01] [-3.76584125e-02 -1.54417330e-03 9.99289477e-01 -3.11437659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:19.70, Z:-3.12 [[ 9.34392412e-01 -3.54550350e-01 3.47112283e-02 7.97817744e+01] [ 3.54248941e-01 9.35035837e-01 1.46857418e-02 1.96968728e+01] [-3.76630773e-02 -1.42582979e-03 9.99289477e-01 -3.11648497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:19.72, Z:-3.12 [[ 9.33551191e-01 -3.56759847e-01 3.47071316e-02 7.98363931e+01] [ 3.56459602e-01 9.34195160e-01 1.46954174e-02 1.97173253e+01] [-3.76659692e-02 -1.34723408e-03 9.99289477e-01 -3.11978567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:19.74, Z:-3.12 [[ 9.33167996e-01 -3.57761089e-01 3.47058424e-02 7.98907982e+01] [ 3.57461422e-01 9.33812233e-01 1.46984614e-02 1.97379181e+01] [-3.76672777e-02 -1.31013401e-03 9.99289477e-01 -3.12229595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.990888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:19.76, Z:-3.12 [[ 9.33329940e-01 -3.57338518e-01 3.47045711e-02 7.99457953e+01] [ 3.57038449e-01 9.33973990e-01 1.47014624e-02 1.97598482e+01] [-3.76665655e-02 -1.33044875e-03 9.99289477e-01 -3.12475141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05088847900001 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:19.78, Z:-3.13 [[ 9.33984306e-01 -3.55625019e-01 3.47010406e-02 7.99994036e+01] [ 3.55323459e-01 9.34627659e-01 1.47097910e-02 1.97824619e+01] [-3.76637221e-02 -1.40862016e-03 9.99289477e-01 -3.13194286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:19.80, Z:-3.14 [[ 9.34572000e-01 -3.54078036e-01 3.46975568e-02 8.00544234e+01] [ 3.53775107e-01 9.35214710e-01 1.47180041e-02 1.98046115e+01] [-3.76609875e-02 -1.47990268e-03 9.99289478e-01 -3.13563828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:19.83, Z:-3.14 [[ 9.35029933e-01 -3.52867296e-01 3.46943044e-02 8.01091241e+01] [ 3.52563251e-01 9.35672116e-01 1.47256670e-02 1.98274849e+01] [-3.76586995e-02 -1.53700268e-03 9.99289478e-01 -3.13968938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:80.16, Y:19.85, Z:-3.15 [[ 9.33530853e-01 -3.56814629e-01 3.46910148e-02 8.01630107e+01] [ 3.56513012e-01 9.34174180e-01 1.47334126e-02 1.98526963e+01] [-3.76645474e-02 -1.38629708e-03 9.99289478e-01 -3.14714216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:80.22, Y:19.87, Z:-3.15 [[ 9.32560954e-01 -3.59342094e-01 3.46889943e-02 8.02181296e+01] [ 3.59042044e-01 9.33205013e-01 1.47381682e-02 1.98721918e+01] [-3.76679876e-02 -1.28943279e-03 9.99289478e-01 -3.14507745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:19.89, Z:-3.15 [[ 9.29218988e-01 -3.67897925e-01 3.46870052e-02 8.02727005e+01] [ 3.67603633e-01 9.29865699e-01 1.47428480e-02 1.98938911e+01] [-3.76781195e-02 -9.48265135e-04 9.99289478e-01 -3.14790646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:80.33, Y:19.92, Z:-3.15 [[ 9.26338783e-01 -3.75091355e-01 3.46833417e-02 8.03259262e+01] [ 3.74801763e-01 9.26987612e-01 1.47514617e-02 1.99200871e+01] [-3.76841738e-02 -6.65473445e-04 9.99289478e-01 -3.15353696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:19.94, Z:-3.14 [[ 9.27611115e-01 -3.71934055e-01 3.46796462e-02 8.03818855e+01] [ 3.71641931e-01 9.28258807e-01 1.47601444e-02 1.99373442e+01] [-3.76814874e-02 -8.03263373e-04 9.99289478e-01 -3.14437425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:19.96, Z:-3.15 [[ 9.26912305e-01 -3.73672376e-01 3.46775898e-02 8.04340344e+01] [ 3.73381285e-01 9.27560462e-01 1.47649742e-02 1.99596281e+01] [-3.76828242e-02 -7.37873250e-04 9.99289478e-01 -3.14872318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:19.98, Z:-3.15 [[ 9.26134047e-01 -3.75597375e-01 3.46747628e-02 8.04880081e+01] [ 3.75307383e-01 9.26782697e-01 1.47716101e-02 1.99817924e+01] [-3.76841482e-02 -6.66796576e-04 9.99289478e-01 -3.15431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:80.54, Y:20.00, Z:-3.16 [[ 9.25794689e-01 -3.76433444e-01 3.46706758e-02 8.05412867e+01] [ 3.76143679e-01 9.26443441e-01 1.47811967e-02 2.00041499e+01] [-3.76845569e-02 -6.43197892e-04 9.99289478e-01 -3.15930117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:80.59, Y:20.03, Z:-3.16 [[ 9.25400447e-01 -3.77401962e-01 3.46665772e-02 8.05942956e+01] [ 3.77112516e-01 9.26049341e-01 1.47908029e-02 2.00283091e+01] [-3.76850390e-02 -6.14215449e-04 9.99289478e-01 -3.16461586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.770888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:80.65, Y:20.05, Z:-3.17 [[ 9.25075600e-01 -3.78197896e-01 3.46624587e-02 8.06479035e+01] [ 3.77908647e-01 9.25724582e-01 1.48004485e-02 2.00519277e+01] [-3.76853885e-02 -5.92290924e-04 9.99289478e-01 -3.16539680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83088847900001 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:80.70, Y:20.07, Z:-3.17 [[ 9.24387827e-01 -3.79876179e-01 3.46588186e-02 8.07006670e+01] [ 3.79587789e-01 9.25037191e-01 1.48089677e-02 2.00748549e+01] [-3.76862703e-02 -5.33165150e-04 9.99289478e-01 -3.16569469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89088847900001 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:20.10, Z:-3.17 [[ 9.23971670e-01 -3.80887394e-01 3.46575490e-02 8.07540566e+01] [ 3.80599604e-01 9.24621300e-01 1.48119383e-02 2.00979605e+01] [-3.76867886e-02 -4.95161975e-04 9.99289478e-01 -3.16748756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:20.12, Z:-3.17 [[ 9.24052926e-01 -3.80690593e-01 3.46534743e-02 8.08068709e+01] [ 3.80402307e-01 9.24702335e-01 1.48214653e-02 2.01223072e+01] [-3.76865410e-02 -5.13556792e-04 9.99289478e-01 -3.16990729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:80.86, Y:20.15, Z:-3.17 [[ 9.23797069e-01 -3.81311422e-01 3.46493018e-02 8.08585313e+01] [ 3.81023208e-01 9.24446510e-01 1.48312132e-02 2.01464554e+01] [-3.76867371e-02 -4.98843138e-04 9.99289478e-01 -3.17255013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:20.17, Z:-3.17 [[ 9.23374803e-01 -3.82333001e-01 3.46475143e-02 8.09100559e+01] [ 3.82045348e-01 9.24024493e-01 1.48353878e-02 2.01699100e+01] [-3.76872102e-02 -4.61701634e-04 9.99289478e-01 -3.17410549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.130888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:20.19, Z:-3.18 [[ 9.22909505e-01 -3.83455064e-01 3.46447669e-02 8.09624677e+01] [ 3.83167960e-01 9.23559438e-01 1.48418011e-02 2.01936570e+01] [-3.76876652e-02 -4.22874677e-04 9.99289478e-01 -3.17734946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:20.22, Z:-3.18 [[ 9.22870334e-01 -3.83549697e-01 3.46406658e-02 8.10147822e+01] [ 3.83262301e-01 9.23520138e-01 1.48513668e-02 2.02187797e+01] [-3.76875897e-02 -4.29424566e-04 9.99289478e-01 -3.17937695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25088847900001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:20.24, Z:-3.18 [[ 9.22827281e-01 -3.83653640e-01 3.46366026e-02 8.10678774e+01] [ 3.83365962e-01 9.23476960e-01 1.48608371e-02 2.02430044e+01] [-3.76875187e-02 -4.35491486e-04 9.99289478e-01 -3.18097474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:20.27, Z:-3.19 [[ 9.22486570e-01 -3.84472524e-01 3.46324535e-02 8.11206446e+01] [ 3.84185060e-01 9.23136343e-01 1.48705001e-02 2.02692706e+01] [-3.76877752e-02 -4.12565381e-04 9.99289478e-01 -3.18787276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:20.29, Z:-3.18 [[ 9.23729089e-01 -3.81477943e-01 3.46287431e-02 8.11730775e+01] [ 3.81188048e-01 9.24377782e-01 1.48791353e-02 2.02944697e+01] [-3.76861027e-02 -5.44227077e-04 9.99289478e-01 -3.18404775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:20.32, Z:-3.19 [[ 9.24127934e-01 -3.80510843e-01 3.46274453e-02 8.12252760e+01] [ 3.80220157e-01 9.24776272e-01 1.48821550e-02 2.03198291e+01] [-3.76854612e-02 -5.86962475e-04 9.99289478e-01 -3.18690590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:20.34, Z:-3.19 [[ 9.24775011e-01 -3.78935888e-01 3.46232968e-02 8.12780627e+01] [ 3.78643736e-01 9.25422690e-01 1.48918002e-02 2.03442015e+01] [-3.76842220e-02 -6.61670206e-04 9.99289478e-01 -3.19379316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:20.37, Z:-3.19 [[ 9.25302332e-01 -3.77646806e-01 3.46191447e-02 8.13303736e+01] [ 3.77353391e-01 9.25949440e-01 1.49014466e-02 2.03717332e+01] [-3.76830613e-02 -7.24691617e-04 9.99289478e-01 -3.19461522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:20.40, Z:-3.20 [[ 9.24841904e-01 -3.78773316e-01 3.46154384e-02 8.13820678e+01] [ 3.78480367e-01 9.25489223e-01 1.49100512e-02 2.03967950e+01] [-3.76837447e-02 -6.88176308e-04 9.99289478e-01 -3.19722673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:20.42, Z:-3.20 [[ 9.22055708e-01 -3.85506382e-01 3.46136052e-02 8.14351429e+01] [ 3.85218001e-01 9.22705075e-01 1.49143056e-02 2.04190854e+01] [-3.76877092e-02 -4.18036807e-04 9.99289478e-01 -3.20032105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73088847900001 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:20.44, Z:-3.20 [[ 9.18938942e-01 -3.92878362e-01 3.46094422e-02 8.14871826e+01] [ 3.92594828e-01 9.19590440e-01 1.49239598e-02 2.04436992e+01] [-3.76898131e-02 -1.26719833e-04 9.99289479e-01 -3.19899635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:20.47, Z:-3.20 [[ 9.15963843e-01 -3.99765747e-01 3.46061378e-02 8.15407462e+01] [ 3.99486823e-01 9.16617328e-01 1.49316184e-02 2.04682174e+01] [-3.76897351e-02 1.47873486e-04 9.99289479e-01 -3.19682984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.59, Y:20.50, Z:-3.20 [[ 9.16168653e-01 -3.99296524e-01 3.46018072e-02 8.15925769e+01] [ 3.99016886e-01 9.16821832e-01 1.49416470e-02 2.04955441e+01] [-3.76898400e-02 1.17636783e-04 9.99289479e-01 -3.20063660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:20.52, Z:-3.20 [[ 9.16733854e-01 -3.97997613e-01 3.45968196e-02 8.16449969e+01] [ 3.97716614e-01 9.17386449e-01 1.49531869e-02 2.05204520e+01] [-3.76899861e-02 5.16373060e-05 9.99289479e-01 -3.20112776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97088847900001 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:81.70, Y:20.55, Z:-3.20 [[ 9.18367189e-01 -3.94214473e-01 3.45927016e-02 8.16963218e+01] [ 3.93930427e-01 9.19018463e-01 1.49627073e-02 2.05507266e+01] [-3.76898473e-02 -1.14141732e-04 9.99289479e-01 -3.20301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.75, Y:20.58, Z:-3.20 [[ 9.20332259e-01 -3.89604989e-01 3.45902564e-02 8.17486247e+01] [ 3.89317469e-01 9.20982007e-01 1.49683578e-02 2.05792644e+01] [-3.76887507e-02 -3.09271506e-04 9.99289479e-01 -3.20450365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09088847900001 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:20.61, Z:-3.21 [[ 9.22200616e-01 -3.85162096e-01 3.45858957e-02 8.18000826e+01] [ 3.84871068e-01 9.22848800e-01 1.49784270e-02 2.06091489e+01] [-3.76866747e-02 -5.02003969e-04 9.99289479e-01 -3.20986394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:20.64, Z:-3.21 [[ 9.22830731e-01 -3.83650267e-01 3.45820021e-02 8.18502586e+01] [ 3.83357840e-01 9.23478286e-01 1.49874110e-02 2.06389115e+01] [-3.76856523e-02 -5.73561775e-04 9.99289479e-01 -3.21166285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:20.67, Z:-3.22 [[ 9.21479855e-01 -3.86883776e-01 3.45806342e-02 8.19006115e+01] [ 3.86593504e-01 9.22128378e-01 1.49905666e-02 2.06670096e+01] [-3.76873911e-02 -4.44856585e-04 9.99289479e-01 -3.22197130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.270888479 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:20.69, Z:-3.23 [[ 9.19448849e-01 -3.91686484e-01 3.45761709e-02 8.19509700e+01] [ 3.91399213e-01 9.20098707e-01 1.50008543e-02 2.06936445e+01] [-3.76891220e-02 -2.59432143e-04 9.99289479e-01 -3.22616649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33088847900001 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:20.72, Z:-3.23 [[ 9.19360909e-01 -3.91893118e-01 3.45731644e-02 8.20018943e+01] [ 3.91605731e-01 9.20010716e-01 1.50077802e-02 2.07210253e+01] [-3.76891275e-02 -2.58517101e-04 9.99289479e-01 -3.22812569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39088847900001 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:20.74, Z:-3.23 [[ 9.19389965e-01 -3.91825334e-01 3.45687828e-02 8.20549410e+01] [ 3.91537521e-01 9.20039583e-01 1.50178660e-02 2.07448893e+01] [-3.76890289e-02 -2.72299790e-04 9.99289479e-01 -3.23021508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45088847900001 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:20.77, Z:-3.23 [[ 9.20074656e-01 -3.90215236e-01 3.45643899e-02 8.21087453e+01] [ 3.89925906e-01 9.20723600e-01 1.50279698e-02 2.07700347e+01] [-3.76883923e-02 -3.49303060e-04 9.99289479e-01 -3.22923922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:20.80, Z:-3.23 [[ 9.20833917e-01 -3.88420472e-01 3.45605763e-02 8.21597704e+01] [ 3.88129549e-01 9.21482148e-01 1.50367350e-02 2.07952474e+01] [-3.76875298e-02 -4.32354752e-04 9.99289479e-01 -3.22818177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:20.82, Z:-3.23 [[ 9.21218830e-01 -3.87506855e-01 3.45587024e-02 8.22101839e+01] [ 3.87215128e-01 9.21866700e-01 1.50410404e-02 2.08221424e+01] [-3.76870232e-02 -4.74437296e-04 9.99289479e-01 -3.23484716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.630888479 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:82.26, Y:20.85, Z:-3.24 [[ 9.22346841e-01 -3.84814495e-01 3.45558873e-02 8.22633374e+01] [ 3.84520634e-01 9.22993746e-01 1.50475053e-02 2.08456327e+01] [-3.76853660e-02 -5.91567269e-04 9.99289479e-01 -3.23784049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69088847900001 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:20.87, Z:-3.24 [[ 9.24011503e-01 -3.80800361e-01 3.45517985e-02 8.23163244e+01] [ 3.80503339e-01 9.24656963e-01 1.50568880e-02 2.08698870e+01] [-3.76822295e-02 -7.65662976e-04 9.99289479e-01 -3.23962310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75088847900001 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:82.37, Y:20.89, Z:-3.25 [[ 9.24293675e-01 -3.80115327e-01 3.45476643e-02 8.23677798e+01] [ 3.79817473e-01 9.24938750e-01 1.50663678e-02 2.08929888e+01] [-3.76814308e-02 -8.03941912e-04 9.99289479e-01 -3.24504029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81088847900001 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:20.91, Z:-3.25 [[ 9.24574661e-01 -3.79431613e-01 3.45448676e-02 8.24213230e+01] [ 3.79133042e-01 9.25219405e-01 1.50727776e-02 2.09141607e+01] [-3.76806701e-02 -8.38807528e-04 9.99289479e-01 -3.24780055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87088847900002 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:20.93, Z:-3.25 [[ 9.26833260e-01 -3.73881048e-01 3.45408510e-02 8.24765797e+01] [ 3.73578275e-01 9.27476041e-01 1.50819764e-02 2.09330278e+01] [-3.76746769e-02 -1.07476579e-03 9.99289479e-01 -3.24650755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:20.95, Z:-3.25 [[ 9.27539941e-01 -3.72124837e-01 3.45364169e-02 8.25303947e+01] [ 3.71820469e-01 9.28181969e-01 1.50921234e-02 2.09543792e+01] [-3.76722333e-02 -1.15720050e-03 9.99289479e-01 -3.24777572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.990888479 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:20.97, Z:-3.25 [[ 9.28344836e-01 -3.70112714e-01 3.45317792e-02 8.25852624e+01] [ 3.69806561e-01 9.28986015e-01 1.51027271e-02 2.09720352e+01] [-3.76692513e-02 -1.25046021e-03 9.99289480e-01 -3.24959031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05088847900001 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:20.99, Z:-3.25 [[ 9.26302703e-01 -3.75194611e-01 3.45297921e-02 8.26414530e+01] [ 3.74891806e-01 9.26945470e-01 1.51072691e-02 2.09896909e+01] [-3.76754003e-02 -1.04896811e-03 9.99289480e-01 -3.25226431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11088847900001 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:21.01, Z:-3.25 [[ 9.25124466e-01 -3.78090851e-01 3.45257961e-02 8.26983959e+01] [ 3.77789719e-01 9.25768018e-01 1.51163958e-02 2.10052249e+01] [-3.76782488e-02 -9.41056822e-04 9.99289480e-01 -3.24919770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17088847900001 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:82.75, Y:21.02, Z:-3.25 [[ 9.23032335e-01 -3.83170164e-01 3.45243983e-02 8.27522817e+01] [ 3.82872455e-01 9.23677477e-01 1.51195877e-02 2.10232766e+01] [-3.76827840e-02 -7.37427220e-04 9.99289480e-01 -3.25137991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:82.81, Y:21.04, Z:-3.26 [[ 9.18649793e-01 -3.93561714e-01 3.45215105e-02 8.28080144e+01] [ 3.93271056e-01 9.19298143e-01 1.51261784e-02 2.10427129e+01] [-3.76886451e-02 -3.19349769e-04 9.99289480e-01 -3.25848135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:82.86, Y:21.06, Z:-3.26 [[ 9.17530832e-01 -3.96163723e-01 3.45177728e-02 8.28645994e+01] [ 3.95874583e-01 9.18179860e-01 1.51347029e-02 2.10616866e+01] [-3.76893440e-02 -2.21847584e-04 9.99289480e-01 -3.25660640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:82.92, Y:21.08, Z:-3.27 [[ 9.13953250e-01 -4.04349148e-01 3.45141063e-02 8.29188499e+01] [ 4.04065506e-01 9.14604699e-01 1.51430595e-02 2.10821500e+01] [-3.76898470e-02 1.05911396e-04 9.99289480e-01 -3.26909190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.97, Y:21.10, Z:-3.26 [[ 9.15977297e-01 -3.99743239e-01 3.45099030e-02 8.29740891e+01] [ 3.99455960e-01 9.16627151e-01 1.51526326e-02 2.10998607e+01] [-3.76898765e-02 -9.42810188e-05 9.99289480e-01 -3.26445401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.03, Y:21.12, Z:-3.27 [[ 9.17755110e-01 -3.95644726e-01 3.45081121e-02 8.30279810e+01] [ 3.95354391e-01 9.18403604e-01 1.51567100e-02 2.11208091e+01] [-3.76890469e-02 -2.67214443e-04 9.99289480e-01 -3.26931198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.08, Y:21.14, Z:-3.27 [[ 9.20380336e-01 -3.89499055e-01 3.45039559e-02 8.30829816e+01] [ 3.89204036e-01 9.21026713e-01 1.51661655e-02 2.11400365e+01] [-3.76862722e-02 -5.29561600e-04 9.99289480e-01 -3.26816840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.14, Y:21.16, Z:-3.27 [[ 9.23644649e-01 -3.81693761e-01 3.45026839e-02 8.31373909e+01] [ 3.81393173e-01 9.24288455e-01 1.51690588e-02 2.11614174e+01] [-3.76803675e-02 -8.51731868e-04 9.99289480e-01 -3.26893896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:21.18, Z:-3.27 [[ 9.26867324e-01 -3.73800511e-01 3.44984308e-02 8.31939239e+01] [ 3.73494082e-01 9.27508370e-01 1.51787253e-02 2.11787530e+01] [-3.76713986e-02 -1.18370472e-03 9.99289480e-01 -3.26843276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:21.20, Z:-3.28 [[ 9.28117770e-01 -3.70685229e-01 3.44944405e-02 8.32462486e+01] [ 3.70376312e-01 9.28757621e-01 1.51877881e-02 2.12020728e+01] [-3.76668632e-02 -1.32013235e-03 9.99289480e-01 -3.27689008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:21.22, Z:-3.28 [[ 9.29005702e-01 -3.68454401e-01 3.44929075e-02 8.33001447e+01] [ 3.68143819e-01 9.29644746e-01 1.51912688e-02 2.12227957e+01] [-3.76634401e-02 -1.41442468e-03 9.99289480e-01 -3.27843765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:21.24, Z:-3.27 [[ 9.29041431e-01 -3.68364704e-01 3.44886253e-02 8.33556671e+01] [ 3.68053700e-01 9.29680270e-01 1.52009846e-02 2.12426814e+01] [-3.76629006e-02 -1.42867830e-03 9.99289480e-01 -3.27498566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89088847900001 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:21.26, Z:-3.28 [[ 9.27930643e-01 -3.71154319e-01 3.44846748e-02 8.34124949e+01] [ 3.70844904e-01 9.28570253e-01 1.52099412e-02 2.12584382e+01] [-3.76666786e-02 -1.32530456e-03 9.99289480e-01 -3.27726179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95088847900001 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:21.28, Z:-3.29 [[ 9.24402081e-01 -3.79857681e-01 3.44809378e-02 8.34661426e+01] [ 3.79553974e-01 9.25044421e-01 1.52184082e-02 2.12828465e+01] [-3.76772284e-02 -9.80551227e-04 9.99289480e-01 -3.28672831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.52, Y:21.30, Z:-3.28 [[ 9.22854126e-01 -3.83603163e-01 3.44800806e-02 8.35234490e+01] [ 3.83301991e-01 9.23497658e-01 1.52203501e-02 2.12968064e+01] [-3.76808482e-02 -8.29879341e-04 9.99289480e-01 -3.28336816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:21.32, Z:-3.29 [[ 9.19240441e-01 -3.92183927e-01 3.44786824e-02 8.35787807e+01] [ 3.91888645e-01 9.19886697e-01 1.52235168e-02 2.13169912e+01] [-3.76868999e-02 -4.82268154e-04 9.99289480e-01 -3.28740759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.130888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:21.34, Z:-3.29 [[ 9.17310248e-01 -3.96677944e-01 3.44748800e-02 8.36316381e+01] [ 3.96385505e-01 9.17957795e-01 1.52321230e-02 2.13391636e+01] [-3.76887320e-02 -3.07239838e-04 9.99289480e-01 -3.29126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:21.36, Z:-3.29 [[ 9.16587072e-01 -3.98346236e-01 3.44734171e-02 8.36850877e+01] [ 3.98054851e-01 9.17235094e-01 1.52354331e-02 2.13642530e+01] [-3.76892054e-02 -2.42290124e-04 9.99289480e-01 -3.28506053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:21.39, Z:-3.29 [[ 9.15072329e-01 -4.01813976e-01 3.44697148e-02 8.37362870e+01] [ 4.01524731e-01 9.15721310e-01 1.52438048e-02 2.13913023e+01] [-3.76898262e-02 -1.08741039e-04 9.99289480e-01 -3.29332668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31088847900001 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:21.42, Z:-3.29 [[ 9.15067717e-01 -4.01824591e-01 3.44684102e-02 8.37899573e+01] [ 4.01535242e-01 9.15716651e-01 1.52467542e-02 2.14156792e+01] [-3.76898179e-02 -1.11531130e-04 9.99289480e-01 -3.29075908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:21.44, Z:-3.30 [[ 9.14263967e-01 -4.03650323e-01 3.44646920e-02 8.38429426e+01] [ 4.03361953e-01 9.14913337e-01 1.52551543e-02 2.14400688e+01] [-3.76899543e-02 -4.54924276e-05 9.99289480e-01 -3.29810153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.89, Y:21.47, Z:-3.30 [[ 9.14554403e-01 -4.02992163e-01 3.44609931e-02 8.38944802e+01] [ 4.02703011e-01 9.15203426e-01 1.52635055e-02 2.14669811e+01] [-3.76898920e-02 -8.17604374e-05 9.99289480e-01 -3.30242366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.490888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:83.95, Y:21.49, Z:-3.30 [[ 9.14929694e-01 -4.02139510e-01 3.44596947e-02 8.39472961e+01] [ 4.01849643e-01 9.15578397e-01 1.52664361e-02 2.14932288e+01] [-3.76897892e-02 -1.20099689e-04 9.99289480e-01 -3.30470787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55088847900001 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:21.52, Z:-3.30 [[ 9.15641767e-01 -4.00515830e-01 3.44561283e-02 8.40006952e+01] [ 4.00224510e-01 9.16289819e-01 1.52744813e-02 2.15173642e+01] [-3.76894711e-02 -1.95765975e-04 9.99289480e-01 -3.30409411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:21.54, Z:-3.31 [[ 9.14491101e-01 -4.03136525e-01 3.44524001e-02 8.40523290e+01] [ 4.02846746e-01 9.15139843e-01 1.52828859e-02 2.15449248e+01] [-3.76898535e-02 -9.70258892e-05 9.99289480e-01 -3.31124383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67088847900001 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.11, Y:21.57, Z:-3.31 [[ 9.16217964e-01 -3.99196626e-01 3.44484609e-02 8.41068126e+01] [ 3.98903724e-01 9.16865302e-01 1.52917598e-02 2.15656657e+01] [-3.76890174e-02 -2.68965655e-04 9.99289480e-01 -3.30717030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:21.59, Z:-3.31 [[ 9.16045818e-01 -3.99591670e-01 3.44464192e-02 8.41584066e+01] [ 3.99298874e-01 9.16693204e-01 1.52963577e-02 2.15893246e+01] [-3.76890955e-02 -2.57748102e-04 9.99289480e-01 -3.30894464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:21.61, Z:-3.31 [[ 9.16041704e-01 -3.99601258e-01 3.44446028e-02 8.42111027e+01] [ 3.99308315e-01 9.16689024e-01 1.53004467e-02 2.16132235e+01] [-3.76890671e-02 -2.61830976e-04 9.99289480e-01 -3.31242948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:21.64, Z:-3.32 [[ 9.15837347e-01 -4.00069752e-01 3.44404962e-02 8.42635869e+01] [ 3.99776793e-01 9.16484659e-01 1.53096849e-02 2.16379999e+01] [-3.76891283e-02 -2.52670049e-04 9.99289480e-01 -3.31796813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:21.66, Z:-3.32 [[ 9.14609425e-01 -4.02869375e-01 3.44364166e-02 8.43155315e+01] [ 4.02578052e-01 9.15257475e-01 1.53188558e-02 2.16625996e+01] [-3.76896855e-02 -1.47424377e-04 9.99289481e-01 -3.32416864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:21.69, Z:-3.33 [[ 9.13295697e-01 -4.05839120e-01 3.44322473e-02 8.43685720e+01] [ 4.05549550e-01 9.13944532e-01 1.53282214e-02 2.16869019e+01] [-3.76899560e-02 -3.52162091e-05 9.99289481e-01 -3.32673997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.42, Y:21.71, Z:-3.33 [[ 9.12380355e-01 -4.07893120e-01 3.44280387e-02 8.44212992e+01] [ 4.07604655e-01 9.13029682e-01 1.53376684e-02 2.17101249e+01] [-3.76899506e-02 3.92415003e-05 9.99289481e-01 -3.32832788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:21.73, Z:-3.33 [[ 9.10629081e-01 -4.11788383e-01 3.44238926e-02 8.44739439e+01] [ 4.11502344e-01 9.11279480e-01 1.53469681e-02 2.17334816e+01] [-3.76894902e-02 1.90117023e-04 9.99289481e-01 -3.33137364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:21.76, Z:-3.33 [[ 9.09217109e-01 -4.14897017e-01 3.44196633e-02 8.45267456e+01] [ 4.14612843e-01 9.09868326e-01 1.53564478e-02 2.17574158e+01] [-3.76887058e-02 3.08489358e-04 9.99289481e-01 -3.33436072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:21.78, Z:-3.34 [[ 9.08876003e-01 -4.15644070e-01 3.44153770e-02 8.45787013e+01] [ 4.15360067e-01 9.09527294e-01 1.53660478e-02 2.17819219e+01] [-3.76885313e-02 3.28941163e-04 9.99289481e-01 -3.33689673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.270888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:21.81, Z:-3.34 [[ 9.10214326e-01 -4.12705210e-01 3.44135284e-02 8.46301334e+01] [ 4.12418948e-01 9.10864627e-01 1.53701867e-02 2.18059243e+01] [-3.76894218e-02 2.02627018e-04 9.99289481e-01 -3.33786073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:21.83, Z:-3.34 [[ 9.12575075e-01 -4.07458756e-01 3.44106852e-02 8.46826873e+01] [ 4.07168516e-01 9.13223610e-01 1.53765493e-02 2.18316786e+01] [-3.76899599e-02 -2.13079981e-05 9.99289481e-01 -3.34012368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:21.86, Z:-3.34 [[ 9.13900805e-01 -4.04476830e-01 3.44065764e-02 8.47346025e+01] [ 4.04184128e-01 9.14548233e-01 1.53857378e-02 2.18577506e+01] [-3.76896481e-02 -1.54446080e-04 9.99289481e-01 -3.34456004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:21.88, Z:-3.35 [[ 9.15372156e-01 -4.01136260e-01 3.44022762e-02 8.47882686e+01] [ 4.00840833e-01 9.16018346e-01 1.53953469e-02 2.18821584e+01] [-3.76887480e-02 -3.02634856e-04 9.99289481e-01 -3.34507997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51088847900002 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:21.91, Z:-3.34 [[ 9.16016073e-01 -3.99663981e-01 3.43984992e-02 8.48420766e+01] [ 3.99367199e-01 9.16661641e-01 1.54037814e-02 2.19059638e+01] [-3.76881213e-02 -3.72479057e-04 9.99289481e-01 -3.34423824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:21.93, Z:-3.34 [[ 9.16486333e-01 -3.98584748e-01 3.43947561e-02 8.48945639e+01] [ 3.98286893e-01 9.17131407e-01 1.54121349e-02 2.19303165e+01] [-3.76875529e-02 -4.26030510e-04 9.99289481e-01 -3.34469427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:21.95, Z:-3.35 [[ 9.16349184e-01 -3.98900323e-01 3.43904852e-02 8.49470670e+01] [ 3.98602332e-01 9.16994195e-01 1.54216589e-02 2.19524033e+01] [-3.76875800e-02 -4.23496927e-04 9.99289481e-01 -3.34704797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:21.98, Z:-3.35 [[ 9.15551435e-01 -4.00728076e-01 3.43886476e-02 8.50004179e+01] [ 4.00431219e-01 9.16196968e-01 1.54257556e-02 2.19756012e+01] [-3.76883080e-02 -3.52784551e-04 9.99289481e-01 -3.35023922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:22.00, Z:-3.35 [[ 9.13963855e-01 -4.04336219e-01 3.43844851e-02 8.50534945e+01] [ 4.04041562e-01 9.14610396e-01 1.54350283e-02 2.19990495e+01] [-3.76893485e-02 -2.14296929e-04 9.99289481e-01 -3.35483507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:22.02, Z:-3.36 [[ 9.11563747e-01 -4.09718847e-01 3.43802436e-02 8.51070510e+01] [ 4.09427652e-01 9.12211854e-01 1.54444701e-02 2.20223433e+01] [-3.76899563e-02 -2.39656846e-06 9.99289481e-01 -3.35919040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.16, Y:22.05, Z:-3.36 [[ 9.09624190e-01 -4.14007392e-01 3.43760437e-02 8.51602314e+01] [ 4.13718899e-01 9.10273504e-01 1.54538127e-02 2.20456625e+01] [-3.76895944e-02 1.64857108e-04 9.99289481e-01 -3.36009495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:22.07, Z:-3.36 [[ 9.08117408e-01 -4.17302472e-01 3.43717848e-02 8.52125064e+01] [ 4.17015977e-01 9.08767606e-01 1.54632792e-02 2.20704599e+01] [-3.76888293e-02 2.91110457e-04 9.99289481e-01 -3.36122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:22.10, Z:-3.36 [[ 9.07918833e-01 -4.17734441e-01 3.43704796e-02 8.52652655e+01] [ 4.17448145e-01 9.08569119e-01 1.54661799e-02 2.20958380e+01] [-3.76887123e-02 3.05856914e-04 9.99289481e-01 -3.36228515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:22.12, Z:-3.36 [[ 9.09556912e-01 -4.14155993e-01 3.43662351e-02 8.53172412e+01] [ 4.13866783e-01 9.10205906e-01 1.54756054e-02 2.21223262e+01] [-3.76896649e-02 1.47099273e-04 9.99289481e-01 -3.36451750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:22.15, Z:-3.37 [[ 9.11994999e-01 -4.08759554e-01 3.43620222e-02 8.53685408e+01] [ 4.08466151e-01 9.12642109e-01 1.54849541e-02 2.21508133e+01] [-3.76898514e-02 -8.64777811e-05 9.99289481e-01 -3.36696986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:22.18, Z:-3.37 [[ 9.12573752e-01 -4.07466176e-01 3.43578618e-02 8.54212032e+01] [ 4.07171509e-01 9.13220287e-01 1.54941798e-02 2.21758607e+01] [-3.76896506e-02 -1.50039337e-04 9.99289481e-01 -3.36830499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:22.20, Z:-3.37 [[ 9.14191715e-01 -4.03823399e-01 3.43536253e-02 8.54729626e+01] [ 4.03525803e-01 9.14836907e-01 1.55035672e-02 2.22017419e+01] [-3.76886675e-02 -3.10658488e-04 9.99289481e-01 -3.36801167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:22.23, Z:-3.37 [[ 9.15133939e-01 -4.01683949e-01 3.43493650e-02 8.55243274e+01] [ 4.01384491e-01 9.15778269e-01 1.55130005e-02 2.22282899e+01] [-3.76877253e-02 -4.09170843e-04 9.99289482e-01 -3.37057205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:22.26, Z:-3.37 [[ 9.15652755e-01 -4.00500249e-01 3.43450637e-02 8.55762801e+01] [ 4.00199601e-01 9.16296530e-01 1.55225175e-02 2.22550993e+01] [-3.76870348e-02 -4.68355169e-04 9.99289482e-01 -3.37355891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.63, Y:22.28, Z:-3.37 [[ 9.15269607e-01 -4.01375462e-01 3.43407148e-02 8.56280993e+01] [ 4.01075069e-01 9.15913501e-01 1.55321328e-02 2.22809974e+01] [-3.76873413e-02 -4.42884521e-04 9.99289482e-01 -3.37415792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.68, Y:22.31, Z:-3.38 [[ 9.14741100e-01 -4.02578856e-01 3.43363376e-02 8.56805187e+01] [ 4.02278946e-01 9.15385220e-01 1.55418032e-02 2.23064095e+01] [-3.76877773e-02 -4.03940449e-04 9.99289482e-01 -3.37533527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:85.73, Y:22.33, Z:-3.38 [[ 9.14189762e-01 -4.03829658e-01 3.43320179e-02 8.57307283e+01] [ 4.03530271e-01 9.14834125e-01 1.55513396e-02 2.23328940e+01] [-3.76881937e-02 -3.62866898e-04 9.99289482e-01 -3.37961082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:22.36, Z:-3.38 [[ 9.12426758e-01 -4.07797651e-01 3.43291039e-02 8.57826752e+01] [ 4.07500825e-01 9.13072304e-01 1.55577696e-02 2.23589360e+01] [-3.76893759e-02 -2.06187066e-04 9.99289482e-01 -3.38354934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:22.38, Z:-3.39 [[ 9.10596084e-01 -4.11869614e-01 3.43248175e-02 8.58343323e+01] [ 4.11575318e-01 9.11242788e-01 1.55672208e-02 2.23833244e+01] [-3.76899076e-02 -4.82026371e-05 9.99289482e-01 -3.38640879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:22.41, Z:-3.39 [[ 9.08744690e-01 -4.15938724e-01 3.43229737e-02 8.58862787e+01] [ 4.15647171e-01 9.09392635e-01 1.55712849e-02 2.24099749e+01] [-3.76897599e-02 1.15924484e-04 9.99289482e-01 -3.39203950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.770888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:22.44, Z:-3.40 [[ 9.07886630e-01 -4.17808635e-01 3.43192701e-02 8.59377235e+01] [ 4.17518108e-01 9.08535035e-01 1.55794435e-02 2.24362127e+01] [-3.76894853e-02 1.84548234e-04 9.99289482e-01 -3.39601996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:22.46, Z:-3.40 [[ 9.06352396e-01 -4.21126842e-01 3.43149676e-02 8.59887774e+01] [ 4.20838330e-01 9.07001701e-01 1.55889144e-02 2.24639812e+01] [-3.76886442e-02 3.12003729e-04 9.99289482e-01 -3.39980795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89088847900001 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:22.49, Z:-3.40 [[ 9.05393740e-01 -4.23184300e-01 3.43107017e-02 8.60405378e+01] [ 4.22896908e-01 9.06043541e-01 1.55982979e-02 2.24901159e+01] [-3.76879444e-02 3.87288428e-04 9.99289482e-01 -3.40145757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95088847900001 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:86.09, Y:22.52, Z:-3.40 [[ 9.05384348e-01 -4.23204733e-01 3.43064981e-02 8.60904805e+01] [ 4.22917006e-01 9.06034001e-01 1.56075377e-02 2.25189695e+01] [-3.76880375e-02 3.77981073e-04 9.99289482e-01 -3.40140111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01088847900002 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:86.14, Y:22.55, Z:-3.40 [[ 9.07193863e-01 -4.19311955e-01 3.43042210e-02 8.61422960e+01] [ 4.19021251e-01 9.07842189e-01 1.56125409e-02 2.25478685e+01] [-3.76893441e-02 2.10596320e-04 9.99289482e-01 -3.40324135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:22.58, Z:-3.41 [[ 9.08831097e-01 -4.15751756e-01 3.43003650e-02 8.61934037e+01] [ 4.15458192e-01 9.09478133e-01 1.56210079e-02 2.25760247e+01] [-3.76898934e-02 5.35098667e-05 9.99289482e-01 -3.40694539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.130888479 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:86.24, Y:22.60, Z:-3.41 [[ 9.11628133e-01 -4.09582630e-01 3.42959991e-02 8.62437168e+01] [ 4.09284328e-01 9.12272999e-01 1.56305874e-02 2.26041901e+01] [-3.76893310e-02 -2.12468267e-04 9.99289482e-01 -3.40871389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19088847900001 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:22.63, Z:-3.41 [[ 9.13360733e-01 -4.05704442e-01 3.42939763e-02 8.62952754e+01] [ 4.05403235e-01 9.14004247e-01 1.56350242e-02 2.26301028e+01] [-3.76880387e-02 -3.77528174e-04 9.99289482e-01 -3.41089838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25088847900001 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:22.66, Z:-3.41 [[ 9.15239559e-01 -4.01448333e-01 3.42897410e-02 8.63473036e+01] [ 4.01143786e-01 9.15881498e-01 1.56443072e-02 2.26570685e+01] [-3.76857204e-02 -5.63172292e-04 9.99289482e-01 -3.41298617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31088847900001 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:22.68, Z:-3.41 [[ 9.15492976e-01 -4.00870441e-01 3.42855636e-02 8.63992344e+01] [ 4.00565146e-01 9.16134561e-01 1.56534569e-02 2.26821772e+01] [-3.76851979e-02 -5.97028090e-04 9.99289482e-01 -3.41238253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37088847900002 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:22.71, Z:-3.41 [[ 9.15192604e-01 -4.01555887e-01 3.42836376e-02 8.64512522e+01] [ 4.01250915e-01 9.15834341e-01 1.56576741e-02 2.27068686e+01] [-3.76855639e-02 -5.73446548e-04 9.99289482e-01 -3.41443747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:86.50, Y:22.73, Z:-3.42 [[ 9.13565833e-01 -4.05243642e-01 3.42791382e-02 8.65049471e+01] [ 4.04940891e-01 9.14208622e-01 1.56675185e-02 2.27274213e+01] [-3.76874459e-02 -4.32284799e-04 9.99289482e-01 -3.41797228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.490888479 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:22.75, Z:-3.42 [[ 9.11923852e-01 -4.08925328e-01 3.42777557e-02 8.65585790e+01] [ 4.08625059e-01 9.12567803e-01 1.56705424e-02 2.27489592e+01] [-3.76888579e-02 -2.83591416e-04 9.99289482e-01 -3.42259271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55088847900001 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:22.77, Z:-3.42 [[ 9.11464192e-01 -4.09949214e-01 3.42734429e-02 8.66124981e+01] [ 4.09649313e-01 9.12108315e-01 1.56799694e-02 2.27701688e+01] [-3.76890834e-02 -2.51638284e-04 9.99289482e-01 -3.42399035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61088847900001 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:22.79, Z:-3.43 [[ 9.11601578e-01 -4.09643980e-01 3.42691332e-02 8.66677519e+01] [ 4.09343509e-01 9.12245436e-01 1.56893829e-02 2.27914797e+01] [-3.76889215e-02 -2.74618932e-04 9.99289482e-01 -3.42746565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67088847900001 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:22.81, Z:-3.43 [[ 9.12328903e-01 -4.08021890e-01 3.42653003e-02 8.67218563e+01] [ 4.07719961e-01 9.12972077e-01 1.56977493e-02 2.28121585e+01] [-3.76882877e-02 -3.50863446e-04 9.99289483e-01 -3.43033003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73088847900001 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:86.78, Y:22.83, Z:-3.43 [[ 9.13479846e-01 -4.05438971e-01 3.42609301e-02 8.67774083e+01] [ 4.05134866e-01 9.14121995e-01 1.57072816e-02 2.28312450e+01] [-3.76870139e-02 -4.67987812e-04 9.99289483e-01 -3.43054759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:22.85, Z:-3.44 [[ 9.12714922e-01 -4.07158395e-01 3.42565703e-02 8.68315884e+01] [ 4.06855143e-01 9.13357474e-01 1.57167844e-02 2.28540640e+01] [-3.76877152e-02 -4.07481820e-04 9.99289483e-01 -3.44358670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:22.87, Z:-3.44 [[ 9.13464273e-01 -4.05474755e-01 3.42526622e-02 8.68877806e+01] [ 4.05170000e-01 9.14106113e-01 1.57252969e-02 2.28724965e+01] [-3.76867788e-02 -4.86345772e-04 9.99289483e-01 -3.43756413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:22.89, Z:-3.44 [[ 9.12081214e-01 -4.08576647e-01 3.42488180e-02 8.69426309e+01] [ 4.08273761e-01 9.12723939e-01 1.57336648e-02 2.28920016e+01] [-3.76881241e-02 -3.67486382e-04 9.99289483e-01 -3.44061088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:22.91, Z:-3.44 [[ 9.11244997e-01 -4.10438439e-01 3.42467945e-02 8.70001129e+01] [ 4.10136700e-01 9.11888261e-01 1.57380682e-02 2.29082340e+01] [-3.76887580e-02 -2.95368684e-04 9.99289483e-01 -3.44127955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:22.93, Z:-3.44 [[ 9.07995029e-01 -4.17579282e-01 3.42428100e-02 8.70531539e+01] [ 4.17282276e-01 9.08640492e-01 1.57467329e-02 2.29303630e+01] [-3.76899131e-02 -9.03756287e-06 9.99289483e-01 -3.43783257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:22.95, Z:-3.44 [[ 9.07267469e-01 -4.19157942e-01 3.42397282e-02 8.71059522e+01] [ 4.18861805e-01 9.07913332e-01 1.57534312e-02 2.29530384e+01] [-3.76898814e-02 4.91386926e-05 9.99289483e-01 -3.44055888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:22.97, Z:-3.44 [[ 9.05300144e-01 -4.23390382e-01 3.42378901e-02 8.71612986e+01] [ 4.23097114e-01 9.05947314e-01 1.57574249e-02 2.29731197e+01] [-3.76892667e-02 2.20753491e-04 9.99289483e-01 -3.44254619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:22.99, Z:-3.45 [[ 9.04188508e-01 -4.25759519e-01 3.42341037e-02 8.72158868e+01] [ 4.25467635e-01 9.04836303e-01 1.57656468e-02 2.29930680e+01] [-3.76886341e-02 3.10386523e-04 9.99289483e-01 -3.44533075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:23.01, Z:-3.45 [[ 9.04631583e-01 -4.24817633e-01 3.42297725e-02 8.72689607e+01] [ 4.24524719e-01 9.05278913e-01 1.57750449e-02 2.30145388e+01] [-3.76890085e-02 2.60780703e-04 9.99289483e-01 -3.44972284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:23.04, Z:-3.45 [[ 9.07286499e-01 -4.19117715e-01 3.42279169e-02 8.73222527e+01] [ 4.18820583e-01 9.07931903e-01 1.57790701e-02 2.30380441e+01] [-3.76899056e-02 1.92188056e-05 9.99289483e-01 -3.45123085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:23.06, Z:-3.46 [[ 9.09655995e-01 -4.13950147e-01 3.42234784e-02 8.73741166e+01] [ 4.13648986e-01 9.10299529e-01 1.57886911e-02 2.30611972e+01] [-3.76893473e-02 -2.05770390e-04 9.99289483e-01 -3.45583676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:23.08, Z:-3.46 [[ 9.11887480e-01 -4.09011135e-01 3.42215682e-02 8.74286804e+01] [ 4.08706334e-01 9.12529298e-01 1.57928303e-02 2.30840725e+01] [-3.76876270e-02 -4.14712598e-04 9.99289483e-01 -3.45533833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51088847900002 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:23.11, Z:-3.46 [[ 9.12388797e-01 -4.07891920e-01 3.42178929e-02 8.74816919e+01] [ 4.07586033e-01 9.13030099e-01 1.58007895e-02 2.31073752e+01] [-3.76869805e-02 -4.69728106e-04 9.99289483e-01 -3.45643021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:23.13, Z:-3.46 [[ 9.12730680e-01 -4.07126693e-01 3.42134757e-02 8.75346762e+01] [ 4.06819909e-01 9.13371553e-01 1.58103482e-02 2.31314249e+01] [-3.76864302e-02 -5.11866818e-04 9.99289483e-01 -3.45996750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.630888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:23.15, Z:-3.46 [[ 9.12554339e-01 -4.07522168e-01 3.42090899e-02 8.75888995e+01] [ 4.07215307e-01 9.13195174e-01 1.58198322e-02 2.31544744e+01] [-3.76865081e-02 -5.05991493e-04 9.99289483e-01 -3.46220624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:23.18, Z:-3.46 [[ 9.11881544e-01 -4.09025741e-01 3.42051677e-02 8.76412850e+01] [ 4.08719619e-01 9.12522733e-01 1.58283081e-02 2.31795629e+01] [-3.76871785e-02 -4.53218914e-04 9.99289483e-01 -3.46426273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:23.20, Z:-3.46 [[ 9.10291276e-01 -4.12552898e-01 3.42037920e-02 8.76935610e+01] [ 4.12249149e-01 9.10933592e-01 1.58312802e-02 2.32033763e+01] [-3.76886237e-02 -3.10592095e-04 9.99289483e-01 -3.46430679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:23.23, Z:-3.47 [[ 9.08760468e-01 -4.15914248e-01 3.42015933e-02 8.77460661e+01] [ 4.15612696e-01 9.09403819e-01 1.58360288e-02 2.32273143e+01] [-3.76894896e-02 -1.76540552e-04 9.99289483e-01 -3.46505253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87088847900002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:87.80, Y:23.25, Z:-3.47 [[ 9.07143588e-01 -4.19429443e-01 3.41972795e-02 8.77996100e+01] [ 4.19130033e-01 9.07787938e-01 1.58453389e-02 2.32509908e+01] [-3.76898795e-02 -4.08907580e-05 9.99289483e-01 -3.46777668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:23.27, Z:-3.47 [[ 9.03964824e-01 -4.26237494e-01 3.41934943e-02 8.78529683e+01] [ 4.25942628e-01 9.04611267e-01 1.58535030e-02 2.32744526e+01] [-3.76891776e-02 2.33457762e-04 9.99289483e-01 -3.47190559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:23.30, Z:-3.47 [[ 9.00787010e-01 -4.32913180e-01 3.41897718e-02 8.79059488e+01] [ 4.32622800e-01 9.01435480e-01 1.58615269e-02 2.32995113e+01] [-3.76865374e-02 5.03417457e-04 9.99289483e-01 -3.47243005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:23.32, Z:-3.47 [[ 8.99434797e-01 -4.35715973e-01 3.41853425e-02 8.79588065e+01] [ 4.35427250e-01 9.00084007e-01 1.58710674e-02 2.33242105e+01] [-3.76849576e-02 6.10239439e-04 9.99289483e-01 -3.47393665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11088847900001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:88.01, Y:23.35, Z:-3.47 [[ 8.99208754e-01 -4.36182621e-01 3.41809735e-02 8.80114717e+01] [ 4.35893878e-01 8.99857954e-01 1.58804712e-02 2.33494658e+01] [-3.76848064e-02 6.19418371e-04 9.99289483e-01 -3.47099959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:23.38, Z:-3.49 [[ 8.98744336e-01 -4.37138847e-01 3.41796330e-02 8.80636362e+01] [ 4.36850686e-01 8.99393794e-01 1.58833558e-02 2.33763058e+01] [-3.76841817e-02 6.56320004e-04 9.99289483e-01 -3.48534448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:23.40, Z:-3.47 [[ 9.03603599e-01 -4.27004028e-01 3.41774187e-02 8.81159128e+01] [ 4.26708401e-01 9.04249694e-01 1.58881191e-02 2.34043572e+01] [-3.76892112e-02 2.27230066e-04 9.99289483e-01 -3.47285591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:23.43, Z:-3.48 [[ 9.08288603e-01 -4.16946023e-01 3.41734999e-02 8.81666800e+01] [ 4.16642924e-01 9.08931226e-01 1.58965435e-02 2.34333561e+01] [-3.76893617e-02 -2.00502312e-04 9.99289483e-01 -3.47560060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:23.46, Z:-3.48 [[ 9.11135442e-01 -4.10688056e-01 3.41691029e-02 8.82176995e+01] [ 4.10380189e-01 9.11775795e-01 1.59059891e-02 2.34608677e+01] [-3.76869607e-02 -4.70187474e-04 9.99289484e-01 -3.47848836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:88.27, Y:23.49, Z:-3.47 [[ 9.13626980e-01 -4.05115233e-01 3.41670694e-02 8.82706302e+01] [ 4.04803298e-01 9.14265361e-01 1.59103559e-02 2.34866375e+01] [-3.76832956e-02 -7.05188046e-04 9.99289484e-01 -3.47351958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.32, Y:23.51, Z:-3.47 [[ 9.15129644e-01 -4.01709605e-01 3.41632371e-02 8.83219403e+01] [ 4.01394988e-01 9.15766708e-01 1.59185805e-02 2.35129313e+01] [-3.76802019e-02 -8.54612819e-04 9.99289484e-01 -3.47476283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:23.54, Z:-3.48 [[ 9.15628837e-01 -4.00570650e-01 3.41611968e-02 8.83741419e+01] [ 4.00255077e-01 9.16265427e-01 1.59229577e-02 2.35383588e+01] [-3.76789931e-02 -9.06326803e-04 9.99289484e-01 -3.47743272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:23.56, Z:-3.48 [[ 9.13595502e-01 -4.05187090e-01 3.41567178e-02 8.84263223e+01] [ 4.04874375e-01 9.14233501e-01 1.59325600e-02 2.35628809e+01] [-3.76828833e-02 -7.26735318e-04 9.99289484e-01 -3.48353291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:23.59, Z:-3.48 [[ 9.10062797e-01 -4.13060926e-01 3.41522541e-02 8.84798037e+01] [ 4.12753373e-01 9.10703301e-01 1.59421224e-02 2.35867944e+01] [-3.76876384e-02 -4.11874445e-04 9.99289484e-01 -3.48346317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.53, Y:23.61, Z:-3.49 [[ 9.07971388e-01 -4.17638470e-01 3.41477166e-02 8.85305867e+01] [ 4.17333781e-01 9.08613259e-01 1.59518359e-02 2.36121345e+01] [-3.76891684e-02 -2.32814918e-04 9.99289484e-01 -3.48564135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:23.64, Z:-3.49 [[ 9.05211357e-01 -4.23587612e-01 3.41457632e-02 8.85828581e+01] [ 4.23286984e-01 9.05855140e-01 1.59560160e-02 2.36369495e+01] [-3.76898859e-02 9.89024736e-06 9.99289484e-01 -3.49084033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:23.66, Z:-3.50 [[ 9.02665001e-01 -4.28987492e-01 3.41412930e-02 8.86350658e+01] [ 4.28690353e-01 9.03310402e-01 1.59655754e-02 2.36624755e+01] [-3.76892172e-02 2.24476796e-04 9.99289484e-01 -3.49582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:23.69, Z:-3.50 [[ 8.99795401e-01 -4.34974609e-01 3.41368641e-02 8.86859975e+01] [ 4.34681405e-01 9.00442599e-01 1.59750394e-02 2.36885223e+01] [-3.76870231e-02 4.64393102e-04 9.99289484e-01 -3.49862347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.74, Y:23.71, Z:-3.50 [[ 8.98649735e-01 -4.37336863e-01 3.41338778e-02 8.87380084e+01] [ 4.37045118e-01 8.99297592e-01 1.59814177e-02 2.37138818e+01] [-3.76857772e-02 5.56347834e-04 9.99289484e-01 -3.49816461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:23.74, Z:-3.50 [[ 8.98798562e-01 -4.37031259e-01 3.41295014e-02 8.87906202e+01] [ 4.36738940e-01 8.99446160e-01 1.59907583e-02 2.37390083e+01] [-3.76861102e-02 5.33211651e-04 9.99289484e-01 -3.49999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:23.77, Z:-3.50 [[ 9.00321371e-01 -4.33885816e-01 3.41251764e-02 8.88420091e+01] [ 4.33590884e-01 9.00967783e-01 1.59999827e-02 2.37663010e+01] [-3.76878501e-02 3.91239002e-04 9.99289484e-01 -3.50269001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.130888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:23.80, Z:-3.51 [[ 9.04184616e-01 -4.25776876e-01 3.41208357e-02 8.88918149e+01] [ 4.25475798e-01 9.04828188e-01 1.60092342e-02 2.37959844e+01] [-3.76898557e-02 4.22864948e-05 9.99289484e-01 -3.50521270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:23.82, Z:-3.51 [[ 9.06323520e-01 -4.21205109e-01 3.41164802e-02 8.89433700e+01] [ 4.20900435e-01 9.06965397e-01 1.60185107e-02 2.38232715e+01] [-3.76895455e-02 -1.58311667e-04 9.99289484e-01 -3.50752870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25088847900001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:23.85, Z:-3.51 [[ 9.08351001e-01 -4.16815100e-01 3.41120259e-02 8.89947877e+01] [ 4.16506969e-01 9.08991226e-01 1.60279906e-02 2.38503664e+01] [-3.76882408e-02 -3.51144767e-04 9.99289484e-01 -3.50668207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:23.88, Z:-3.51 [[ 9.09193618e-01 -4.14974010e-01 3.41106578e-02 8.90445506e+01] [ 4.14664472e-01 9.09833164e-01 1.60309017e-02 2.38796566e+01] [-3.76874153e-02 -4.30715616e-04 9.99289484e-01 -3.50856242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37088847900002 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:23.91, Z:-3.51 [[ 9.08734433e-01 -4.15978703e-01 3.41093540e-02 8.90968102e+01] [ 4.15669768e-01 9.09374271e-01 1.60336754e-02 2.39070755e+01] [-3.76878364e-02 -3.92125676e-04 9.99289484e-01 -3.51066158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:23.94, Z:-3.52 [[ 9.06858958e-01 -4.20051937e-01 3.41057218e-02 8.91470707e+01] [ 4.19745586e-01 9.07500037e-01 1.60413979e-02 2.39363843e+01] [-3.76891640e-02 -2.31559215e-04 9.99289484e-01 -3.51814361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.490888479 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:23.96, Z:-3.52 [[ 9.05613985e-01 -4.22729720e-01 3.41012303e-02 8.91977458e+01] [ 4.22424905e-01 9.06255795e-01 1.60509403e-02 2.39638838e+01] [-3.76896471e-02 -1.30747067e-04 9.99289484e-01 -3.52202651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55088847900001 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:23.99, Z:-3.53 [[ 9.04462666e-01 -4.25187589e-01 3.40998506e-02 8.92488425e+01] [ 4.24884408e-01 9.05105250e-01 1.60538708e-02 2.39916052e+01] [-3.76898604e-02 -3.16319801e-05 9.99289484e-01 -3.52661124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61088847900001 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:89.30, Y:24.02, Z:-3.53 [[ 9.03642903e-01 -4.26927150e-01 3.40985781e-02 8.92998453e+01] [ 4.26625104e-01 9.04286021e-01 1.60565732e-02 2.40212972e+01] [-3.76898545e-02 3.79010274e-05 9.99289484e-01 -3.53371805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67088847900001 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:24.04, Z:-3.53 [[ 9.05914279e-01 -4.22086335e-01 3.40946478e-02 8.93542996e+01] [ 4.21780538e-01 9.06555622e-01 1.60649146e-02 2.40389700e+01] [-3.76894755e-02 -1.72976595e-04 9.99289484e-01 -3.53418138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73088847900001 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:24.07, Z:-3.54 [[ 9.03169796e-01 -4.27927802e-01 3.40898196e-02 8.94018469e+01] [ 4.27625767e-01 9.03812919e-01 1.60751535e-02 2.40749363e+01] [-3.76898245e-02 5.90920841e-05 9.99289484e-01 -3.53859355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:24.10, Z:-3.54 [[ 9.03561865e-01 -4.27099681e-01 3.40854609e-02 8.94504786e+01] [ 4.26796708e-01 9.04204547e-01 1.60843902e-02 2.41045722e+01] [-3.76898667e-02 1.43209281e-05 9.99289484e-01 -3.53927529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:24.13, Z:-3.54 [[ 9.03553820e-01 -4.27116854e-01 3.40835368e-02 8.95009331e+01] [ 4.26813739e-01 9.04196435e-01 1.60884664e-02 2.41331826e+01] [-3.76898677e-02 1.05265335e-05 9.99289484e-01 -3.54300811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91088847900001 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:24.16, Z:-3.54 [[ 9.02882174e-01 -4.28535176e-01 3.40790728e-02 8.95519065e+01] [ 4.28232715e-01 9.03525096e-01 1.60979166e-02 2.41611328e+01] [-3.76898211e-02 5.92519307e-05 9.99289485e-01 -3.54398908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97088847900001 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:24.19, Z:-3.55 [[ 9.02284575e-01 -4.29792349e-01 3.40746541e-02 8.96029101e+01] [ 4.29490431e-01 9.02927752e-01 1.61072644e-02 2.41900454e+01] [-3.76897299e-02 1.01401633e-04 9.99289485e-01 -3.54714093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03088847900001 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:24.23, Z:-3.56 [[ 8.99475638e-01 -4.35640670e-01 3.40702637e-02 8.96506216e+01] [ 4.35342581e-01 9.00120600e-01 1.61165458e-02 2.42266289e+01] [-3.76883690e-02 3.35796196e-04 9.99289485e-01 -3.56052161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09088847900001 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:89.70, Y:24.25, Z:-3.55 [[ 9.01770035e-01 -4.30871539e-01 3.40664216e-02 8.97049461e+01] [ 4.30569732e-01 9.02413265e-01 1.61246629e-02 2.42488985e+01] [-3.76896490e-02 1.27232244e-04 9.99289485e-01 -3.54872148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:24.28, Z:-3.55 [[ 9.01826571e-01 -4.30753289e-01 3.40652387e-02 8.97546139e+01] [ 4.30451304e-01 9.02469717e-01 1.61271614e-02 2.42766928e+01] [-3.76896742e-02 1.19523714e-04 9.99289485e-01 -3.55200103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:24.31, Z:-3.55 [[ 9.03266095e-01 -4.27726612e-01 3.40632788e-02 8.98038894e+01] [ 4.27422315e-01 9.03908151e-01 1.61313000e-02 2.43056612e+01] [-3.76898617e-02 -1.14508652e-05 9.99289485e-01 -3.55294070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.270888479 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:24.33, Z:-3.55 [[ 9.04490429e-01 -4.25131611e-01 3.40613757e-02 8.98558618e+01] [ 4.24825322e-01 9.05131536e-01 1.61353175e-02 2.43324232e+01] [-3.76896588e-02 -1.24105393e-04 9.99289485e-01 -3.55327698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33088847900001 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:24.36, Z:-3.56 [[ 9.06759931e-01 -4.20269613e-01 3.40569972e-02 8.99085300e+01] [ 4.19959539e-01 9.07399217e-01 1.61445539e-02 2.43593054e+01] [-3.76883580e-02 -3.36673706e-04 9.99289485e-01 -3.55648962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39088847900001 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:24.39, Z:-3.56 [[ 9.08267762e-01 -4.17001282e-01 3.40529555e-02 8.99587179e+01] [ 4.16688588e-01 9.08905770e-01 1.61530745e-02 2.43870475e+01] [-3.76867805e-02 -4.81838918e-04 9.99289485e-01 -3.56082289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45088847900001 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:90.01, Y:24.41, Z:-3.56 [[ 9.10846771e-01 -4.11337778e-01 3.40498403e-02 9.00112705e+01] [ 4.11020872e-01 9.11482698e-01 1.61596384e-02 2.44121227e+01] [-3.76829101e-02 -7.23759408e-04 9.99289485e-01 -3.56434315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51088847900002 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:24.44, Z:-3.56 [[ 9.13108750e-01 -4.06291908e-01 3.40484519e-02 9.00649075e+01] [ 4.05971379e-01 9.13742858e-01 1.61625633e-02 2.44355715e+01] [-3.76782484e-02 -9.35481004e-04 9.99289485e-01 -3.56388550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:24.46, Z:-3.57 [[ 9.16398150e-01 -3.98817556e-01 3.40438994e-02 9.01170232e+01] [ 3.98491502e-01 9.17029435e-01 1.61721467e-02 2.44624364e+01] [-3.76689939e-02 -1.25392067e-03 9.99289485e-01 -3.56735956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.630888479 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:90.17, Y:24.49, Z:-3.58 [[ 9.16619662e-01 -3.98308519e-01 3.40399619e-02 9.01685368e+01] [ 3.97981807e-01 9.17250606e-01 1.61804304e-02 2.44871861e+01] [-3.76679789e-02 -1.28401513e-03 9.99289485e-01 -3.57644916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69088847900001 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:24.51, Z:-3.58 [[ 9.16242045e-01 -3.99176605e-01 3.40375328e-02 9.02241023e+01] [ 3.98850301e-01 9.16873200e-01 1.61855387e-02 2.45055244e+01] [-3.76689900e-02 -1.25399086e-03 9.99289485e-01 -3.57982089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75088847900001 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:90.28, Y:24.52, Z:-3.58 [[ 9.17145041e-01 -3.97097870e-01 3.40331475e-02 9.02801599e+01] [ 3.96769794e-01 9.17775278e-01 1.61947542e-02 2.45218886e+01] [-3.76656838e-02 -1.34961358e-03 9.99289485e-01 -3.57804827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81088847900001 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:90.33, Y:24.55, Z:-3.58 [[ 9.16665803e-01 -3.98203016e-01 3.40317996e-02 9.03333451e+01] [ 3.97875595e-01 9.17296380e-01 1.61975862e-02 2.45477900e+01] [-3.76671743e-02 -1.30735088e-03 9.99289485e-01 -3.58382655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87088847900002 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:90.39, Y:24.56, Z:-3.58 [[ 9.18884963e-01 -3.93055111e-01 3.40309407e-02 9.03903207e+01] [ 3.92724091e-01 9.19513658e-01 1.61993907e-02 2.45640206e+01] [-3.76591681e-02 -1.52060622e-03 9.99289485e-01 -3.58085558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:24.59, Z:-3.58 [[ 9.18905243e-01 -3.93007794e-01 3.40298125e-02 9.04445448e+01] [ 3.92676655e-01 9.19533875e-01 1.62017602e-02 2.45860510e+01] [-3.76589834e-02 -1.52516945e-03 9.99289485e-01 -3.58311453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.990888479 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:24.60, Z:-3.59 [[ 9.18549443e-01 -3.93838988e-01 3.40260564e-02 9.05006678e+01] [ 3.93508126e-01 9.19178221e-01 1.62096447e-02 2.46036922e+01] [-3.76600001e-02 -1.49983042e-03 9.99289485e-01 -3.58851397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05088847900001 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:24.62, Z:-3.59 [[ 9.17691942e-01 -3.95833273e-01 3.40223477e-02 9.05559856e+01] [ 3.95503489e-01 9.18321286e-01 1.62174252e-02 2.46236847e+01] [-3.76628426e-02 -1.42664316e-03 9.99289485e-01 -3.58882884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:90.61, Y:24.64, Z:-3.59 [[ 9.15976912e-01 -3.99786237e-01 3.40185561e-02 9.06138254e+01] [ 3.99458875e-01 9.16607519e-01 1.62253749e-02 2.46397686e+01] [-3.76683459e-02 -1.27305470e-03 9.99289485e-01 -3.58659090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:90.67, Y:24.66, Z:-3.59 [[ 9.14370255e-01 -4.03447692e-01 3.40146428e-02 9.06706697e+01] [ 4.03122552e-01 9.15002011e-01 1.62335746e-02 2.46556916e+01] [-3.76728647e-02 -1.13142815e-03 9.99289485e-01 -3.58892182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23088847900001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:90.73, Y:24.68, Z:-3.59 [[ 9.13254273e-01 -4.05967646e-01 3.40132684e-02 9.07270367e+01] [ 4.05644142e-01 9.13886868e-01 1.62364538e-02 2.46754025e+01] [-3.76757542e-02 -1.03072773e-03 9.99289485e-01 -3.58574688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:24.70, Z:-3.59 [[ 9.13761512e-01 -4.04824985e-01 3.40092646e-02 9.07809177e+01] [ 4.04500378e-01 9.14393542e-01 1.62448358e-02 2.46961558e+01] [-3.76741673e-02 -1.08714530e-03 9.99289485e-01 -3.59019200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:24.72, Z:-3.59 [[ 9.14777011e-01 -4.02525138e-01 3.40078591e-02 9.08366978e+01] [ 4.02198832e-01 9.15408165e-01 1.62477777e-02 2.47155900e+01] [-3.76712108e-02 -1.18517226e-03 9.99289485e-01 -3.59147812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:24.74, Z:-3.59 [[ 9.15097366e-01 -4.01796652e-01 3.40038526e-02 9.08909814e+01] [ 4.01469533e-01 9.15728099e-01 1.62561583e-02 2.47367398e+01] [-3.76699532e-02 -1.22445686e-03 9.99289485e-01 -3.59244420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:24.76, Z:-3.60 [[ 9.15649596e-01 -4.00536975e-01 3.39992569e-02 9.09454162e+01] [ 4.00208632e-01 9.16279693e-01 1.62657644e-02 2.47577467e+01] [-3.76678687e-02 -1.28694448e-03 9.99289485e-01 -3.59581580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.00, Y:24.78, Z:-3.60 [[ 9.14554531e-01 -4.03031209e-01 3.39978532e-02 9.10003111e+01] [ 4.02704476e-01 9.15185465e-01 1.62686977e-02 2.47778008e+01] [-3.76711340e-02 -1.18752350e-03 9.99289485e-01 -3.59666445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:24.80, Z:-3.59 [[ 9.12387671e-01 -4.07912951e-01 3.39964946e-02 9.10557614e+01] [ 4.07589489e-01 9.13020288e-01 1.62715362e-02 2.47988909e+01] [-3.76768597e-02 -9.89335151e-04 9.99289485e-01 -3.59490512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:24.82, Z:-3.59 [[ 9.10017894e-01 -4.13173017e-01 3.39925082e-02 9.11113710e+01] [ 4.12852901e-01 9.10652210e-01 1.62798600e-02 2.48199372e+01] [-3.76817516e-02 -7.81058298e-04 9.99289485e-01 -3.59283861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:24.84, Z:-3.59 [[ 9.07598456e-01 -4.18461255e-01 3.39885250e-02 9.11667055e+01] [ 4.18144525e-01 9.08234470e-01 1.62881717e-02 2.48417538e+01] [-3.76855187e-02 -5.71003863e-04 9.99289485e-01 -3.59213167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:24.86, Z:-3.60 [[ 9.06807664e-01 -4.20172475e-01 3.39845819e-02 9.12206262e+01] [ 4.19856637e-01 9.07444121e-01 1.62963947e-02 2.48648548e+01] [-3.76864055e-02 -5.09043404e-04 9.99289485e-01 -3.59903508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:24.89, Z:-3.60 [[ 9.06070255e-01 -4.21760607e-01 3.39806324e-02 9.12747006e+01] [ 4.21445576e-01 9.06707111e-01 1.63046259e-02 2.48891742e+01] [-3.76871299e-02 -4.52149345e-04 9.99289485e-01 -3.60373161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89088847900001 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:24.91, Z:-3.61 [[ 9.04731642e-01 -4.24624803e-01 3.39769279e-02 9.13272617e+01] [ 4.24311498e-01 9.05369350e-01 1.63123420e-02 2.49115043e+01] [-3.76882941e-02 -3.41490827e-04 9.99289486e-01 -3.60749342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:24.94, Z:-3.61 [[ 9.03555479e-01 -4.27122082e-01 3.39738531e-02 9.13809409e+01] [ 4.26810299e-01 9.04193932e-01 1.63187433e-02 2.49353164e+01] [-3.76890475e-02 -2.44499532e-04 9.99289486e-01 -3.60679948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01088847900002 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:24.96, Z:-3.61 [[ 9.02128137e-01 -4.30128895e-01 3.39699481e-02 9.14349557e+01] [ 4.29818934e-01 9.02767477e-01 1.63268681e-02 2.49569191e+01] [-3.76896221e-02 -1.28000204e-04 9.99289486e-01 -3.60983533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:91.49, Y:24.98, Z:-3.61 [[ 9.01266158e-01 -4.31932226e-01 3.39685789e-02 9.14878341e+01] [ 4.31623437e-01 9.01906064e-01 1.63297163e-02 2.49815031e+01] [-3.76897980e-02 -5.57859186e-05 9.99289486e-01 -3.61263831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.130888479 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:25.01, Z:-3.61 [[ 8.99002784e-01 -4.36623894e-01 3.39642387e-02 9.15420101e+01] [ 4.36318103e-01 8.99644129e-01 1.63387386e-02 2.50052813e+01] [-3.76896116e-02 1.30640739e-04 9.99289486e-01 -3.61277988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19088847900001 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:91.60, Y:25.03, Z:-3.61 [[ 8.97870014e-01 -4.38948885e-01 3.39604723e-02 9.15955705e+01] [ 4.38644460e-01 8.98512008e-01 1.63465634e-02 2.50298073e+01] [-3.76891979e-02 2.19483886e-04 9.99289486e-01 -3.61421917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25088847900001 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:25.06, Z:-3.62 [[ 8.97767468e-01 -4.39158875e-01 3.39566658e-02 9.16479544e+01] [ 4.38854301e-01 8.98409391e-01 1.63544668e-02 2.50557834e+01] [-3.76891967e-02 2.19520533e-04 9.99289486e-01 -3.61653246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31088847900001 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:25.08, Z:-3.62 [[ 8.98388796e-01 -4.37886756e-01 3.39523300e-02 9.16996642e+01] [ 4.37580932e-01 8.99030125e-01 1.63634631e-02 2.50832974e+01] [-3.76895112e-02 1.56140282e-04 9.99289486e-01 -3.61894754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37088847900002 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:25.11, Z:-3.62 [[ 8.98874526e-01 -4.36889108e-01 3.39483998e-02 9.17518698e+01] [ 4.36582265e-01 8.99515368e-01 1.63716129e-02 2.51098062e+01] [-3.76896866e-02 1.05243493e-04 9.99289486e-01 -3.61917261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:25.14, Z:-3.62 [[ 9.01517463e-01 -4.31409366e-01 3.39444004e-02 9.18024555e+01] [ 4.31098316e-01 9.02156273e-01 1.63799009e-02 2.51375223e+01] [-3.76895964e-02 -1.33392899e-04 9.99289486e-01 -3.62288863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:25.17, Z:-3.62 [[ 9.02912557e-01 -4.28482192e-01 3.39400154e-02 9.18541800e+01] [ 4.28168729e-01 9.03550187e-01 1.63889818e-02 2.51654777e+01] [-3.76888941e-02 -2.65764231e-04 9.99289486e-01 -3.61937578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:25.19, Z:-3.62 [[ 9.05055341e-01 -4.23937727e-01 3.39357240e-02 9.19053625e+01] [ 4.23620730e-01 9.05691221e-01 1.63978629e-02 2.51921703e+01] [-3.76869600e-02 -4.65097243e-04 9.99289486e-01 -3.62067386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:25.22, Z:-3.62 [[ 9.05772469e-01 -4.22403725e-01 3.39312041e-02 9.19570082e+01] [ 4.22085301e-01 9.06407636e-01 1.64072103e-02 2.52184792e+01] [-3.76859693e-02 -5.39336893e-04 9.99289486e-01 -3.62238977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:25.24, Z:-3.63 [[ 9.06558761e-01 -4.20713909e-01 3.39266790e-02 9.20073814e+01] [ 4.20393951e-01 9.07193156e-01 1.64165620e-02 2.52443818e+01] [-3.76847270e-02 -6.20007455e-04 9.99289486e-01 -3.62691423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.06, Y:25.27, Z:-3.63 [[ 9.06765769e-01 -4.20267717e-01 3.39247312e-02 9.20605585e+01] [ 4.19947296e-01 9.07399930e-01 1.64205861e-02 2.52709174e+01] [-3.76843410e-02 -6.43026210e-04 9.99289486e-01 -3.62819394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:25.30, Z:-3.63 [[ 9.06612539e-01 -4.20598463e-01 3.39210543e-02 9.21125232e+01] [ 4.20277990e-01 9.07246673e-01 1.64281782e-02 2.52975945e+01] [-3.76844302e-02 -6.37719786e-04 9.99289486e-01 -3.63168411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.17, Y:25.32, Z:-3.63 [[ 9.05750732e-01 -4.22451518e-01 3.39164780e-02 9.21661633e+01] [ 4.22131988e-01 9.06385343e-01 1.64376208e-02 2.53226090e+01] [-3.76854963e-02 -5.71156785e-04 9.99289486e-01 -3.63148251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:25.35, Z:-3.63 [[ 9.03813571e-01 -4.26580554e-01 3.39125351e-02 9.22199222e+01] [ 4.26263619e-01 9.04449482e-01 1.64457513e-02 2.53462157e+01] [-3.76876125e-02 -4.08213269e-04 9.99289486e-01 -3.62930863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:25.37, Z:-3.63 [[ 9.03027147e-01 -4.28243129e-01 3.39086091e-02 9.22713376e+01] [ 4.27927062e-01 9.03663489e-01 1.64538420e-02 2.53722519e+01] [-3.76882169e-02 -3.47854562e-04 9.99289486e-01 -3.63324723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:25.40, Z:-3.64 [[ 9.02004702e-01 -4.30392880e-01 3.39040782e-02 9.23237420e+01] [ 4.30077978e-01 9.02641622e-01 1.64631730e-02 2.53960295e+01] [-3.76888646e-02 -2.68462027e-04 9.99289486e-01 -3.63646473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:25.42, Z:-3.64 [[ 9.00800983e-01 -4.32906924e-01 3.38996093e-02 9.23772835e+01] [ 4.32593454e-01 9.01438609e-01 1.64723698e-02 2.54198443e+01] [-3.76894196e-02 -1.73577838e-04 9.99289486e-01 -3.63772741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:25.45, Z:-3.64 [[ 9.00344278e-01 -4.33856313e-01 3.38951463e-02 9.24306187e+01] [ 4.33543169e-01 9.00982064e-01 1.64815482e-02 2.54456383e+01] [-3.76895426e-02 -1.44058455e-04 9.99289486e-01 -3.63826113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:25.47, Z:-3.64 [[ 9.00236735e-01 -4.34079722e-01 3.38912490e-02 9.24829666e+01] [ 4.33766435e-01 9.00874450e-01 1.64895584e-02 2.54713721e+01] [-3.76895433e-02 -1.43619949e-04 9.99289486e-01 -3.64001815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:25.50, Z:-3.64 [[ 8.99920444e-01 -4.34735417e-01 3.38867347e-02 9.25350678e+01] [ 4.34422246e-01 9.00558216e-01 1.64988304e-02 2.54962967e+01] [-3.76896032e-02 -1.26483363e-04 9.99289486e-01 -3.64068159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:25.52, Z:-3.64 [[ 8.98728545e-01 -4.37194469e-01 3.38821287e-02 9.25876522e+01] [ 4.36882686e-01 8.99366997e-01 1.65082839e-02 2.55210910e+01] [-3.76897987e-02 -3.39506274e-05 9.99289487e-01 -3.64327507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.64, Y:25.55, Z:-3.64 [[ 8.98595946e-01 -4.37467300e-01 3.38775494e-02 9.26404184e+01] [ 4.37155356e-01 8.99234319e-01 1.65176760e-02 2.55464421e+01] [-3.76897982e-02 -3.29645299e-05 9.99289487e-01 -3.64479803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:25.57, Z:-3.64 [[ 8.99695613e-01 -4.35201545e-01 3.38735639e-02 9.26933958e+01] [ 4.34887687e-01 9.00333047e-01 1.65258452e-02 2.55724787e+01] [-3.76895624e-02 -1.37034588e-04 9.99289487e-01 -3.64478533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:25.60, Z:-3.65 [[ 9.00734829e-01 -4.33046901e-01 3.38695843e-02 9.27457907e+01] [ 4.32731212e-01 9.01371358e-01 1.65339974e-02 2.55999577e+01] [-3.76890695e-02 -2.36321064e-04 9.99289487e-01 -3.65020585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.80, Y:25.63, Z:-3.66 [[ 9.01771373e-01 -4.30884567e-01 3.38656278e-02 9.27975932e+01] [ 4.30567047e-01 9.02406991e-01 1.65420972e-02 2.56250033e+01] [-3.76883137e-02 -3.35766344e-04 9.99289487e-01 -3.65725262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:25.65, Z:-3.66 [[ 9.02152161e-01 -4.30086897e-01 3.38635473e-02 9.28505740e+01] [ 4.29768655e-01 9.02787418e-01 1.65463550e-02 2.56501136e+01] [-3.76879549e-02 -3.73838727e-04 9.99289487e-01 -3.65725587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:25.68, Z:-3.66 [[ 9.03014402e-01 -4.28273884e-01 3.38595732e-02 9.29024429e+01] [ 4.27954062e-01 9.03648864e-01 1.65544834e-02 2.56762516e+01] [-3.76870178e-02 -4.58595072e-04 9.99289487e-01 -3.65818528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:25.70, Z:-3.66 [[ 9.03773746e-01 -4.26669498e-01 3.38549230e-02 9.29543819e+01] [ 4.26348194e-01 9.04407459e-01 1.65639881e-02 2.57012068e+01] [-3.76859933e-02 -5.36112266e-04 9.99289487e-01 -3.65948493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:25.73, Z:-3.66 [[ 9.02053045e-01 -4.30295588e-01 3.38527943e-02 9.30083173e+01] [ 4.29976668e-01 9.02687961e-01 1.65683373e-02 2.57250217e+01] [-3.76877924e-02 -3.89607446e-04 9.99289487e-01 -3.66165043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:25.75, Z:-3.66 [[ 9.00120183e-01 -4.34324667e-01 3.38487772e-02 9.30611389e+01] [ 4.34008280e-01 9.00756366e-01 1.65765401e-02 2.57511007e+01] [-3.76891018e-02 -2.30228730e-04 9.99289487e-01 -3.66386242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:25.78, Z:-3.66 [[ 8.97209717e-01 -4.40305862e-01 3.38448106e-02 9.31144384e+01] [ 4.39993411e-01 8.97847842e-01 1.65846350e-02 2.57753100e+01] [-3.76898022e-02 1.15980035e-05 9.99289487e-01 -3.66200885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:25.80, Z:-3.67 [[ 8.93856326e-01 -4.47074370e-01 3.38433962e-02 9.31668390e+01] [ 4.46766642e-01 8.94496742e-01 1.65875207e-02 2.58031938e+01] [-3.76886630e-02 2.93240148e-04 9.99289487e-01 -3.66618021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.22, Y:25.83, Z:-3.67 [[ 8.90619751e-01 -4.53487965e-01 3.38397029e-02 9.32193156e+01] [ 4.53184562e-01 8.91262227e-01 1.65950519e-02 2.58301013e+01] [-3.76857053e-02 5.55749922e-04 9.99289487e-01 -3.67074658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.27, Y:25.86, Z:-3.67 [[ 8.86297108e-01 -4.61879400e-01 3.38357362e-02 9.32712375e+01] [ 4.61581770e-01 8.86942278e-01 1.66031358e-02 2.58572601e+01] [-3.76789913e-02 9.02647734e-04 9.99289487e-01 -3.67062302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.32, Y:25.89, Z:-3.67 [[ 8.84562444e-01 -4.65193175e-01 3.38318160e-02 9.33206799e+01] [ 4.64897657e-01 8.85208585e-01 1.66111200e-02 2.58865213e+01] [-3.76755936e-02 1.03475911e-03 9.99289487e-01 -3.67242907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:25.92, Z:-3.67 [[ 8.84079971e-01 -4.66109582e-01 3.38298941e-02 9.33693991e+01] [ 4.65814585e-01 8.84726350e-01 1.66150331e-02 2.59187382e+01] [-3.76746249e-02 1.06944006e-03 9.99289487e-01 -3.67189032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:25.95, Z:-3.67 [[ 8.84491308e-01 -4.65328895e-01 3.38252183e-02 9.34198798e+01] [ 4.65032963e-01 8.85137259e-01 1.66245468e-02 2.59484866e+01] [-3.76758430e-02 1.02557432e-03 9.99289487e-01 -3.67220430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.350888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:25.99, Z:-3.68 [[ 8.86476359e-01 -4.61536149e-01 3.38237818e-02 9.34661197e+01] [ 4.61237342e-01 8.87120985e-01 1.66274689e-02 2.59854128e+01] [-3.76799646e-02 8.60933095e-04 9.99289487e-01 -3.67661370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:93.51, Y:26.02, Z:-3.68 [[ 8.89702170e-01 -4.55287067e-01 3.38191461e-02 9.35137944e+01] [ 4.54983373e-01 8.90344509e-01 1.66368924e-02 2.60213185e+01] [-3.76852529e-02 5.85269863e-04 9.99289487e-01 -3.67713803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:26.05, Z:-3.68 [[ 8.92151594e-01 -4.50468724e-01 3.38151088e-02 9.35631258e+01] [ 4.50161250e-01 8.92792131e-01 1.66450943e-02 2.60525403e+01] [-3.76879574e-02 3.72304254e-04 9.99289487e-01 -3.67792386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53088847900001 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:26.09, Z:-3.68 [[ 8.96006268e-01 -4.42752077e-01 3.38136893e-02 9.36092151e+01] [ 4.42438977e-01 8.96644075e-01 1.66479775e-02 2.60899624e+01] [-3.76897707e-02 4.38019015e-05 9.99289487e-01 -3.68089593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59088847900001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:26.12, Z:-3.68 [[ 8.98423321e-01 -4.37826998e-01 3.38091109e-02 9.36583908e+01] [ 4.37510052e-01 8.99059225e-01 1.66572701e-02 2.61225060e+01] [-3.76893956e-02 -1.73454006e-04 9.99289487e-01 -3.68435008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65088847900002 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:26.16, Z:-3.69 [[ 9.00822238e-01 -4.32870107e-01 3.38048111e-02 9.37077603e+01] [ 4.32549335e-01 9.01456220e-01 1.66659918e-02 2.61552338e+01] [-3.76877669e-02 -3.90847522e-04 9.99289487e-01 -3.68863510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:26.18, Z:-3.69 [[ 9.01257478e-01 -4.31963502e-01 3.38007667e-02 9.37582898e+01] [ 4.31641785e-01 9.01890981e-01 1.66741902e-02 2.61836913e+01] [-3.76872483e-02 -4.37915361e-04 9.99289487e-01 -3.69128466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.770888479 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:26.22, Z:-3.69 [[ 9.02256161e-01 -4.29873983e-01 3.37961376e-02 9.38067340e+01] [ 4.29550448e-01 9.02888737e-01 1.66835676e-02 2.62160221e+01] [-3.76859836e-02 -5.35705622e-04 9.99289487e-01 -3.69454900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83088847900001 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:26.25, Z:-3.70 [[ 9.03704727e-01 -4.26820695e-01 3.37914310e-02 9.38562217e+01] [ 4.26494666e-01 9.04336022e-01 1.66930950e-02 2.62468267e+01] [-3.76837667e-02 -6.73763785e-04 9.99289487e-01 -3.69650969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89088847900001 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:93.91, Y:26.28, Z:-3.70 [[ 9.04478262e-01 -4.25179412e-01 3.37867090e-02 9.39064144e+01] [ 4.24851881e-01 9.05108779e-01 1.67026468e-02 2.62762125e+01] [-3.76822685e-02 -7.52834083e-04 9.99289488e-01 -3.70167058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95088847900001 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:93.96, Y:26.31, Z:-3.71 [[ 9.04661279e-01 -4.24789980e-01 3.37852593e-02 9.39568372e+01] [ 4.24462068e-01 9.05291598e-01 1.67055787e-02 2.63061662e+01] [-3.76818738e-02 -7.72329143e-04 9.99289488e-01 -3.70624658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01088847900002 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:26.33, Z:-3.71 [[ 9.03959549e-01 -4.26281537e-01 3.37814356e-02 9.40095583e+01] [ 4.25954377e-01 9.04590258e-01 1.67133072e-02 2.63332420e+01] [-3.76829318e-02 -7.18803302e-04 9.99289488e-01 -3.70686550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:26.36, Z:-3.70 [[ 9.02972578e-01 -4.28368526e-01 3.37776519e-02 9.40622884e+01] [ 4.28042537e-01 9.03603893e-01 1.67209507e-02 2.63602346e+01] [-3.76843467e-02 -6.40288114e-04 9.99289488e-01 -3.70370310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.130888479 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:26.39, Z:-3.70 [[ 9.02480524e-01 -4.29404529e-01 3.37735835e-02 9.41135154e+01] [ 4.29078958e-01 9.03112055e-01 1.67291642e-02 2.63891260e+01] [-3.76849092e-02 -6.06210880e-04 9.99289488e-01 -3.70362027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19088847900001 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:26.42, Z:-3.71 [[ 9.02047339e-01 -4.30314091e-01 3.37695443e-02 9.41659052e+01] [ 4.29988852e-01 9.02679040e-01 1.67373137e-02 2.64164487e+01] [-3.76853618e-02 -5.77321701e-04 9.99289488e-01 -3.70684757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25088847900001 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:94.22, Y:26.44, Z:-3.71 [[ 9.01462603e-01 -4.31538033e-01 3.37653779e-02 9.42171674e+01] [ 4.31213337e-01 9.02094584e-01 1.67457146e-02 2.64424658e+01] [-3.76859773e-02 -5.35554230e-04 9.99289488e-01 -3.71268138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31088847900001 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:26.47, Z:-3.72 [[ 9.00785616e-01 -4.32949503e-01 3.37639148e-02 9.42693542e+01] [ 4.32625686e-01 9.01418048e-01 1.67486642e-02 2.64701868e+01] [-3.76867280e-02 -4.79818984e-04 9.99289488e-01 -3.71561857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37088847900002 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:26.50, Z:-3.71 [[ 8.99198625e-01 -4.36236304e-01 3.37597285e-02 9.43227902e+01] [ 4.35914483e-01 8.99832075e-01 1.67570980e-02 2.64954249e+01] [-3.76881411e-02 -3.51604937e-04 9.99289488e-01 -3.71476554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:26.52, Z:-3.72 [[ 8.97980749e-01 -4.38738123e-01 3.37554988e-02 9.43758481e+01] [ 4.38417747e-01 8.98614931e-01 1.67656140e-02 2.65207494e+01] [-3.76889093e-02 -2.56188851e-04 9.99289488e-01 -3.71509275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.490888479 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:26.55, Z:-3.72 [[ 8.97058521e-01 -4.40620992e-01 3.37513074e-02 9.44288972e+01] [ 4.40301629e-01 8.97693214e-01 1.67740476e-02 2.65463321e+01] [-3.76893171e-02 -1.86546739e-04 9.99289488e-01 -3.71785405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55088847900001 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:26.57, Z:-3.72 [[ 8.98900116e-01 -4.36852049e-01 3.37471253e-02 9.44826557e+01] [ 4.36529709e-01 8.99533303e-01 1.67824573e-02 2.65699840e+01] [-3.76881139e-02 -3.54130075e-04 9.99289488e-01 -3.72254874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61088847900001 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:26.60, Z:-3.72 [[ 8.97334326e-01 -4.40059676e-01 3.37429915e-02 9.45342444e+01] [ 4.39739287e-01 8.97968501e-01 1.67907647e-02 2.65984545e+01] [-3.76890819e-02 -2.28810494e-04 9.99289488e-01 -3.72455157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67088847900001 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:94.59, Y:26.62, Z:-3.73 [[ 8.97260101e-01 -4.40211340e-01 3.37385194e-02 9.45870630e+01] [ 4.39890721e-01 8.97894160e-01 1.67997459e-02 2.66235981e+01] [-3.76890581e-02 -2.32480031e-04 9.99289488e-01 -3.72536631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73088847900001 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:26.65, Z:-3.73 [[ 8.97599911e-01 -4.39518359e-01 3.37344444e-02 9.46401898e+01] [ 4.39196943e-01 8.98233566e-01 1.68079245e-02 2.66477073e+01] [-3.76888017e-02 -2.70726673e-04 9.99289488e-01 -3.72673958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:94.69, Y:26.67, Z:-3.73 [[ 8.98611785e-01 -4.37446184e-01 3.37297419e-02 9.46914479e+01] [ 4.37122953e-01 8.99244517e-01 1.68173561e-02 2.66743752e+01] [-3.76879737e-02 -3.68229976e-04 9.99289488e-01 -3.73113061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.850888479 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:26.70, Z:-3.73 [[ 9.00958254e-01 -4.32593169e-01 3.37249976e-02 9.47419423e+01] [ 4.32266174e-01 9.01589048e-01 1.68268648e-02 2.66998833e+01] [-3.76852753e-02 -5.82126994e-04 9.99289488e-01 -3.73444850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91088847900001 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:26.72, Z:-3.74 [[ 9.01888818e-01 -4.30649883e-01 3.37229554e-02 9.47960235e+01] [ 4.30321376e-01 9.02518827e-01 1.68309566e-02 2.67226176e+01] [-3.76838516e-02 -6.67942928e-04 9.99289488e-01 -3.73597171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97088847900001 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:26.75, Z:-3.74 [[ 9.01439649e-01 -4.31589612e-01 3.37189393e-02 9.48498034e+01] [ 4.31261461e-01 9.02069842e-01 1.68389986e-02 2.67470745e+01] [-3.76843751e-02 -6.37661928e-04 9.99289488e-01 -3.74006555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03088847900001 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:94.90, Y:26.77, Z:-3.74 [[ 9.01434126e-01 -4.31601491e-01 3.37145354e-02 9.49034764e+01] [ 4.31273019e-01 9.02064152e-01 1.68478113e-02 2.67710527e+01] [-3.76842143e-02 -6.47022585e-04 9.99289488e-01 -3.74179943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09088847900001 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:94.96, Y:26.79, Z:-3.74 [[ 9.02623704e-01 -4.29108471e-01 3.37100859e-02 9.49585636e+01] [ 4.28777927e-01 9.03252645e-01 1.68567095e-02 2.67902701e+01] [-3.76820811e-02 -7.61124868e-04 9.99289488e-01 -3.73948309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15088847900002 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:26.81, Z:-3.74 [[ 9.03719769e-01 -4.26795402e-01 3.37085271e-02 9.50111865e+01] [ 4.26463132e-01 9.04347800e-01 1.68598260e-02 2.68128948e+01] [-3.76799286e-02 -8.61113984e-04 9.99289488e-01 -3.74345288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:26.84, Z:-3.75 [[ 9.04386466e-01 -4.25380995e-01 3.37065164e-02 9.50646852e+01] [ 4.25047594e-01 9.05013897e-01 1.68638450e-02 2.68351001e+01] [-3.76784249e-02 -9.24559506e-04 9.99289488e-01 -3.74699801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.270888479 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:26.85, Z:-3.75 [[ 9.04761885e-01 -4.24582276e-01 3.37019474e-02 9.51210405e+01] [ 4.24247981e-01 9.05388841e-01 1.68729711e-02 2.68539846e+01] [-3.76773315e-02 -9.68038003e-04 9.99289488e-01 -3.74843612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33088847900001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:26.88, Z:-3.75 [[ 9.04748132e-01 -4.24611912e-01 3.36977952e-02 9.51742145e+01] [ 4.24277329e-01 9.05374934e-01 1.68812596e-02 2.68760268e+01] [-3.76771230e-02 -9.76077543e-04 9.99289488e-01 -3.75125431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:26.90, Z:-3.75 [[ 9.04438147e-01 -4.25272046e-01 3.36945904e-02 9.52278480e+01] [ 4.24937683e-01 9.05065066e-01 1.68876539e-02 2.68978528e+01] [-3.76776438e-02 -9.55737237e-04 9.99289488e-01 -3.75302617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:26.91, Z:-3.75 [[ 9.03097588e-01 -4.28111829e-01 3.36898907e-02 9.52836001e+01] [ 4.27779087e-01 9.03725369e-01 1.68970243e-02 2.69148137e+01] [-3.76802249e-02 -8.47831214e-04 9.99289489e-01 -3.75378150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:26.93, Z:-3.75 [[ 9.00187000e-01 -4.34198633e-01 3.36884484e-02 9.53413097e+01] [ 4.33870029e-01 9.00816958e-01 1.68998994e-02 2.69323842e+01] [-3.76850388e-02 -5.96661684e-04 9.99289489e-01 -3.75240973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:26.95, Z:-3.75 [[ 8.98150442e-01 -4.38396099e-01 3.36844863e-02 9.53959758e+01] [ 4.38070144e-01 8.98781773e-01 1.69077929e-02 2.69537362e+01] [-3.76873127e-02 -4.29573927e-04 9.99289489e-01 -3.75467318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.45, Y:26.98, Z:-3.76 [[ 8.96630987e-01 -4.41495807e-01 3.36797598e-02 9.54497815e+01] [ 4.41171681e-01 8.97263259e-01 1.69172025e-02 2.69769430e+01] [-3.76884851e-02 -3.09931760e-04 9.99289489e-01 -3.75728314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.50, Y:27.00, Z:-3.76 [[ 8.95144705e-01 -4.44501863e-01 3.36756726e-02 9.55045235e+01] [ 4.44179554e-01 8.95777906e-01 1.69253347e-02 2.69966007e+01] [-3.76892663e-02 -1.92578497e-04 9.99289489e-01 -3.75857981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.56, Y:27.02, Z:-3.76 [[ 8.94038574e-01 -4.46722833e-01 3.36710402e-02 9.55584101e+01] [ 4.46401750e-01 8.94672398e-01 1.69345454e-02 2.70192552e+01] [-3.76895983e-02 -1.09325606e-04 9.99289489e-01 -3.76171692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.61, Y:27.04, Z:-3.76 [[ 8.91989206e-01 -4.50801320e-01 3.36663881e-02 9.56114565e+01] [ 4.50482786e-01 8.92624315e-01 1.69437889e-02 2.70426648e+01] [-3.76897190e-02 5.24515038e-05 9.99289489e-01 -3.76444531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:27.07, Z:-3.77 [[ 8.89963068e-01 -4.54788547e-01 3.36617649e-02 9.56644619e+01] [ 4.54472512e-01 8.90599423e-01 1.69529687e-02 2.70653687e+01] [-3.76891644e-02 2.10830753e-04 9.99289489e-01 -3.76593632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.72, Y:27.09, Z:-3.77 [[ 8.87026207e-01 -4.60490615e-01 3.36585921e-02 9.57188932e+01] [ 4.60178431e-01 8.87664461e-01 1.69592657e-02 2.70868112e+01] [-3.76871187e-02 4.45644960e-04 9.99289489e-01 -3.76747513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:27.11, Z:-3.77 [[ 8.86857980e-01 -4.60814861e-01 3.36539359e-02 9.57716872e+01] [ 4.60502560e-01 8.87496176e-01 1.69685003e-02 2.71137357e+01] [-3.76870766e-02 4.49073758e-04 9.99289489e-01 -3.76815689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:27.14, Z:-3.77 [[ 8.88206149e-01 -4.58211222e-01 3.36498587e-02 9.58227419e+01] [ 4.57896744e-01 8.88843275e-01 1.69765819e-02 2.71387430e+01] [-3.76883110e-02 3.29456324e-04 9.99289489e-01 -3.76995583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:27.17, Z:-3.78 [[ 8.90744316e-01 -4.53257526e-01 3.36478515e-02 9.58736237e+01] [ 4.52939354e-01 8.91379606e-01 1.69805593e-02 2.71662699e+01] [-3.76895749e-02 1.15099464e-04 9.99289489e-01 -3.77535335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.92, Y:27.19, Z:-3.78 [[ 8.93742261e-01 -4.47317457e-01 3.36431868e-02 9.59244313e+01] [ 4.46994715e-01 8.94375241e-01 1.69897964e-02 2.71939516e+01] [-3.76894658e-02 -1.46172337e-04 9.99289489e-01 -3.77838081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.98, Y:27.22, Z:-3.78 [[ 8.94891182e-01 -4.45014867e-01 3.36383774e-02 9.59760930e+01] [ 4.44690139e-01 8.95523145e-01 1.69993133e-02 2.72214929e+01] [-3.76888926e-02 -2.53880856e-04 9.99289489e-01 -3.77869815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:27.25, Z:-3.78 [[ 8.95856114e-01 -4.43069524e-01 3.36336214e-02 9.60265718e+01] [ 4.42743071e-01 8.96487187e-01 1.70087180e-02 2.72509879e+01] [-3.76881552e-02 -3.46311187e-04 9.99289489e-01 -3.78222722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:27.28, Z:-3.78 [[ 8.95994441e-01 -4.42790082e-01 3.36289243e-02 9.60783481e+01] [ 4.42463084e-01 8.96625232e-01 1.70179998e-02 2.72767905e+01] [-3.76879436e-02 -3.68475664e-04 9.99289489e-01 -3.78395973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:27.30, Z:-3.78 [[ 8.95038152e-01 -4.44720273e-01 3.36241797e-02 9.61309716e+01] [ 4.44394283e-01 8.95669465e-01 1.70273689e-02 2.73024505e+01] [-3.76885672e-02 -2.97751566e-04 9.99289489e-01 -3.78439103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.18, Y:27.33, Z:-3.79 [[ 8.94596655e-01 -4.45608076e-01 3.36194588e-02 9.61815215e+01] [ 4.45282362e-01 8.95228110e-01 1.70366849e-02 2.73284112e+01] [-3.76887690e-02 -2.70809300e-04 9.99289489e-01 -3.78759133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53088847900001 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:27.35, Z:-3.79 [[ 8.95107178e-01 -4.44581835e-01 3.36174298e-02 9.62345998e+01] [ 4.44255247e-01 8.95738182e-01 1.70406877e-02 2.73547145e+01] [-3.76883957e-02 -3.18522324e-04 9.99289489e-01 -3.79264691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:27.38, Z:-3.79 [[ 8.95513656e-01 -4.43762863e-01 3.36126953e-02 9.62873592e+01] [ 4.43435348e-01 8.96144179e-01 1.70500215e-02 2.73818441e+01] [-3.76879876e-02 -3.63469874e-04 9.99289489e-01 -3.79234609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:27.41, Z:-3.80 [[ 8.96045220e-01 -4.42688921e-01 3.36077960e-02 9.63379841e+01] [ 4.42360288e-01 8.96675160e-01 1.70596731e-02 2.74091964e+01] [-3.76874042e-02 -4.19484166e-04 9.99289489e-01 -3.79665767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:27.44, Z:-3.80 [[ 8.96215100e-01 -4.42345259e-01 3.36030838e-02 9.63903892e+01] [ 4.42016036e-01 8.96844733e-01 1.70689500e-02 2.74353348e+01] [-3.76871178e-02 -4.44348805e-04 9.99289489e-01 -3.79805723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.44, Y:27.46, Z:-3.80 [[ 8.96233976e-01 -4.42307373e-01 3.35983250e-02 9.64425817e+01] [ 4.41977773e-01 8.96863412e-01 1.70783119e-02 2.74596187e+01] [-3.76869717e-02 -4.56450504e-04 9.99289489e-01 -3.79511878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:27.49, Z:-3.80 [[ 8.95924667e-01 -4.42933699e-01 3.35965703e-02 9.64923246e+01] [ 4.42604410e-01 8.96554265e-01 1.70817632e-02 2.74867183e+01] [-3.76872369e-02 -4.33982832e-04 9.99289490e-01 -3.79817866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.54, Y:27.52, Z:-3.80 [[ 8.94731530e-01 -4.45339077e-01 3.35945806e-02 9.65429155e+01] [ 4.45011334e-01 8.95361934e-01 1.70856753e-02 2.75151320e+01] [-3.76882275e-02 -3.37123310e-04 9.99289490e-01 -3.80401924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.60, Y:27.54, Z:-3.80 [[ 8.94921327e-01 -4.44957916e-01 3.35897583e-02 9.65975161e+01] [ 4.44629548e-01 8.95551406e-01 1.70951506e-02 2.75370754e+01] [-3.76879778e-02 -3.63815774e-04 9.99289490e-01 -3.80132735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:27.57, Z:-3.81 [[ 8.93804224e-01 -4.47198003e-01 3.35850402e-02 9.66472525e+01] [ 4.46870866e-01 8.94434943e-01 1.71044148e-02 2.75658669e+01] [-3.76886936e-02 -2.79822180e-04 9.99289490e-01 -3.80507351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:27.59, Z:-3.81 [[ 8.93403996e-01 -4.47997191e-01 3.35829976e-02 9.66991009e+01] [ 4.47670468e-01 8.94034929e-01 1.71084243e-02 2.75925110e+01] [-3.76888989e-02 -2.50618368e-04 9.99289490e-01 -3.80536922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:27.62, Z:-3.81 [[ 8.92417548e-01 -4.49959350e-01 3.35783150e-02 9.67510598e+01] [ 4.49633669e-01 8.93049020e-01 1.71176096e-02 2.76179811e+01] [-3.76893098e-02 -1.78114234e-04 9.99289490e-01 -3.80578363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.80, Y:27.65, Z:-3.81 [[ 8.91809462e-01 -4.51163716e-01 3.35735606e-02 9.68018421e+01] [ 4.50838536e-01 8.92441193e-01 1.71269298e-02 2.76470396e+01] [-3.76894777e-02 -1.37703124e-04 9.99289490e-01 -3.81096354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.85, Y:27.67, Z:-3.82 [[ 8.92198080e-01 -4.50395045e-01 3.35691626e-02 9.68530859e+01] [ 4.50068997e-01 8.92829363e-01 1.71355455e-02 2.76749129e+01] [-3.76892988e-02 -1.79861424e-04 9.99289490e-01 -3.81642323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.91, Y:27.70, Z:-3.82 [[ 8.92641276e-01 -4.49516339e-01 3.35650792e-02 9.69063773e+01] [ 4.49189368e-01 8.93272081e-01 1.71435404e-02 2.77011197e+01] [-3.76890496e-02 -2.25955062e-04 9.99289490e-01 -3.81759092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:27.73, Z:-3.82 [[ 8.92673253e-01 -4.49453141e-01 3.35609428e-02 9.69569107e+01] [ 4.49125822e-01 8.93303877e-01 1.71516342e-02 2.77290510e+01] [-3.76889762e-02 -2.37719074e-04 9.99289490e-01 -3.82162930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.01, Y:27.76, Z:-3.82 [[ 8.93340945e-01 -4.48124914e-01 3.35561977e-02 9.70086060e+01] [ 4.47796308e-01 8.93970900e-01 1.71609126e-02 2.77550479e+01] [-3.76884967e-02 -3.04204444e-04 9.99289490e-01 -3.82319102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:27.78, Z:-3.82 [[ 8.94887792e-01 -4.45028241e-01 3.35515069e-02 9.70607568e+01] [ 4.44697113e-01 8.95516424e-01 1.71700787e-02 2.77827222e+01] [-3.76870955e-02 -4.45035574e-04 9.99289490e-01 -3.82386014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:27.81, Z:-3.83 [[ 8.95435625e-01 -4.43925240e-01 3.35473219e-02 9.71119981e+01] [ 4.43593031e-01 8.96063687e-01 1.71782516e-02 2.78099148e+01] [-3.76863964e-02 -5.00660302e-04 9.99289490e-01 -3.82692905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.16, Y:27.84, Z:-3.83 [[ 8.96952382e-01 -4.40852950e-01 3.35425252e-02 9.71631905e+01] [ 4.40518240e-01 8.97579114e-01 1.71876127e-02 2.78375651e+01] [-3.76842798e-02 -6.40376038e-04 9.99289490e-01 -3.82898514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:27.86, Z:-3.83 [[ 8.97452567e-01 -4.39834187e-01 3.35377077e-02 9.72158832e+01] [ 4.39498415e-01 8.98078731e-01 1.71970078e-02 2.78631363e+01] [-3.76833339e-02 -6.93729379e-04 9.99289490e-01 -3.83008349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:27.89, Z:-3.84 [[ 8.97692606e-01 -4.39344388e-01 3.35334558e-02 9.72675769e+01] [ 4.39007965e-01 8.98318421e-01 1.72052948e-02 2.78910346e+01] [-3.76827708e-02 -7.23611709e-04 9.99289490e-01 -3.83868086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:27.92, Z:-3.84 [[ 8.97370257e-01 -4.40002741e-01 3.35292454e-02 9.73202653e+01] [ 4.39666470e-01 8.97996153e-01 1.72134960e-02 2.79171023e+01] [-3.76831188e-02 -7.05194313e-04 9.99289490e-01 -3.84279157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.37, Y:27.94, Z:-3.84 [[ 8.95865356e-01 -4.43059064e-01 3.35250480e-02 9.73730108e+01] [ 4.42724623e-01 8.96492232e-01 1.72216671e-02 2.79408992e+01] [-3.76851608e-02 -5.85930691e-04 9.99289490e-01 -3.84376933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:27.97, Z:-3.84 [[ 8.93567565e-01 -4.47675549e-01 3.35202744e-02 9.74267078e+01] [ 4.47343998e-01 8.94195975e-01 1.72309533e-02 2.79658124e+01] [-3.76875709e-02 -4.01927455e-04 9.99289490e-01 -3.84282327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:27.99, Z:-3.84 [[ 8.92892183e-01 -4.49021406e-01 3.35160680e-02 9.74793065e+01] [ 4.48690495e-01 8.93520930e-01 1.72391313e-02 2.79907390e+01] [-3.76880472e-02 -3.54344438e-04 9.99289490e-01 -3.84379843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:28.01, Z:-3.85 [[ 8.92718577e-01 -4.49366569e-01 3.35145907e-02 9.75334066e+01] [ 4.49035795e-01 8.93347395e-01 1.72420028e-02 2.80149257e+01] [-3.76881520e-02 -3.43005367e-04 9.99289490e-01 -3.84522463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.59, Y:28.04, Z:-3.85 [[ 8.92720343e-01 -4.49363369e-01 3.35104641e-02 9.75871962e+01] [ 4.49032291e-01 8.93349001e-01 1.72500195e-02 2.80392311e+01] [-3.76880665e-02 -3.52162826e-04 9.99289490e-01 -3.84919054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:28.06, Z:-3.85 [[ 8.92969642e-01 -4.48868069e-01 3.35063409e-02 9.76405469e+01] [ 4.48536341e-01 8.93597958e-01 1.72580246e-02 2.80644507e+01] [-3.76877740e-02 -3.82080545e-04 9.99289490e-01 -3.85460172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:28.09, Z:-3.86 [[ 8.93407251e-01 -4.47996750e-01 3.35021796e-02 9.76926251e+01] [ 4.47664107e-01 8.94035083e-01 1.72660990e-02 2.80911565e+01] [-3.76872801e-02 -4.27934708e-04 9.99289490e-01 -3.85609229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:28.11, Z:-3.85 [[ 8.92684943e-01 -4.49434624e-01 3.34979135e-02 9.77455641e+01] [ 4.49102683e-01 8.93313146e-01 1.72743716e-02 2.81139636e+01] [-3.76878272e-02 -3.76568619e-04 9.99289491e-01 -3.85433793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:28.14, Z:-3.86 [[ 8.90993718e-01 -4.52778317e-01 3.34961134e-02 9.77972639e+01] [ 4.52448602e-01 8.91623092e-01 1.72778613e-02 2.81377846e+01] [-3.76889492e-02 -2.39196223e-04 9.99289491e-01 -3.85745292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:28.16, Z:-3.86 [[ 8.89591038e-01 -4.55528279e-01 3.34928837e-02 9.78493891e+01] [ 4.55200273e-01 8.90221304e-01 1.72841199e-02 2.81641740e+01] [-3.76894840e-02 -1.29828391e-04 9.99289491e-01 -3.86056211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.90, Y:28.19, Z:-3.86 [[ 8.88478752e-01 -4.57694274e-01 3.34882069e-02 9.79012776e+01] [ 4.57367463e-01 8.89109639e-01 1.72931764e-02 2.81900771e+01] [-3.76896754e-02 -4.82035631e-05 9.99289491e-01 -3.86245734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.95, Y:28.22, Z:-3.86 [[ 8.87541077e-01 -4.59510282e-01 3.34833729e-02 9.79543421e+01] [ 4.59184410e-01 8.88172450e-01 1.73025312e-02 2.82150449e+01] [-3.76897003e-02 1.83356124e-05 9.99289491e-01 -3.86275335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.01, Y:28.24, Z:-3.86 [[ 8.88109220e-01 -4.58411557e-01 3.34792172e-02 9.80070949e+01] [ 4.58084601e-01 8.88740031e-01 1.73105683e-02 2.82409907e+01] [-3.76896852e-02 -3.73614693e-05 9.99289491e-01 -3.86448082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:28.27, Z:-3.87 [[ 8.89072280e-01 -4.56541237e-01 3.34750469e-02 9.80574022e+01] [ 4.56212650e-01 8.89702244e-01 1.73186291e-02 2.82692909e+01] [-3.76894927e-02 -1.25773135e-04 9.99289491e-01 -3.86978858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.11, Y:28.30, Z:-3.87 [[ 8.89920074e-01 -4.54886559e-01 3.34735833e-02 9.81086226e+01] [ 4.54556694e-01 8.90549369e-01 1.73214575e-02 2.82969903e+01] [-3.76891767e-02 -1.99071354e-04 9.99289491e-01 -3.87173245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:28.32, Z:-3.87 [[ 8.89029675e-01 -4.56624654e-01 3.34688324e-02 9.81615693e+01] [ 4.56295674e-01 8.89659433e-01 1.73306325e-02 2.83230082e+01] [-3.76894565e-02 -1.35763131e-04 9.99289491e-01 -3.87147409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:28.35, Z:-3.87 [[ 8.88627177e-01 -4.57407757e-01 3.34646737e-02 9.82133845e+01] [ 4.57079030e-01 8.89257067e-01 1.73386591e-02 2.83508550e+01] [-3.76895347e-02 -1.11603073e-04 9.99289491e-01 -3.87076927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.26, Y:28.38, Z:-3.88 [[ 8.88962933e-01 -4.56755182e-01 3.34605284e-02 9.82633444e+01] [ 4.56425692e-01 8.89592424e-01 1.73466550e-02 2.83800459e+01] [-3.76894072e-02 -1.48288532e-04 9.99289491e-01 -3.87528568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.31, Y:28.41, Z:-3.88 [[ 8.89231035e-01 -4.56233117e-01 3.34590754e-02 9.83148412e+01] [ 4.55903151e-01 8.89860277e-01 1.73494572e-02 2.84075609e+01] [-3.76892990e-02 -1.73577879e-04 9.99289491e-01 -3.87868378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.37, Y:28.44, Z:-3.88 [[ 8.88573689e-01 -4.57512370e-01 3.34548875e-02 9.83664370e+01] [ 4.57183007e-01 8.89203247e-01 1.73575290e-02 2.84352803e+01] [-3.76894788e-02 -1.28437538e-04 9.99289491e-01 -3.88423743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.42, Y:28.46, Z:-3.88 [[ 8.86764288e-01 -4.61009918e-01 3.34507386e-02 9.84181164e+01] [ 4.60682736e-01 8.87394983e-01 1.73655209e-02 2.84632985e+01] [-3.76896949e-02 1.10539972e-05 9.99289491e-01 -3.88366962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:28.49, Z:-3.88 [[ 8.85559530e-01 -4.63320247e-01 3.34464852e-02 9.84696993e+01] [ 4.62994401e-01 8.86190915e-01 1.73737092e-02 2.84897312e+01] [-3.76895626e-02 1.00081652e-04 9.99289491e-01 -3.88214702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:28.52, Z:-3.88 [[ 8.85021253e-01 -4.64347730e-01 3.34449917e-02 9.85209790e+01] [ 4.64022508e-01 8.85652960e-01 1.73765837e-02 2.85182944e+01] [-3.76894331e-02 1.40583080e-04 9.99289491e-01 -3.88463140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:28.55, Z:-3.89 [[ 8.85467576e-01 -4.63496376e-01 3.34407070e-02 9.85703063e+01] [ 4.63170236e-01 8.86098810e-01 1.73848256e-02 2.85491400e+01] [-3.76895743e-02 9.50407910e-05 9.99289491e-01 -3.89112313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:28.58, Z:-3.89 [[ 8.85895954e-01 -4.62677240e-01 3.34384671e-02 9.86220210e+01] [ 4.62350354e-01 8.86526801e-01 1.73891328e-02 2.85765006e+01] [-3.76896532e-02 5.53247423e-05 9.99289491e-01 -3.89341830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:28.61, Z:-3.89 [[ 8.86331978e-01 -4.61841715e-01 3.34343474e-02 9.86728232e+01] [ 4.61513935e-01 8.86962361e-01 1.73970503e-02 2.86055066e+01] [-3.76896912e-02 1.08552575e-05 9.99289491e-01 -3.89405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:28.63, Z:-3.90 [[ 8.86466219e-01 -4.61584351e-01 3.34294778e-02 9.87247993e+01] [ 4.61256035e-01 8.87096323e-01 1.74064024e-02 2.86339718e+01] [-3.76896898e-02 -1.06393602e-05 9.99289491e-01 -3.89549128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:28.66, Z:-3.90 [[ 8.86582277e-01 -4.61361707e-01 3.34251625e-02 9.87761599e+01] [ 4.61032921e-01 8.87212136e-01 1.74146850e-02 2.86633060e+01] [-3.76896787e-02 -2.94507708e-05 9.99289491e-01 -3.89567972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.83, Y:28.69, Z:-3.90 [[ 8.86758121e-01 -4.61023948e-01 3.34208549e-02 9.88271445e+01] [ 4.60694611e-01 8.87387692e-01 1.74229479e-02 2.86905197e+01] [-3.76896516e-02 -5.31327739e-05 9.99289491e-01 -3.89764198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:28.72, Z:-3.90 [[ 8.86655041e-01 -4.61222273e-01 3.34193413e-02 9.88786288e+01] [ 4.60892967e-01 8.87284629e-01 1.74258507e-02 2.87170035e+01] [-3.76896583e-02 -4.79789431e-05 9.99289491e-01 -3.89987134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:28.74, Z:-3.90 [[ 8.86844262e-01 -4.60858679e-01 3.34145635e-02 9.89293925e+01] [ 4.60528770e-01 8.87473533e-01 1.74350076e-02 2.87446045e+01] [-3.76896153e-02 -7.37686182e-05 9.99289491e-01 -3.90182009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:28.77, Z:-3.90 [[ 8.88306048e-01 -4.58034856e-01 3.34130918e-02 9.89819435e+01] [ 4.57702841e-01 8.88934211e-01 1.74378275e-02 2.87706304e+01] [-3.76891732e-02 -1.96860648e-04 9.99289491e-01 -3.90249735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:28.80, Z:-3.91 [[ 8.89667049e-01 -4.55385990e-01 3.34087205e-02 9.90329028e+01] [ 4.55051789e-01 8.90294052e-01 1.74461984e-02 2.87979024e+01] [-3.76883394e-02 -3.18609819e-04 9.99289491e-01 -3.90600187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.08, Y:28.83, Z:-3.91 [[ 8.91130774e-01 -4.52515087e-01 3.34071865e-02 9.90842428e+01] [ 4.52178757e-01 8.91756637e-01 1.74491352e-02 2.88262124e+01] [-3.76870772e-02 -4.43441253e-04 9.99289491e-01 -3.91095720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:28.85, Z:-3.91 [[ 8.92349360e-01 -4.50107613e-01 3.34029335e-02 9.91385155e+01] [ 4.49769290e-01 8.92974148e-01 1.74572729e-02 2.88505609e+01] [-3.76856076e-02 -5.54372632e-04 9.99289491e-01 -3.90965194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.19, Y:28.88, Z:-3.92 [[ 8.92518847e-01 -4.49771767e-01 3.33985742e-02 9.91884131e+01] [ 4.49432897e-01 8.93143339e-01 1.74656090e-02 2.88792919e+01] [-3.76852519e-02 -5.77967222e-04 9.99289491e-01 -3.91611736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:28.91, Z:-3.92 [[ 8.92078860e-01 -4.50643923e-01 3.33970421e-02 9.92406556e+01] [ 4.50305554e-01 8.92703623e-01 1.74685382e-02 2.89067241e+01] [-3.76857510e-02 -5.44440119e-04 9.99289491e-01 -3.91530396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.30, Y:28.93, Z:-3.91 [[ 8.90740596e-01 -4.53283701e-01 3.33927635e-02 9.92952893e+01] [ 4.52946878e-01 8.91366193e-01 1.74767133e-02 2.89292250e+01] [-3.76870898e-02 -4.42070102e-04 9.99289492e-01 -3.91385548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:28.96, Z:-3.92 [[ 8.89811665e-01 -4.55104836e-01 3.33884618e-02 9.93477467e+01] [ 4.54768984e-01 8.90437785e-01 1.74849276e-02 2.89563263e+01] [-3.76878231e-02 -3.74255643e-04 9.99289492e-01 -3.91863255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:28.98, Z:-3.92 [[ 8.89340372e-01 -4.56025434e-01 3.33842189e-02 9.94001135e+01] [ 4.55689926e-01 8.89966676e-01 1.74930249e-02 2.89827923e+01] [-3.76881066e-02 -3.44401057e-04 9.99289492e-01 -3.92441773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:29.01, Z:-3.93 [[ 8.89315522e-01 -4.56074202e-01 3.33800065e-02 9.94529685e+01] [ 4.55738427e-01 8.89941683e-01 1.75010593e-02 2.90066335e+01] [-3.76880408e-02 -3.51411986e-04 9.99289492e-01 -3.92590983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.50, Y:29.03, Z:-3.93 [[ 8.89579318e-01 -4.55559803e-01 3.33751839e-02 9.95049886e+01] [ 4.55223322e-01 8.90205099e-01 1.75102513e-02 2.90341003e+01] [-3.76877256e-02 -3.83595288e-04 9.99289492e-01 -3.92823900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.56, Y:29.06, Z:-3.93 [[ 8.90412949e-01 -4.53928586e-01 3.33709236e-02 9.95573981e+01] [ 4.53590654e-01 8.91037948e-01 1.75183669e-02 2.90606014e+01] [-3.76868468e-02 -4.61841647e-04 9.99289492e-01 -3.92886631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:29.08, Z:-3.93 [[ 8.91127385e-01 -4.52524750e-01 3.33666725e-02 9.96102276e+01] [ 4.52185531e-01 8.91751686e-01 1.75264600e-02 2.90849546e+01] [-3.76859434e-02 -5.30381915e-04 9.99289492e-01 -3.92933729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.490888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:29.11, Z:-3.93 [[ 8.91563543e-01 -4.51665181e-01 3.33618453e-02 9.96613885e+01] [ 4.51325016e-01 8.92187330e-01 1.75356439e-02 2.91129309e+01] [-3.76852554e-02 -5.77105446e-04 9.99289492e-01 -3.93231943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:29.14, Z:-3.94 [[ 8.92568273e-01 -4.49676515e-01 3.33603207e-02 9.97130392e+01] [ 4.49334852e-01 8.93191240e-01 1.75385439e-02 2.91383419e+01] [-3.76838175e-02 -6.64393103e-04 9.99289492e-01 -3.93708398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:29.17, Z:-3.94 [[ 8.92788962e-01 -4.49238309e-01 3.33588150e-02 9.97652741e+01] [ 4.48896233e-01 8.93411703e-01 1.75414073e-02 2.91652258e+01] [-3.76834279e-02 -6.86128367e-04 9.99289492e-01 -3.94024970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.82, Y:29.19, Z:-3.94 [[ 8.91742771e-01 -4.51311759e-01 3.33545461e-02 9.98168922e+01] [ 4.50970828e-01 8.92366139e-01 1.75495207e-02 2.91913654e+01] [-3.76847726e-02 -6.07730901e-04 9.99289492e-01 -3.94340422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:29.22, Z:-3.94 [[ 8.88896339e-01 -4.56892873e-01 3.33496706e-02 9.98695349e+01] [ 4.56555509e-01 8.89521645e-01 1.75587809e-02 2.92150025e+01] [-3.76877357e-02 -3.81960224e-04 9.99289492e-01 -3.94339466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.92, Y:29.24, Z:-3.94 [[ 8.85896021e-01 -4.62683627e-01 3.33481730e-02 9.99221056e+01] [ 4.62350244e-01 8.86523458e-01 1.75616247e-02 2.92408101e+01] [-3.76894139e-02 -1.39237510e-04 9.99289492e-01 -3.94308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:29.27, Z:-3.95 [[ 8.81725359e-01 -4.70583221e-01 3.33440151e-02 9.99747864e+01] [ 4.70255160e-01 8.82355595e-01 1.75695157e-02 2.92680530e+01] [-3.76891976e-02 1.88707616e-04 9.99289492e-01 -3.94517843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.03, Y:29.29, Z:-3.95 [[ 8.78804579e-01 -4.76015731e-01 3.33397080e-02 1.00027046e+02] [ 4.75691256e-01 8.79436668e-01 1.75776851e-02 2.92933769e+01] [-3.76874163e-02 4.12057450e-04 9.99289492e-01 -3.94755760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:29.32, Z:-3.95 [[ 8.77199353e-01 -4.78967726e-01 3.33348486e-02 1.00077667e+02] [ 4.78645028e-01 8.77832352e-01 1.75868956e-02 2.93207622e+01] [-3.76859640e-02 5.28346103e-04 9.99289492e-01 -3.95198943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.13, Y:29.35, Z:-3.96 [[ 8.77122914e-01 -4.79107797e-01 3.33333572e-02 1.00128154e+02] [ 4.78785093e-01 8.77755910e-01 1.75897220e-02 2.93500224e+01] [-3.76859242e-02 5.31166279e-04 9.99289492e-01 -3.95732237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:29.38, Z:-3.96 [[ 8.78967597e-01 -4.75715416e-01 3.33287552e-02 1.00177682e+02] [ 4.75389938e-01 8.79599171e-01 1.75984374e-02 2.93801073e+01] [-3.76877934e-02 3.75698633e-04 9.99289492e-01 -3.95998131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:29.41, Z:-3.96 [[ 8.81057502e-01 -4.71833876e-01 3.33237478e-02 1.00228301e+02] [ 4.71505257e-01 8.81687447e-01 1.76079141e-02 2.94098260e+01] [-3.76891405e-02 1.98737466e-04 9.99289492e-01 -3.95718228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.28, Y:29.44, Z:-3.96 [[ 8.82764951e-01 -4.68631894e-01 3.33195013e-02 1.00278148e+02] [ 4.68300686e-01 8.83393539e-01 1.76159462e-02 2.94400535e+01] [-3.76896264e-02 5.28054517e-05 9.99289492e-01 -3.95893365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.33, Y:29.47, Z:-3.96 [[ 8.85312581e-01 -4.63801432e-01 3.33146343e-02 1.00327562e+02] [ 4.63466449e-01 8.85939165e-01 1.76251457e-02 2.94710805e+01] [-3.76893071e-02 -1.63547957e-04 9.99289492e-01 -3.96274444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:29.50, Z:-3.97 [[ 8.86098941e-01 -4.62297657e-01 3.33098156e-02 1.00377801e+02] [ 4.61961268e-01 8.86724771e-01 1.76342479e-02 2.94998357e+01] [-3.76889101e-02 -2.37843757e-04 9.99289492e-01 -3.96551833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:29.53, Z:-3.97 [[ 8.86072419e-01 -4.62348839e-01 3.33049371e-02 1.00428506e+02] [ 4.62012141e-01 8.86698083e-01 1.76434569e-02 2.95293346e+01] [-3.76888557e-02 -2.46095246e-04 9.99289492e-01 -3.96731663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:29.56, Z:-3.96 [[ 8.86159382e-01 -4.62182453e-01 3.33006099e-02 1.00479628e+02] [ 4.61845330e-01 8.86784817e-01 1.76516203e-02 2.95582981e+01] [-3.76887444e-02 -2.62417817e-04 9.99289492e-01 -3.96484760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:29.59, Z:-3.97 [[ 8.86657697e-01 -4.61226066e-01 3.32962980e-02 1.00529351e+02] [ 4.60887964e-01 8.87282603e-01 1.76597501e-02 2.95882282e+01] [-3.76883630e-02 -3.12290422e-04 9.99289492e-01 -3.96623704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.58, Y:29.62, Z:-3.97 [[ 8.86551187e-01 -4.61431119e-01 3.32913758e-02 1.00578832e+02] [ 4.61092813e-01 8.87175982e-01 1.76690243e-02 2.96200146e+01] [-3.76883467e-02 -3.14080311e-04 9.99289493e-01 -3.97246044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:29.65, Z:-3.98 [[ 8.84727021e-01 -4.64919420e-01 3.32870854e-02 1.00629638e+02] [ 4.64583274e-01 8.85352982e-01 1.76771034e-02 2.96488560e+01] [-3.76892490e-02 -1.74787914e-04 9.99289493e-01 -3.97632712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.68, Y:29.68, Z:-3.98 [[ 8.82325444e-01 -4.69461467e-01 3.32827702e-02 1.00682220e+02] [ 4.69128236e-01 8.82952961e-01 1.76852244e-02 2.96754387e+01] [-3.76896519e-02 9.76375604e-06 9.99289493e-01 -3.97530012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:29.71, Z:-3.98 [[ 8.78961398e-01 -4.75730388e-01 3.32785162e-02 1.00732202e+02] [ 4.75401330e-01 8.79591113e-01 1.76932256e-02 2.97051420e+01] [-3.76886922e-02 2.68988566e-04 9.99289493e-01 -3.97555593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:29.73, Z:-3.98 [[ 8.77251329e-01 -4.78876786e-01 3.32735704e-02 1.00782394e+02] [ 4.78549633e-01 8.77882036e-01 1.77025217e-02 2.97337601e+01] [-3.76875964e-02 3.93494185e-04 9.99289493e-01 -3.97767904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.83, Y:29.76, Z:-3.98 [[ 8.76923196e-01 -4.79477506e-01 3.32720546e-02 1.00832064e+02] [ 4.79150678e-01 8.77554071e-01 1.77053702e-02 2.97632578e+01] [-3.76873537e-02 4.16077734e-04 9.99289493e-01 -3.98028872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:100.88, Y:29.79, Z:-3.98 [[ 8.77249832e-01 -4.78879967e-01 3.32672442e-02 1.00882834e+02] [ 4.78552366e-01 8.77880307e-01 1.77144040e-02 2.97934236e+01] [-3.76877318e-02 3.80160459e-04 9.99289493e-01 -3.98143829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:29.82, Z:-3.98 [[ 8.77935300e-01 -4.77622432e-01 3.32629275e-02 1.00933607e+02] [ 4.77293621e-01 8.78565144e-01 1.77225059e-02 2.98229628e+01] [-3.76883151e-02 3.16969606e-04 9.99289493e-01 -3.98092445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:29.85, Z:-3.98 [[ 8.79899136e-01 -4.73995117e-01 3.32586739e-02 1.00983205e+02] [ 4.73663408e-01 8.80527459e-01 1.77304848e-02 2.98540265e+01] [-3.76893389e-02 1.52378548e-04 9.99289493e-01 -3.98310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:29.89, Z:-3.99 [[ 8.82401017e-01 -4.69321466e-01 3.32536667e-02 1.01030946e+02] [ 4.68986075e-01 8.83027383e-01 1.77398709e-02 2.98874064e+01] [-3.76896005e-02 -5.81735428e-05 9.99289493e-01 -3.98642771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17088847900001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.08, Y:29.92, Z:-3.99 [[ 8.83949247e-01 -4.66399246e-01 3.32486272e-02 1.01081125e+02] [ 4.66061430e-01 8.84574308e-01 1.77493111e-02 2.99168903e+01] [-3.76891467e-02 -1.93587503e-04 9.99289493e-01 -3.98928740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23088847900001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:29.95, Z:-3.99 [[ 8.86299642e-01 -4.61917537e-01 3.32435550e-02 1.01130186e+02] [ 4.61576204e-01 8.86922789e-01 1.77588061e-02 2.99478106e+01] [-3.76875704e-02 -3.95189576e-04 9.99289493e-01 -3.99140488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29088847900002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.18, Y:29.98, Z:-3.99 [[ 8.87670647e-01 -4.59277468e-01 3.32419964e-02 1.01179778e+02] [ 4.58934172e-01 8.88292715e-01 1.77617229e-02 2.99775047e+01] [-3.76861824e-02 -5.10671955e-04 9.99289493e-01 -3.99303159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.350888479 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:101.23, Y:30.01, Z:-4.00 [[ 8.89651982e-01 -4.55427990e-01 3.32369699e-02 1.01228204e+02] [ 4.55081652e-01 8.90272361e-01 1.77711239e-02 3.00074181e+01] [-3.76834229e-02 -6.84580453e-04 9.99289493e-01 -3.99689537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41088847900001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:30.04, Z:-4.00 [[ 8.91376514e-01 -4.52043534e-01 3.32348085e-02 1.01278639e+02] [ 4.51694690e-01 8.91995488e-01 1.77751651e-02 3.00368823e+01] [-3.76804477e-02 -8.32378198e-04 9.99289493e-01 -3.99964349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47088847900001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:30.06, Z:-4.00 [[ 8.91506809e-01 -4.51786873e-01 3.32299701e-02 1.01329404e+02] [ 4.51437514e-01 8.92125492e-01 1.77842059e-02 3.00647732e+01] [-3.76799741e-02 -8.53485557e-04 9.99289493e-01 -4.00059377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53088847900001 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:30.09, Z:-4.01 [[ 8.91509680e-01 -4.51781579e-01 3.32249042e-02 1.01379636e+02] [ 4.51431864e-01 8.92128162e-01 1.77936650e-02 3.00947262e+01] [-3.76797228e-02 -8.64444104e-04 9.99289493e-01 -4.00522519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59088847900001 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:101.43, Y:30.12, Z:-4.01 [[ 8.91376139e-01 -4.52045378e-01 3.32198054e-02 1.01430478e+02] [ 4.51695492e-01 8.91994523e-01 1.78031791e-02 3.01230975e+01] [-3.76797293e-02 -8.64092636e-04 9.99289493e-01 -4.00855656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65088847900002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:30.15, Z:-4.01 [[ 8.90952058e-01 -4.52881017e-01 3.32146714e-02 1.01481586e+02] [ 4.52531354e-01 8.91570569e-01 1.78127523e-02 3.01508716e+01] [-3.76802808e-02 -8.39628094e-04 9.99289493e-01 -4.01114989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:101.53, Y:30.18, Z:-4.01 [[ 8.90479373e-01 -4.53809846e-01 3.32130948e-02 1.01532212e+02] [ 4.53460718e-01 8.91098187e-01 1.78156914e-02 3.01785968e+01] [-3.76810647e-02 -8.03671905e-04 9.99289493e-01 -4.01199733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.770888479 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:30.20, Z:-4.01 [[ 8.89177469e-01 -4.56355846e-01 3.32079856e-02 1.01582712e+02] [ 4.56008135e-01 8.89797080e-01 1.78252098e-02 3.02045739e+01] [-3.76830073e-02 -7.06663342e-04 9.99289493e-01 -4.01462853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83088847900001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:101.63, Y:30.24, Z:-4.03 [[ 8.86043731e-01 -4.62411034e-01 3.32045482e-02 1.01631573e+02] [ 4.62067318e-01 8.86665567e-01 1.78316107e-02 3.02363151e+01] [-3.76868631e-02 -4.56850377e-04 9.99289493e-01 -4.02625619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89088847900001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:101.69, Y:30.26, Z:-4.02 [[ 8.87380013e-01 -4.59841789e-01 3.32000100e-02 1.01685824e+02] [ 4.59495958e-01 8.88000674e-01 1.78400562e-02 3.02605875e+01] [-3.76852346e-02 -5.75638955e-04 9.99289493e-01 -4.02177028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95088847900001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:30.29, Z:-4.02 [[ 8.87518031e-01 -4.59575677e-01 3.31955195e-02 1.01736837e+02] [ 4.59229347e-01 8.88138413e-01 1.78484079e-02 3.02865341e+01] [-3.76849101e-02 -5.96427103e-04 9.99289494e-01 -4.02415306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01088847900002 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:30.31, Z:-4.03 [[ 8.87216824e-01 -4.60157270e-01 3.31902726e-02 1.01789117e+02] [ 4.59810982e-01 8.87837230e-01 1.78581594e-02 3.03126392e+01] [-3.76851216e-02 -5.82807594e-04 9.99289494e-01 -4.02673881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:30.34, Z:-4.03 [[ 8.87445965e-01 -4.59715586e-01 3.31849317e-02 1.01839012e+02] [ 4.59368618e-01 8.88065991e-01 1.78680787e-02 3.03420693e+01] [-3.76846435e-02 -6.12838187e-04 9.99289494e-01 -4.03268856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.130888479 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:30.37, Z:-4.03 [[ 8.87743486e-01 -4.59141169e-01 3.31796453e-02 1.01891577e+02] [ 4.58793434e-01 8.88363082e-01 1.78778897e-02 3.03674322e+01] [-3.76840472e-02 -6.48376708e-04 9.99289494e-01 -4.03470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19088847900001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:30.39, Z:-4.04 [[ 8.88568190e-01 -4.57543460e-01 3.31746088e-02 1.01942363e+02] [ 4.57194262e-01 8.89186962e-01 1.78872306e-02 3.03925943e+01] [-3.76826151e-02 -7.26783338e-04 9.99289494e-01 -4.03663387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25088847900001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:30.42, Z:-4.04 [[ 8.88632732e-01 -4.57418251e-01 3.31724420e-02 1.01992912e+02] [ 4.57068816e-01 8.89251371e-01 1.78912483e-02 3.04211550e+01] [-3.76824230e-02 -7.36660077e-04 9.99289494e-01 -4.04096230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31088847900001 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:30.45, Z:-4.05 [[ 8.88103239e-01 -4.58445822e-01 3.31672251e-02 1.02043018e+02] [ 4.58096741e-01 8.88722079e-01 1.79009142e-02 3.04479974e+01] [-3.76830446e-02 -7.04062122e-04 9.99289494e-01 -4.04559260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:30.47, Z:-4.04 [[ 8.86345157e-01 -4.61835844e-01 3.31649854e-02 1.02095549e+02] [ 4.61488976e-01 8.86965238e-01 1.79050628e-02 3.04703482e+01] [-3.76853889e-02 -5.64790611e-04 9.99289494e-01 -4.04478415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.15, Y:30.50, Z:-4.05 [[ 8.85377357e-01 -4.63688651e-01 3.31628028e-02 1.02146383e+02] [ 4.63342928e-01 8.85998078e-01 1.79091044e-02 3.04993479e+01] [-3.76864280e-02 -4.90565319e-04 9.99289494e-01 -4.04717587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.490888479 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:30.53, Z:-4.05 [[ 8.84419146e-01 -4.65514062e-01 3.31576709e-02 1.02196923e+02] [ 4.65169266e-01 8.85040382e-01 1.79186006e-02 3.05279117e+01] [-3.76872383e-02 -4.23624050e-04 9.99289494e-01 -4.05073989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.25, Y:30.55, Z:-4.05 [[ 8.82718808e-01 -4.68730641e-01 3.31525681e-02 1.02251221e+02] [ 4.68387753e-01 8.83341100e-01 1.79280368e-02 3.05518043e+01] [-3.76884461e-02 -2.97158386e-04 9.99289494e-01 -4.05367967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:30.58, Z:-4.06 [[ 8.80733039e-01 -4.72451603e-01 3.31480954e-02 1.02301225e+02] [ 4.72111034e-01 8.81356603e-01 1.79363028e-02 3.05806505e+01] [-3.76893278e-02 -1.47512884e-04 9.99289494e-01 -4.05877689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:30.61, Z:-4.06 [[ 8.79847581e-01 -4.74098907e-01 3.31430400e-02 1.02352489e+02] [ 4.73759153e-01 8.80471589e-01 1.79456395e-02 3.06081848e+01] [-3.76895131e-02 -8.76088989e-05 9.99289494e-01 -4.05933161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:30.63, Z:-4.06 [[ 8.79170528e-01 -4.75353608e-01 3.31380515e-02 1.02404969e+02] [ 4.75014398e-01 8.79794831e-01 1.79548464e-02 3.06331028e+01] [-3.76895874e-02 -4.43202167e-05 9.99289494e-01 -4.05993391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79088847900002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:30.66, Z:-4.06 [[ 8.79707942e-01 -4.74358665e-01 3.31329578e-02 1.02456596e+02] [ 4.74018395e-01 8.80331669e-01 1.79642410e-02 3.06604747e+01] [-3.76894855e-02 -9.76540103e-05 9.99289494e-01 -4.06137437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.850888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.51, Y:30.69, Z:-4.06 [[ 8.82130284e-01 -4.69839016e-01 3.31279351e-02 1.02505863e+02] [ 4.69495203e-01 8.82752065e-01 1.79734988e-02 3.06907154e+01] [-3.76884041e-02 -3.01560983e-04 9.99289494e-01 -4.06466949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:30.72, Z:-4.07 [[ 8.83967331e-01 -4.66373912e-01 3.31229812e-02 1.02558159e+02] [ 4.66027319e-01 8.84587567e-01 1.79826235e-02 3.07181262e+01] [-3.76868038e-02 -4.59837574e-04 9.99289494e-01 -4.06802355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.61, Y:30.74, Z:-4.07 [[ 8.85925183e-01 -4.62644285e-01 3.31185222e-02 1.02609124e+02] [ 4.62294775e-01 8.86543778e-01 1.79908319e-02 3.07446700e+01] [-3.76843754e-02 -6.28011307e-04 9.99289494e-01 -4.07221755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:30.77, Z:-4.08 [[ 8.86755512e-01 -4.61050896e-01 3.31169553e-02 1.02660032e+02] [ 4.60700167e-01 8.87373418e-01 1.79937158e-02 3.07725305e+01] [-3.76831246e-02 -6.99039871e-04 9.99289494e-01 -4.07516363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.71, Y:30.80, Z:-4.08 [[ 8.88366460e-01 -4.57939556e-01 3.31118725e-02 1.02710409e+02] [ 4.57586314e-01 8.88982933e-01 1.80030642e-02 3.07990964e+01] [-3.76802048e-02 -8.41778716e-04 9.99289494e-01 -4.07704044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:30.83, Z:-4.08 [[ 8.87694467e-01 -4.59241209e-01 3.31065593e-02 1.02762676e+02] [ 4.58888508e-01 8.88311249e-01 1.80128297e-02 3.08250241e+01] [-3.76811627e-02 -7.97669658e-04 9.99289494e-01 -4.07765532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.81, Y:30.85, Z:-4.08 [[ 8.86277141e-01 -4.61970946e-01 3.31009810e-02 1.02814679e+02] [ 4.61619761e-01 8.86894788e-01 1.80230746e-02 3.08513759e+01] [-3.76832244e-02 -6.93372084e-04 9.99289495e-01 -4.08178927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:30.88, Z:-4.08 [[ 8.84109509e-01 -4.66106257e-01 3.30958275e-02 1.02867440e+02] [ 4.65757608e-01 8.84728590e-01 1.80325332e-02 3.08753902e+01] [-3.76859013e-02 -5.28100584e-04 9.99289495e-01 -4.08475578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:30.90, Z:-4.09 [[ 8.82352700e-01 -4.69423814e-01 3.30907350e-02 1.02919511e+02] [ 4.69077142e-01 8.82972891e-01 1.80418733e-02 3.09002536e+01] [-3.76875069e-02 -3.97188195e-04 9.99289495e-01 -4.08649350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:30.93, Z:-4.09 [[ 8.81395680e-01 -4.71218627e-01 3.30856486e-02 1.02971912e+02] [ 4.70872869e-01 8.82016381e-01 1.80511961e-02 3.09253711e+01] [-3.76881438e-02 -3.31111973e-04 9.99289495e-01 -4.08903567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:30.95, Z:-4.09 [[ 8.80817760e-01 -4.72298379e-01 3.30804392e-02 1.03023302e+02] [ 4.71953023e-01 8.81438684e-01 1.80607377e-02 3.09503044e+01] [-3.76884359e-02 -2.95805235e-04 9.99289495e-01 -4.09319934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.07, Y:30.98, Z:-4.10 [[ 8.80017138e-01 -4.73788647e-01 3.30780118e-02 1.03073924e+02] [ 4.73444175e-01 8.80638554e-01 1.80651824e-02 3.09780151e+01] [-3.76888508e-02 -2.37078126e-04 9.99289495e-01 -4.09613977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:31.01, Z:-4.10 [[ 8.77159371e-01 -4.79059089e-01 3.30730505e-02 1.03124813e+02] [ 4.78718010e-01 8.77782654e-01 1.80742608e-02 3.10073772e+01] [-3.76895890e-02 -2.13423237e-05 9.99289495e-01 -4.10139724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.18, Y:31.03, Z:-4.10 [[ 8.77994986e-01 -4.77526224e-01 3.30682681e-02 1.03179380e+02] [ 4.77183727e-01 8.78617491e-01 1.80830064e-02 3.10286050e+01] [-3.76894685e-02 -9.71495231e-05 9.99289495e-01 -4.09537626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:31.06, Z:-4.10 [[ 8.78585936e-01 -4.76438193e-01 3.30666030e-02 1.03230243e+02] [ 4.76094810e-01 8.79207954e-01 1.80860506e-02 3.10553348e+01] [-3.76893056e-02 -1.47311589e-04 9.99289495e-01 -4.09999132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:31.08, Z:-4.10 [[ 8.79773368e-01 -4.74242056e-01 3.30650008e-02 1.03279925e+02] [ 4.73897010e-01 8.80394464e-01 1.80889794e-02 3.10829900e+01] [-3.76887984e-02 -2.44797292e-04 9.99289495e-01 -4.10343527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.33, Y:31.11, Z:-4.10 [[ 8.80454295e-01 -4.72976829e-01 3.30628749e-02 1.03332939e+02] [ 4.72630745e-01 8.81074814e-01 1.80928641e-02 3.11073589e+01] [-3.76883718e-02 -3.03408727e-04 9.99289495e-01 -4.10377826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.39, Y:31.13, Z:-4.11 [[ 8.80948370e-01 -4.72056296e-01 3.30578708e-02 1.03385311e+02] [ 4.71709220e-01 8.81568335e-01 1.81020025e-02 3.11330392e+01] [-3.76879364e-02 -3.53227155e-04 9.99289495e-01 -4.10567245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:31.16, Z:-4.11 [[ 8.80377017e-01 -4.73121350e-01 3.30529166e-02 1.03436324e+02] [ 4.72774685e-01 8.80997212e-01 1.81110442e-02 3.11601235e+01] [-3.76882490e-02 -3.17964849e-04 9.99289495e-01 -4.10985789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.49, Y:31.19, Z:-4.11 [[ 8.81359667e-01 -4.71288654e-01 3.30475611e-02 1.03488707e+02] [ 4.70940333e-01 8.81978933e-01 1.81208110e-02 3.11854270e+01] [-3.76873854e-02 -4.07522533e-04 9.99289495e-01 -4.10691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.54, Y:31.21, Z:-4.11 [[ 8.80857506e-01 -4.72226666e-01 3.30458919e-02 1.03539957e+02] [ 4.71878890e-01 8.81477078e-01 1.81238547e-02 3.12128353e+01] [-3.76877637e-02 -3.70874609e-04 9.99289495e-01 -4.11278100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:31.24, Z:-4.11 [[ 8.81541248e-01 -4.70949150e-01 3.30442934e-02 1.03593476e+02] [ 4.70600368e-01 8.82160254e-01 1.81267686e-02 3.12385180e+01] [-3.76871486e-02 -4.28837552e-04 9.99289495e-01 -4.11314475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:31.27, Z:-4.12 [[ 8.80626201e-01 -4.72658294e-01 3.30398279e-02 1.03645398e+02] [ 4.72310408e-01 8.81245711e-01 1.81349043e-02 3.12664501e+01] [-3.76878196e-02 -3.65017324e-04 9.99289495e-01 -4.11877700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:31.29, Z:-4.12 [[ 8.78155762e-01 -4.77232790e-01 3.30351542e-02 1.03697140e+02] [ 4.76887811e-01 8.78776895e-01 1.81434141e-02 3.12927913e+01] [-3.76891624e-02 -1.78681312e-04 9.99289495e-01 -4.12224173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:31.32, Z:-4.13 [[ 8.73589239e-01 -4.85541582e-01 3.30335081e-02 1.03748256e+02] [ 4.85202398e-01 8.74213556e-01 1.81464106e-02 3.13225020e+01] [-3.76891775e-02 1.75428321e-04 9.99289495e-01 -4.12778662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.80, Y:31.35, Z:-4.13 [[ 8.70130649e-01 -4.91713063e-01 3.30290477e-02 1.03799967e+02] [ 4.91377998e-01 8.70757186e-01 1.81545255e-02 3.13487343e+01] [-3.76870980e-02 4.32938298e-04 9.99289495e-01 -4.12658887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:31.38, Z:-4.12 [[ 8.69394421e-01 -4.93013955e-01 3.30239595e-02 1.03853046e+02] [ 4.92679476e-01 8.70021271e-01 1.81637766e-02 3.13756633e+01] [-3.76865425e-02 4.78741005e-04 9.99289495e-01 -4.12196130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:31.41, Z:-4.13 [[ 8.68033329e-01 -4.95406755e-01 3.30195037e-02 1.03903406e+02] [ 4.95073696e-01 8.68660934e-01 1.81718729e-02 3.14051166e+01] [-3.76852216e-02 5.73296391e-04 9.99289495e-01 -4.12635687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53088847900001 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:31.44, Z:-4.13 [[ 8.68676397e-01 -4.94278632e-01 3.30144285e-02 1.03952107e+02] [ 4.93944407e-01 8.69303382e-01 1.81810889e-02 3.14370121e+01] [-3.76860781e-02 5.13809521e-04 9.99289495e-01 -4.12955828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.00, Y:31.47, Z:-4.13 [[ 8.68889615e-01 -4.93904108e-01 3.30086323e-02 1.04001135e+02] [ 4.93569214e-01 8.69516243e-01 1.81916061e-02 3.14679447e+01] [-3.76864509e-02 4.85547109e-04 9.99289495e-01 -4.13301479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65088847900002 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:31.50, Z:-4.14 [[ 8.68879919e-01 -4.93921570e-01 3.30025572e-02 1.04049389e+02] [ 4.93586270e-01 8.69506330e-01 1.82026206e-02 3.14979046e+01] [-3.76865994e-02 4.73717627e-04 9.99289496e-01 -4.13652500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.10, Y:31.53, Z:-4.14 [[ 8.69803712e-01 -4.92293208e-01 3.29984760e-02 1.04097471e+02] [ 4.91956456e-01 8.70429343e-01 1.82100163e-02 3.15311376e+01] [-3.76875091e-02 3.94673547e-04 9.99289496e-01 -4.13629263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.15, Y:31.56, Z:-4.14 [[ 8.70743224e-01 -4.90629942e-01 3.29924027e-02 1.04146208e+02] [ 4.90291577e-01 8.71367984e-01 1.82210131e-02 3.15624215e+01] [-3.76882980e-02 3.10073461e-04 9.99289496e-01 -4.13718445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:31.59, Z:-4.14 [[ 8.72643519e-01 -4.87242375e-01 3.29872151e-02 1.04194942e+02] [ 4.86901231e-01 8.73266766e-01 1.82303998e-02 3.15941322e+01] [-3.76892620e-02 1.52875344e-04 9.99289496e-01 -4.13873987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.24, Y:31.63, Z:-4.14 [[ 8.74683958e-01 -4.83570224e-01 3.29820023e-02 1.04242634e+02] [ 4.83226107e-01 8.75305569e-01 1.82398259e-02 3.16259530e+01] [-3.76895669e-02 -1.63185240e-05 9.99289496e-01 -4.14240649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:31.66, Z:-4.14 [[ 8.76524376e-01 -4.80226357e-01 3.29797610e-02 1.04290965e+02] [ 4.79879716e-01 8.77144583e-01 1.82438774e-02 3.16592218e+01] [-3.76892095e-02 -1.64884873e-04 9.99289496e-01 -4.14418320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01088847900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:31.69, Z:-4.15 [[ 8.77704564e-01 -4.78066286e-01 3.29745994e-02 1.04340190e+02] [ 4.77717768e-01 8.78323719e-01 1.82532019e-02 3.16902849e+01] [-3.76886132e-02 -2.68366557e-04 9.99289496e-01 -4.14717778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.39, Y:31.72, Z:-4.15 [[ 8.78205223e-01 -4.77146312e-01 3.29694282e-02 1.04388118e+02] [ 4.76796796e-01 8.78823814e-01 1.82625375e-02 3.17210064e+01] [-3.76882211e-02 -3.18538103e-04 9.99289496e-01 -4.14897867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.130888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:104.44, Y:31.75, Z:-4.15 [[ 8.75976178e-01 -4.81226540e-01 3.29659362e-02 1.04435874e+02] [ 4.80879667e-01 8.76596255e-01 1.82688388e-02 3.17518562e+01] [-3.76892663e-02 -1.50419153e-04 9.99289496e-01 -4.15035676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.49, Y:31.78, Z:-4.15 [[ 8.73731189e-01 -4.85290837e-01 3.29637991e-02 1.04485577e+02] [ 4.84946704e-01 8.74352791e-01 1.82726940e-02 3.17815931e+01] [-3.76895608e-02 2.02630482e-05 9.99289496e-01 -4.15277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.54, Y:31.81, Z:-4.15 [[ 8.70669043e-01 -4.90763845e-01 3.29585560e-02 1.04536074e+02] [ 4.90423262e-01 8.71292596e-01 1.82821462e-02 3.18102767e+01] [-3.76887622e-02 2.45943784e-04 9.99289496e-01 -4.15396838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31088847900001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:31.84, Z:-4.16 [[ 8.68049024e-01 -4.95383656e-01 3.29533836e-02 1.04584622e+02] [ 4.95046037e-01 8.68674187e-01 1.82914647e-02 3.18430789e+01] [-3.76870464e-02 4.35553856e-04 9.99289496e-01 -4.15850153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37088847900002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:31.87, Z:-4.16 [[ 8.67045299e-01 -4.97138674e-01 3.29482762e-02 1.04633488e+02] [ 4.96801971e-01 8.67670956e-01 1.83006600e-02 3.18743267e+01] [-3.76862282e-02 5.01267330e-04 9.99289496e-01 -4.15881520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43088847900002 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:31.91, Z:-4.16 [[ 8.67981516e-01 -4.95502620e-01 3.29430061e-02 1.04680266e+02] [ 4.95164377e-01 8.68606342e-01 1.83101419e-02 3.19096341e+01] [-3.76872273e-02 4.19338363e-04 9.99289496e-01 -4.16142630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.490888479 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:104.73, Y:31.94, Z:-4.16 [[ 8.69367460e-01 -4.93067257e-01 3.29378174e-02 1.04728717e+02] [ 4.92726911e-01 8.69991143e-01 1.83194709e-02 3.19410968e+01] [-3.76883407e-02 3.02997144e-04 9.99289496e-01 -4.16320395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55088847900001 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:104.78, Y:31.97, Z:-4.16 [[ 8.71088935e-01 -4.90019912e-01 3.29325405e-02 1.04775609e+02] [ 4.89677026e-01 8.71711225e-01 1.83289522e-02 3.19732314e+01] [-3.76892168e-02 1.60161081e-04 9.99289496e-01 -4.16426475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61088847900001 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:32.01, Z:-4.17 [[ 8.73094847e-01 -4.86437119e-01 3.29289843e-02 1.04823130e+02] [ 4.86091438e-01 8.73715588e-01 1.83353388e-02 3.20083143e+01] [-3.76895563e-02 -1.99246842e-06 9.99289496e-01 -4.16535323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67088847900001 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:104.87, Y:32.04, Z:-4.17 [[ 8.75037318e-01 -4.82934487e-01 3.29237603e-02 1.04871217e+02] [ 4.82585968e-01 8.75656471e-01 1.83447145e-02 3.20400172e+01] [-3.76891991e-02 -1.63765001e-04 9.99289496e-01 -4.16839590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73088847900001 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:32.07, Z:-4.17 [[ 8.77282460e-01 -4.78844087e-01 3.29215122e-02 1.04920988e+02] [ 4.78492531e-01 8.77899893e-01 1.83487480e-02 3.20697769e+01] [-3.76879816e-02 -3.44337112e-04 9.99289496e-01 -4.17089652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79088847900002 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:104.97, Y:32.10, Z:-4.17 [[ 8.77845257e-01 -4.77811918e-01 3.29162050e-02 1.04969753e+02] [ 4.77459278e-01 8.78462072e-01 1.83582638e-02 3.20988015e+01] [-3.76874349e-02 -3.99567333e-04 9.99289496e-01 -4.17344122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.850888479 meters Centerline goodness : 0.993854 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:32.13, Z:-4.18 [[ 8.79864753e-01 -4.74083000e-01 3.29139227e-02 1.05020262e+02] [ 4.73727593e-01 8.80479978e-01 1.83623549e-02 3.21281525e+01] [-3.76853302e-02 -5.64155489e-04 9.99289496e-01 -4.17562974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91088847900001 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:32.16, Z:-4.18 [[ 8.79651473e-01 -4.74479090e-01 3.29071402e-02 1.05070735e+02] [ 4.74123506e-01 8.80266595e-01 1.83745017e-02 3.21550561e+01] [-3.76853731e-02 -5.61108837e-04 9.99289496e-01 -4.17949817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97088847900001 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:32.18, Z:-4.18 [[ 8.81214436e-01 -4.71570178e-01 3.29041787e-02 1.05123201e+02] [ 4.71212366e-01 8.81828265e-01 1.83798035e-02 3.21792514e+01] [-3.76832020e-02 -6.91692291e-04 9.99289497e-01 -4.18143438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03088847900001 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:32.21, Z:-4.19 [[ 8.80199734e-01 -4.73461857e-01 3.28983164e-02 1.05172208e+02] [ 4.73104972e-01 8.80814102e-01 1.83902906e-02 3.22079649e+01] [-3.76844021e-02 -6.22771847e-04 9.99289497e-01 -4.18529553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09088847900001 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:32.23, Z:-4.19 [[ 8.81631608e-01 -4.70790387e-01 3.28955857e-02 1.05223739e+02] [ 4.70431458e-01 8.82244785e-01 1.83951738e-02 3.22314706e+01] [-3.76822299e-02 -7.42648285e-04 9.99289497e-01 -4.18967413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15088847900002 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:105.28, Y:32.26, Z:-4.20 [[ 8.82353980e-01 -4.69435282e-01 3.28933172e-02 1.05276348e+02] [ 4.69075262e-01 8.82966515e-01 1.83992293e-02 3.22581518e+01] [-3.76809451e-02 -8.05191835e-04 9.99289497e-01 -4.19814574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.210888479 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:32.28, Z:-4.20 [[ 8.83496007e-01 -4.67282736e-01 3.28884663e-02 1.05329148e+02] [ 4.66920900e-01 8.84107472e-01 1.84078961e-02 3.22824031e+01] [-3.76786309e-02 -9.06990418e-04 9.99289497e-01 -4.19663680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.270888479 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:32.30, Z:-4.20 [[ 8.82052820e-01 -4.70001424e-01 3.28859138e-02 1.05383274e+02] [ 4.69641304e-01 8.82665297e-01 1.84124551e-02 3.23039879e+01] [-3.76811350e-02 -7.96174490e-04 9.99289497e-01 -4.19757529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33088847900001 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:32.33, Z:-4.20 [[ 8.79370869e-01 -4.75000776e-01 3.28806535e-02 1.05436977e+02] [ 4.74643787e-01 8.79985177e-01 1.84218440e-02 3.23261180e+01] [-3.76848779e-02 -5.93035069e-04 9.99289497e-01 -4.19956080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:32.34, Z:-4.20 [[ 8.74185557e-01 -4.84477885e-01 3.28753821e-02 1.05492199e+02] [ 4.84127203e-01 8.74803487e-01 1.84312466e-02 3.23444559e+01] [-3.76890302e-02 -1.96462834e-04 9.99289497e-01 -4.20107726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:32.37, Z:-4.20 [[ 8.72545179e-01 -4.87426167e-01 3.28731194e-02 1.05545308e+02] [ 4.87077421e-01 8.73164203e-01 1.84352813e-02 3.23686846e+01] [-3.76894696e-02 -7.38615776e-05 9.99289497e-01 -4.20349884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:32.39, Z:-4.20 [[ 8.71008954e-01 -4.90166430e-01 3.28675033e-02 1.05598665e+02] [ 4.89819254e-01 8.71628860e-01 1.84452887e-02 3.23921023e+01] [-3.76895257e-02 3.31243186e-05 9.99289497e-01 -4.20226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.65, Y:32.42, Z:-4.21 [[ 8.70556455e-01 -4.90970021e-01 3.28617896e-02 1.05650448e+02] [ 4.90623033e-01 8.71176466e-01 1.84554624e-02 3.24175684e+01] [-3.76894965e-02 5.62290333e-05 9.99289497e-01 -4.20570828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.630888479 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:32.44, Z:-4.21 [[ 8.70233291e-01 -4.91542989e-01 3.28558840e-02 1.05701868e+02] [ 4.91196012e-01 8.70853309e-01 1.84659700e-02 3.24422859e+01] [-3.76894734e-02 6.89773783e-05 9.99289497e-01 -4.20935122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69088847900001 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:32.47, Z:-4.21 [[ 8.69862106e-01 -4.92199730e-01 3.28533299e-02 1.05752998e+02] [ 4.91853051e-01 8.70482290e-01 1.84705131e-02 3.24675278e+01] [-3.76894234e-02 9.22110958e-05 9.99289497e-01 -4.21399844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:32.49, Z:-4.22 [[ 8.69370909e-01 -4.93067202e-01 3.28474787e-02 1.05804280e+02] [ 4.92720748e-01 8.69991219e-01 1.84809128e-02 3.24935698e+01] [-3.76893500e-02 1.17866353e-04 9.99289497e-01 -4.21664433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81088847900001 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:32.52, Z:-4.22 [[ 8.68898781e-01 -4.93898894e-01 3.28449454e-02 1.05854867e+02] [ 4.93552863e-01 8.69519327e-01 1.84854140e-02 3.25215286e+01] [-3.76892403e-02 1.48763187e-04 9.99289497e-01 -4.21826077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87088847900002 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:105.90, Y:32.55, Z:-4.22 [[ 8.69920602e-01 -4.92097251e-01 3.28396369e-02 1.05904645e+02] [ 4.91749580e-01 8.70540230e-01 1.84948398e-02 3.25495640e+01] [-3.76894849e-02 5.98355078e-05 9.99289497e-01 -4.22178510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.95, Y:32.58, Z:-4.22 [[ 8.71512507e-01 -4.89272593e-01 3.28371643e-02 1.05954091e+02] [ 4.88922748e-01 8.72130911e-01 1.84992289e-02 3.25786446e+01] [-3.76894716e-02 -6.74727600e-05 9.99289497e-01 -4.22317042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.00, Y:32.61, Z:-4.22 [[ 8.72497803e-01 -4.87513554e-01 3.28347279e-02 1.06004776e+02] [ 4.87162299e-01 8.73115406e-01 1.85035522e-02 3.26071567e+01] [-3.76892393e-02 -1.48467094e-04 9.99289497e-01 -4.22354900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:32.64, Z:-4.23 [[ 8.71900715e-01 -4.88580956e-01 3.28297599e-02 1.06055362e+02] [ 4.88230125e-01 8.72518560e-01 1.85123624e-02 3.26356498e+01] [-3.76893626e-02 -1.12464242e-04 9.99289497e-01 -4.22883630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:32.66, Z:-4.23 [[ 8.71305865e-01 -4.89641375e-01 3.28239876e-02 1.06104850e+02] [ 4.89290911e-01 8.71923917e-01 1.85225916e-02 3.26635066e+01] [-3.76894471e-02 -7.83639266e-05 9.99289497e-01 -4.22942684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17088847900001 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:106.15, Y:32.69, Z:-4.23 [[ 8.71555600e-01 -4.89196878e-01 3.28214919e-02 1.06154383e+02] [ 4.88845933e-01 8.72173379e-01 1.85270129e-02 3.26924499e+01] [-3.76893884e-02 -1.02668980e-04 9.99289497e-01 -4.23036579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:32.72, Z:-4.24 [[ 8.69855992e-01 -4.92213045e-01 3.28157173e-02 1.06203215e+02] [ 4.91863856e-01 8.70474766e-01 1.85372354e-02 3.27228819e+01] [-3.76895229e-02 1.61399012e-05 9.99289497e-01 -4.23907962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29088847900002 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:106.26, Y:32.75, Z:-4.24 [[ 8.69646982e-01 -4.92582629e-01 3.28097566e-02 1.06255506e+02] [ 4.92233305e-01 8.70265680e-01 1.85477795e-02 3.27506707e+01] [-3.76895191e-02 2.00344136e-05 9.99289497e-01 -4.23985919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:32.78, Z:-4.25 [[ 8.67273209e-01 -4.96750330e-01 3.28068808e-02 1.06304000e+02] [ 4.96403787e-01 8.67893468e-01 1.85528647e-02 3.27815032e+01] [-3.76890192e-02 1.95057340e-04 9.99289497e-01 -4.24698532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41088847900001 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:32.81, Z:-4.24 [[ 8.67355976e-01 -4.96606186e-01 3.28010197e-02 1.06356472e+02] [ 4.96259148e-01 8.67975959e-01 1.85632213e-02 3.28080839e+01] [-3.76891070e-02 1.76885175e-04 9.99289498e-01 -4.24219789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:32.84, Z:-4.25 [[ 8.68396374e-01 -4.94785046e-01 3.27947589e-02 1.06406770e+02] [ 4.94436290e-01 8.69015392e-01 1.85742753e-02 3.28365049e+01] [-3.76894239e-02 8.50856303e-05 9.99289498e-01 -4.24566392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53088847900001 meters Centerline goodness : 0.996696 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:32.87, Z:-4.25 [[ 8.69355618e-01 -4.93097801e-01 3.27928062e-02 1.06455976e+02] [ 4.92747714e-01 8.69973884e-01 1.85777222e-02 3.28677427e+01] [-3.76895189e-02 7.93316637e-06 9.99289498e-01 -4.25049253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:32.90, Z:-4.25 [[ 8.70110648e-01 -4.91764662e-01 3.27868438e-02 1.06507016e+02] [ 4.91413231e-01 8.70728151e-01 1.85882390e-02 3.28962210e+01] [-3.76894669e-02 -6.19358654e-05 9.99289498e-01 -4.25449704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:32.92, Z:-4.25 [[ 8.69736348e-01 -4.92426780e-01 3.27803553e-02 1.06558470e+02] [ 4.92075389e-01 8.70353873e-01 1.85996744e-02 3.29240660e+01] [-3.76894870e-02 -4.64067942e-05 9.99289498e-01 -4.25204730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.710888479 meters Centerline goodness : 0.996843 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:32.95, Z:-4.26 [[ 8.68051974e-01 -4.95390315e-01 3.27751060e-02 1.06608791e+02] [ 4.95040682e-01 8.68670496e-01 1.86089198e-02 3.29535952e+01] [-3.76894462e-02 7.15012373e-05 9.99289498e-01 -4.25690128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.770888479 meters Centerline goodness : 0.996236 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:32.98, Z:-4.26 [[ 8.67181754e-01 -4.96912422e-01 3.27696668e-02 1.06658432e+02] [ 4.96563513e-01 8.67800685e-01 1.86184931e-02 3.29841058e+01] [-3.76892998e-02 1.26603372e-04 9.99289498e-01 -4.26098649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83088847900001 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:33.01, Z:-4.26 [[ 8.69042176e-01 -4.93651963e-01 3.27633234e-02 1.06710306e+02] [ 4.93300312e-01 8.69659553e-01 1.86296490e-02 3.30122535e+01] [-3.76895000e-02 -2.77930148e-05 9.99289498e-01 -4.26037477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.76, Y:33.04, Z:-4.26 [[ 8.70204067e-01 -4.91601280e-01 3.27576428e-02 1.06762210e+02] [ 4.91247798e-01 8.70820398e-01 1.86396323e-02 3.30393378e+01] [-3.76892906e-02 -1.28163920e-04 9.99289498e-01 -4.26399799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95088847900001 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:106.81, Y:33.07, Z:-4.27 [[ 8.68979876e-01 -4.93762411e-01 3.27514437e-02 1.06809974e+02] [ 4.93410051e-01 8.69596849e-01 1.86505182e-02 3.30700448e+01] [-3.76894771e-02 -4.70335247e-05 9.99289498e-01 -4.26716409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01088847900002 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:33.10, Z:-4.27 [[ 8.68215061e-01 -4.95106452e-01 3.27446031e-02 1.06859659e+02] [ 4.94754595e-01 8.68832320e-01 1.86625205e-02 3.31007950e+01] [-3.76895038e-02 -2.53855545e-06 9.99289498e-01 -4.26930569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters Centerline goodness : 0.997142 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:33.13, Z:-4.27 [[ 8.67807899e-01 -4.95820185e-01 3.27382783e-02 1.06909701e+02] [ 4.95468417e-01 8.68425209e-01 1.86736090e-02 3.31307885e+01] [-3.76894985e-02 1.56775575e-05 9.99289498e-01 -4.27219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:33.16, Z:-4.28 [[ 8.67982752e-01 -4.95514438e-01 3.27320106e-02 1.06959951e+02] [ 4.95162039e-01 8.68599702e-01 1.86845889e-02 3.31602180e+01] [-3.76894982e-02 -1.02517736e-05 9.99289498e-01 -4.27507062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:33.19, Z:-4.28 [[ 8.68170994e-01 -4.95184975e-01 3.27256081e-02 1.07007845e+02] [ 4.94831919e-01 8.68787568e-01 1.86957960e-02 3.31929936e+01] [-3.76894788e-02 -3.74723808e-05 9.99289498e-01 -4.28030309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.06, Y:33.22, Z:-4.28 [[ 8.68567922e-01 -4.94488768e-01 3.27203892e-02 1.07057218e+02] [ 4.94134874e-01 8.69184015e-01 1.87049255e-02 3.32244887e+01] [-3.76894148e-02 -7.82128712e-05 9.99289499e-01 -4.28323943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:33.25, Z:-4.28 [[ 8.68674639e-01 -4.94301618e-01 3.27151594e-02 1.07107177e+02] [ 4.93947247e-01 8.69290458e-01 1.87140679e-02 3.32541171e+01] [-3.76893700e-02 -9.68731953e-05 9.99289499e-01 -4.28446167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37088847900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:33.29, Z:-4.29 [[ 8.69025690e-01 -4.93684522e-01 3.27099712e-02 1.07155620e+02] [ 4.93329373e-01 8.69641061e-01 1.87231318e-02 3.32856319e+01] [-3.76892545e-02 -1.34092969e-04 9.99289499e-01 -4.28647745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43088847900002 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:33.32, Z:-4.29 [[ 8.69555803e-01 -4.92750553e-01 3.27047154e-02 1.07204412e+02] [ 4.92394397e-01 8.70170591e-01 1.87323080e-02 3.33164301e+01] [-3.76890367e-02 -1.85168489e-04 9.99289499e-01 -4.29045989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.490888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:33.35, Z:-4.30 [[ 8.67337405e-01 -4.96645314e-01 3.26995096e-02 1.07251977e+02] [ 4.96291577e-01 8.67953588e-01 1.87413909e-02 3.33515328e+01] [-3.76894807e-02 -2.66181485e-05 9.99289499e-01 -4.30026987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55088847900001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:33.38, Z:-4.29 [[ 8.70070510e-01 -4.91841810e-01 3.26946672e-02 1.07303699e+02] [ 4.91484354e-01 8.70684543e-01 1.87498348e-02 3.33773304e+01] [-3.76886941e-02 -2.44760906e-04 9.99289499e-01 -4.29455766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.35, Y:33.41, Z:-4.30 [[ 8.69803191e-01 -4.92314511e-01 3.26929748e-02 1.07353660e+02] [ 4.91957277e-01 8.70417354e-01 1.87527852e-02 3.34073027e+01] [-3.76888009e-02 -2.27685564e-04 9.99289499e-01 -4.29704896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67088847900001 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:107.40, Y:33.44, Z:-4.30 [[ 8.67216960e-01 -4.96856372e-01 3.26877652e-02 1.07401493e+02] [ 4.96502013e-01 8.67832785e-01 1.87618617e-02 3.34400116e+01] [-3.76894649e-02 -4.10633893e-05 9.99289499e-01 -4.29967540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:33.47, Z:-4.30 [[ 8.67160344e-01 -4.96955552e-01 3.26820677e-02 1.07453003e+02] [ 4.96600889e-01 8.67775995e-01 1.87717811e-02 3.34657971e+01] [-3.76894547e-02 -4.82003021e-05 9.99289499e-01 -4.30340805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79088847900002 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:107.50, Y:33.49, Z:-4.30 [[ 8.64866005e-01 -5.00938158e-01 3.26765390e-02 1.07503959e+02] [ 5.00585967e-01 8.65483073e-01 1.87814001e-02 3.34934375e+01] [-3.76893114e-02 1.14022400e-04 9.99289499e-01 -4.30374034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.850888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:107.56, Y:33.52, Z:-4.31 [[ 8.63461216e-01 -5.03355812e-01 3.26750013e-02 1.07555325e+02] [ 5.03005247e-01 8.64079209e-01 1.87840750e-02 3.35225073e+01] [-3.76888626e-02 2.16376829e-04 9.99289499e-01 -4.30596422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91088847900001 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:33.55, Z:-4.31 [[ 8.64242270e-01 -5.02013889e-01 3.26703739e-02 1.07605669e+02] [ 5.01662061e-01 8.64859545e-01 1.87921198e-02 3.35525244e+01] [-3.76891899e-02 1.48542782e-04 9.99289499e-01 -4.30546082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:33.58, Z:-4.31 [[ 8.64469923e-01 -5.01622119e-01 3.26649872e-02 1.07656374e+02] [ 5.01269657e-01 8.65086837e-01 1.88014784e-02 3.35817101e+01] [-3.76892879e-02 1.20654336e-04 9.99289499e-01 -4.30666394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:33.61, Z:-4.31 [[ 8.65824122e-01 -4.99281422e-01 3.26596259e-02 1.07706365e+02] [ 4.98926942e-01 8.66439878e-01 1.88107869e-02 3.36113351e+01] [-3.76894787e-02 7.93416328e-06 9.99289499e-01 -4.30919057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.76, Y:33.64, Z:-4.31 [[ 8.67593171e-01 -4.96201114e-01 3.26579810e-02 1.07756952e+02] [ 4.95844340e-01 8.68207600e-01 1.88136422e-02 3.36407477e+01] [-3.76892575e-02 -1.29312504e-04 9.99289499e-01 -4.31036791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15088847900002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.81, Y:33.67, Z:-4.31 [[ 8.68745645e-01 -4.94180942e-01 3.26527247e-02 1.07807349e+02] [ 4.93822396e-01 8.69359042e-01 1.88227605e-02 3.36693906e+01] [-3.76887910e-02 -2.27544418e-04 9.99289499e-01 -4.31166029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.210888479 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:33.70, Z:-4.31 [[ 8.71143276e-01 -4.89942382e-01 3.26474365e-02 1.07856835e+02] [ 4.89580509e-01 8.71754716e-01 1.88319284e-02 3.36992091e+01] [-3.76871165e-02 -4.21759200e-04 9.99289499e-01 -4.31368206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.270888479 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:33.73, Z:-4.32 [[ 8.72353465e-01 -4.87784711e-01 3.26421327e-02 1.07906489e+02] [ 4.87420981e-01 8.72963802e-01 1.88411171e-02 3.37283781e+01] [-3.76858091e-02 -5.25653440e-04 9.99289499e-01 -4.31713787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:33.76, Z:-4.32 [[ 8.71381153e-01 -4.89519898e-01 3.26367205e-02 1.07957909e+02] [ 4.89157032e-01 8.71992005e-01 1.88504875e-02 3.37562401e+01] [-3.76866481e-02 -4.61478146e-04 9.99289499e-01 -4.32060735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:33.78, Z:-4.32 [[ 8.67366970e-01 -4.96598159e-01 3.26313861e-02 1.08010320e+02] [ 4.96239932e-01 8.67980553e-01 1.88597172e-02 3.37836605e+01] [-3.76891094e-02 -1.65298942e-04 9.99289499e-01 -4.32165290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:108.06, Y:33.81, Z:-4.32 [[ 8.64243385e-01 -5.02014809e-01 3.26267213e-02 1.08062190e+02] [ 5.01660123e-01 8.64859022e-01 1.88677837e-02 3.38109919e+01] [-3.76894211e-02 6.11677290e-05 9.99289499e-01 -4.32257289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51088847900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:33.84, Z:-4.33 [[ 8.60276777e-01 -5.08782576e-01 3.26214191e-02 1.08113593e+02] [ 5.08432386e-01 8.60894982e-01 1.88769465e-02 3.38388980e+01] [-3.76878775e-02 3.46387190e-04 9.99289500e-01 -4.32694504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:33.87, Z:-4.33 [[ 8.57212648e-01 -5.13928639e-01 3.26164173e-02 1.08163706e+02] [ 5.13581830e-01 8.57832757e-01 1.88855848e-02 3.38667595e+01] [-3.76852741e-02 5.62237116e-04 9.99289500e-01 -4.32924289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.22, Y:33.89, Z:-4.33 [[ 8.55838289e-01 -5.16214252e-01 3.26139204e-02 1.08215995e+02] [ 5.15868936e-01 8.56459230e-01 1.88898958e-02 3.38945904e+01] [-3.76837266e-02 6.57812350e-04 9.99289500e-01 -4.33124365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:33.92, Z:-4.33 [[ 8.57455790e-01 -5.13523328e-01 3.26092015e-02 1.08265144e+02] [ 5.13175753e-01 8.58075469e-01 1.88980385e-02 3.39249044e+01] [-3.76857395e-02 5.30019042e-04 9.99289500e-01 -4.33360680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.31, Y:33.95, Z:-4.34 [[ 8.59904367e-01 -5.09412864e-01 3.26038836e-02 1.08314765e+02] [ 5.09061979e-01 8.60522178e-01 1.89072086e-02 3.39544367e+01] [-3.76879403e-02 3.39006246e-04 9.99289500e-01 -4.33753063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.37, Y:33.98, Z:-4.34 [[ 8.64479815e-01 -5.01609396e-01 3.25985318e-02 1.08366315e+02] [ 5.01252586e-01 8.65094223e-01 1.89164314e-02 3.39826943e+01] [-3.76894613e-02 -1.27746930e-05 9.99289500e-01 -4.33867264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:34.01, Z:-4.34 [[ 8.65777261e-01 -4.99366973e-01 3.25938781e-02 1.08417184e+02] [ 4.99008270e-01 8.66390565e-01 1.89244465e-02 3.40117003e+01] [-3.76892721e-02 -1.19740751e-04 9.99289500e-01 -4.33943181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93088847900002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:108.47, Y:34.04, Z:-4.34 [[ 8.70302403e-01 -4.91438419e-01 3.25884596e-02 1.08467346e+02] [ 4.91073780e-01 8.70912197e-01 1.89337728e-02 3.40396730e+01] [-3.76864703e-02 -4.74769942e-04 9.99289500e-01 -4.34298119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.990888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:34.07, Z:-4.34 [[ 8.72687590e-01 -4.87190429e-01 3.25861310e-02 1.08518043e+02] [ 4.86822673e-01 8.73295509e-01 1.89377797e-02 3.40673286e+01] [-3.76836268e-02 -6.63097945e-04 9.99289500e-01 -4.34476049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:34.09, Z:-4.34 [[ 8.74889329e-01 -4.83225752e-01 3.25812065e-02 1.08570316e+02] [ 4.82854926e-01 8.75495380e-01 1.89462481e-02 3.40923238e+01] [-3.76800108e-02 -8.43874277e-04 9.99289500e-01 -4.34387791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11088847900001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:34.12, Z:-4.35 [[ 8.75433658e-01 -4.82239288e-01 3.25757478e-02 1.08622731e+02] [ 4.81867430e-01 8.76039077e-01 1.89556290e-02 3.41178702e+01] [-3.76787771e-02 -8.97203782e-04 9.99289500e-01 -4.34623166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.68, Y:34.14, Z:-4.35 [[ 8.74391775e-01 -4.84126218e-01 3.25703558e-02 1.08675022e+02] [ 4.83755322e-01 8.74997784e-01 1.89648892e-02 3.41437950e+01] [-3.76803893e-02 -8.26660169e-04 9.99289500e-01 -4.35034492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:34.17, Z:-4.35 [[ 8.72108720e-01 -4.88227313e-01 3.25648822e-02 1.08728571e+02] [ 4.87858916e-01 8.72716251e-01 1.89742833e-02 3.41668719e+01] [-3.76836653e-02 -6.60569796e-04 9.99289500e-01 -4.35358601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:34.19, Z:-4.36 [[ 8.69945637e-01 -4.92071615e-01 3.25593970e-02 1.08780411e+02] [ 4.91705551e-01 8.70554576e-01 1.89836912e-02 3.41929802e+01] [-3.76860677e-02 -5.05143078e-04 9.99289500e-01 -4.35668598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:34.22, Z:-4.36 [[ 8.67348556e-01 -4.96635403e-01 3.25539228e-02 1.08833497e+02] [ 4.96272192e-01 8.67959201e-01 1.89930740e-02 3.42162943e+01] [-3.76881098e-02 -3.18008717e-04 9.99289500e-01 -4.36064505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:34.24, Z:-4.36 [[ 8.65732329e-01 -4.99447580e-01 3.25522454e-02 1.08885616e+02] [ 4.99086244e-01 8.66344086e-01 1.89959484e-02 3.42422436e+01] [-3.76889258e-02 -1.99028747e-04 9.99289500e-01 -4.36170015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:34.27, Z:-4.37 [[ 8.65559666e-01 -4.99747104e-01 3.25468373e-02 1.08935020e+02] [ 4.99385631e-01 8.66171342e-01 1.90052098e-02 3.42724509e+01] [-3.76889363e-02 -1.96720159e-04 9.99289500e-01 -4.36524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.98, Y:34.30, Z:-4.37 [[ 8.65879164e-01 -4.99193677e-01 3.25414631e-02 1.08983784e+02] [ 4.98831467e-01 8.66490404e-01 1.90144073e-02 3.43046048e+01] [-3.76887374e-02 -2.31473285e-04 9.99289500e-01 -4.36809133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:34.33, Z:-4.37 [[ 8.65271155e-01 -5.00247173e-01 3.25360458e-02 1.09033375e+02] [ 4.99885359e-01 8.65882629e-01 1.90236726e-02 3.43337792e+01] [-3.76889353e-02 -1.96342221e-04 9.99289500e-01 -4.36930977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:34.36, Z:-4.37 [[ 8.63862110e-01 -5.02676603e-01 3.25344019e-02 1.09082084e+02] [ 5.02316404e-01 8.64474536e-01 1.90264836e-02 3.43648894e+01] [-3.76893301e-02 -9.36945219e-05 9.99289500e-01 -4.37197327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:34.40, Z:-4.38 [[ 8.62024783e-01 -5.05821240e-01 3.25291674e-02 1.09128998e+02] [ 5.05462937e-01 8.62638320e-01 1.90354287e-02 3.43986365e+01] [-3.76894305e-02 3.32772183e-05 9.99289500e-01 -4.37729344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:34.43, Z:-4.38 [[ 8.59492284e-01 -5.10112704e-01 3.25275614e-02 1.09177696e+02] [ 5.09757360e-01 8.60107541e-01 1.90381725e-02 3.44315448e+01] [-3.76888145e-02 2.18001442e-04 9.99289500e-01 -4.37591865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:34.46, Z:-4.38 [[ 8.57355226e-01 -5.13696733e-01 3.25220195e-02 1.09230300e+02] [ 5.13343603e-01 8.57971756e-01 1.90476348e-02 3.44591041e+01] [-3.76876820e-02 3.64381369e-04 9.99289501e-01 -4.37759094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:34.49, Z:-4.38 [[ 8.54794868e-01 -5.17946293e-01 3.25172438e-02 1.09278618e+02] [ 5.17595917e-01 8.55412967e-01 1.90557842e-02 3.44918893e+01] [-3.76855448e-02 5.42006090e-04 9.99289501e-01 -4.38173418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:34.52, Z:-4.38 [[ 8.52756431e-01 -5.21295703e-01 3.25155318e-02 1.09327766e+02] [ 5.20947643e-01 8.53375837e-01 1.90587050e-02 3.45202781e+01] [-3.76831902e-02 6.86456400e-04 9.99289501e-01 -4.38326606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:34.55, Z:-4.39 [[ 8.51385294e-01 -5.23532210e-01 3.25131710e-02 1.09377026e+02] [ 5.23185623e-01 8.52005526e-01 1.90627316e-02 3.45510827e+01] [-3.76813553e-02 7.80694293e-04 9.99289501e-01 -4.38652023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.43, Y:34.58, Z:-4.39 [[ 8.49880574e-01 -5.25971713e-01 3.25079459e-02 1.09425536e+02] [ 5.25626567e-01 8.50501608e-01 1.90716379e-02 3.45828644e+01] [-3.76792023e-02 8.78425382e-04 9.99289501e-01 -4.38980687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.47, Y:34.62, Z:-4.39 [[ 8.48477176e-01 -5.28232962e-01 3.25026052e-02 1.09472485e+02] [ 5.27889122e-01 8.49098934e-01 1.90807353e-02 3.46191573e+01] [-3.76770008e-02 9.68203390e-04 9.99289501e-01 -4.39271317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:34.65, Z:-4.39 [[ 8.46818373e-01 -5.30888447e-01 3.24976868e-02 1.09523412e+02] [ 5.30546236e-01 8.47441029e-01 1.90891086e-02 3.46475939e+01] [-3.76740603e-02 1.07651751e-03 9.99289501e-01 -4.39425994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25088847900001 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:34.68, Z:-4.40 [[ 8.44593947e-01 -5.34420560e-01 3.24919809e-02 1.09571929e+02] [ 5.34080579e-01 8.45217824e-01 1.90988157e-02 3.46788473e+01] [-3.76696012e-02 1.22259183e-03 9.99289501e-01 -4.39888321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31088847900001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:34.71, Z:-4.40 [[ 8.41195841e-01 -5.39753640e-01 3.24894646e-02 1.09619889e+02] [ 5.39417448e-01 8.41821767e-01 1.91030953e-02 3.47095451e+01] [-3.76613037e-02 1.45593978e-03 9.99289501e-01 -4.40270138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:34.74, Z:-4.40 [[ 8.38739164e-01 -5.43563428e-01 3.24871329e-02 1.09668915e+02] [ 5.43229925e-01 8.39366528e-01 1.91070597e-02 3.47407406e+01] [-3.76545109e-02 1.62214348e-03 9.99289501e-01 -4.40408180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43088847900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.72, Y:34.78, Z:-4.41 [[ 8.35759914e-01 -5.48133470e-01 3.24817622e-02 1.09716468e+02] [ 5.47803043e-01 8.36388903e-01 1.91161856e-02 3.47750916e+01] [-3.76456066e-02 1.81706657e-03 9.99289501e-01 -4.40652019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.490888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.76, Y:34.81, Z:-4.41 [[ 8.34441895e-01 -5.50138183e-01 3.24761933e-02 1.09761758e+02] [ 5.49808900e-01 8.35071484e-01 1.91256418e-02 3.48113741e+01] [-3.76416888e-02 1.89646340e-03 9.99289501e-01 -4.40880297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55088847900001 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:34.84, Z:-4.41 [[ 8.35075705e-01 -5.49175757e-01 3.24739041e-02 1.09809063e+02] [ 5.48845598e-01 8.35704835e-01 1.91295280e-02 3.48439727e+01] [-3.76440716e-02 1.84855526e-03 9.99289501e-01 -4.40977671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61088847900001 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:34.88, Z:-4.41 [[ 8.34538293e-01 -5.49992392e-01 3.24685401e-02 1.09854225e+02] [ 5.49662496e-01 8.35167560e-01 1.91386279e-02 3.48823390e+01] [-3.76427712e-02 1.87482093e-03 9.99289501e-01 -4.41268262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67088847900001 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:34.92, Z:-4.42 [[ 8.34661666e-01 -5.49805460e-01 3.24631976e-02 1.09901390e+02] [ 5.49475071e-01 8.35290675e-01 1.91476856e-02 3.49168251e+01] [-3.76437084e-02 1.85587867e-03 9.99289501e-01 -4.41502726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73088847900001 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:34.95, Z:-4.42 [[ 8.36043623e-01 -5.47702062e-01 3.24578598e-02 1.09946029e+02] [ 5.47369740e-01 8.36671612e-01 1.91567297e-02 3.49534810e+01] [-3.76487502e-02 1.75058853e-03 9.99289501e-01 -4.41905058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79088847900002 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:109.99, Y:34.99, Z:-4.42 [[ 8.39306327e-01 -5.42689161e-01 3.24555664e-02 1.09994787e+02] [ 5.42352938e-01 8.39932236e-01 1.91606144e-02 3.49852073e+01] [-3.76587342e-02 1.52074691e-03 9.99289501e-01 -4.42183520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.850888479 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:110.04, Y:35.02, Z:-4.43 [[ 8.40919691e-01 -5.40186150e-01 3.24499038e-02 1.10038533e+02] [ 5.39847695e-01 8.41544396e-01 1.91701996e-02 3.50225395e+01] [-3.76635110e-02 1.39740740e-03 9.99289501e-01 -4.42685973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91088847900001 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:35.06, Z:-4.43 [[ 8.46037657e-01 -5.32134802e-01 3.24474334e-02 1.10083139e+02] [ 5.31790238e-01 8.46659014e-01 1.91743801e-02 3.50612280e+01] [-3.76752669e-02 1.03298078e-03 9.99289501e-01 -4.43141894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97088847900001 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:110.13, Y:35.10, Z:-4.44 [[ 8.52263355e-01 -5.22106007e-01 3.24421279e-02 1.10128424e+02] [ 5.21753788e-01 8.52880404e-01 1.91833526e-02 3.50986090e+01] [-3.76849988e-02 5.77534630e-04 9.99289501e-01 -4.43528822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03088847900001 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:35.13, Z:-4.44 [[ 8.55533758e-01 -5.16729952e-01 3.24368109e-02 1.10175652e+02] [ 5.16373514e-01 8.56148380e-01 1.91923387e-02 3.51324515e+01] [-3.76879794e-02 3.29816357e-04 9.99289501e-01 -4.43664917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09088847900001 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:35.17, Z:-4.44 [[ 8.58456041e-01 -5.11860746e-01 3.24314972e-02 1.10223079e+02] [ 5.11500483e-01 8.59068429e-01 1.92013137e-02 3.51665462e+01] [-3.76892741e-02 1.05242763e-04 9.99289501e-01 -4.43670471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15088847900002 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:35.20, Z:-4.44 [[ 8.59743927e-01 -5.09694696e-01 3.24298639e-02 1.10271754e+02] [ 5.09332786e-01 8.60355343e-01 1.92040720e-02 3.51988810e+01] [-3.76894203e-02 7.00862949e-06 9.99289501e-01 -4.43883150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.210888479 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:35.23, Z:-4.44 [[ 8.61734489e-01 -5.06322358e-01 3.24243803e-02 1.10319423e+02] [ 5.05957707e-01 8.62344274e-01 1.92133260e-02 3.52307977e+01] [-3.76891152e-02 -1.51420574e-04 9.99289501e-01 -4.43973389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.270888479 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:35.26, Z:-4.44 [[ 8.61922737e-01 -5.06001984e-01 3.24220226e-02 1.10369084e+02] [ 5.05636956e-01 8.62532297e-01 1.92173037e-02 3.52618144e+01] [-3.76890355e-02 -1.70058149e-04 9.99289501e-01 -4.44179771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33088847900001 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:35.29, Z:-4.45 [[ 8.61130146e-01 -5.07349985e-01 3.24170350e-02 1.10419312e+02] [ 5.06985596e-01 8.61740087e-01 1.92257135e-02 3.52908451e+01] [-3.76892240e-02 -1.20871681e-04 9.99289501e-01 -4.44545659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39088847900001 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:35.32, Z:-4.45 [[ 8.58882503e-01 -5.11146103e-01 3.24115261e-02 1.10469903e+02] [ 5.10784058e-01 8.59493840e-01 1.92349961e-02 3.53187390e+01] [-3.76894003e-02 3.46892523e-05 9.99289502e-01 -4.45092351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45088847900001 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:35.35, Z:-4.45 [[ 8.55903140e-01 -5.16119578e-01 3.24098343e-02 1.10520534e+02] [ 5.15760978e-01 8.56516503e-01 1.92378464e-02 3.53465066e+01] [-3.76885870e-02 2.49994687e-04 9.99289502e-01 -4.45335351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51088847900002 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:110.57, Y:35.37, Z:-4.46 [[ 8.54056711e-01 -5.19169621e-01 3.24043096e-02 1.10570589e+02] [ 5.18812859e-01 8.54671144e-01 1.92471477e-02 3.53731432e+01] [-3.76875627e-02 3.73616862e-04 9.99289502e-01 -4.45518155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57088847900002 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:35.40, Z:-4.46 [[ 8.51841474e-01 -5.22796536e-01 3.24019383e-02 1.10621749e+02] [ 5.22442238e-01 8.52457331e-01 1.92511389e-02 3.53992654e+01] [-3.76856986e-02 5.29222600e-04 9.99289502e-01 -4.45713369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.630888479 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:110.67, Y:35.43, Z:-4.46 [[ 8.51118969e-01 -5.23972104e-01 3.23996154e-02 1.10672331e+02] [ 5.23618508e-01 8.51735230e-01 1.92550475e-02 3.54278331e+01] [-3.76850016e-02 5.76702152e-04 9.99289502e-01 -4.45947916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69088847900001 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:35.46, Z:-4.46 [[ 8.51649331e-01 -5.23109956e-01 3.23942927e-02 1.10722654e+02] [ 5.22755395e-01 8.52265038e-01 1.92639981e-02 3.54576808e+01] [-3.76857123e-02 5.28120163e-04 9.99289502e-01 -4.46127342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75088847900001 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:35.49, Z:-4.46 [[ 8.52592262e-01 -5.21572038e-01 3.23889412e-02 1.10773691e+02] [ 5.21216025e-01 8.53207130e-01 1.92729916e-02 3.54863525e+01] [-3.76867290e-02 4.49631675e-04 9.99289502e-01 -4.46106161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81088847900001 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:35.52, Z:-4.46 [[ 8.54580297e-01 -5.18308615e-01 3.23835599e-02 1.10823975e+02] [ 5.17949912e-01 8.55193599e-01 1.92820292e-02 3.55152318e+01] [-3.76882550e-02 2.95019719e-04 9.99289502e-01 -4.46256209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87088847900002 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:35.54, Z:-4.46 [[ 8.56003100e-01 -5.15955767e-01 3.23780799e-02 1.10873959e+02] [ 5.15595029e-01 8.56615208e-01 1.92912268e-02 3.55445900e+01] [-3.76889754e-02 1.80627068e-04 9.99289502e-01 -4.46279977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93088847900002 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:110.92, Y:35.57, Z:-4.47 [[ 8.58782946e-01 -5.11315799e-01 3.23729021e-02 1.10924359e+02] [ 5.10951427e-01 8.59392898e-01 1.92999119e-02 3.55725017e+01] [-3.76893920e-02 -3.34547037e-05 9.99289502e-01 -4.46604684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.990888479 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:110.98, Y:35.60, Z:-4.47 [[ 8.61423249e-01 -5.06855351e-01 3.23672404e-02 1.10975253e+02] [ 5.06487465e-01 8.62031087e-01 1.93094023e-02 3.55991910e+01] [-3.76886413e-02 -2.39966561e-04 9.99289502e-01 -4.46817466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05088847900001 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:35.63, Z:-4.47 [[ 8.62932019e-01 -5.04282505e-01 3.23648855e-02 1.11025499e+02] [ 5.03912658e-01 8.63538666e-01 1.93133486e-02 3.56275883e+01] [-3.76877138e-02 -3.57031440e-04 9.99289502e-01 -4.46931861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11088847900001 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:35.65, Z:-4.47 [[ 8.65605774e-01 -4.99679410e-01 3.23594201e-02 1.11076006e+02] [ 4.99305995e-01 8.66210231e-01 1.93225014e-02 3.56544306e+01] [-3.76851169e-02 -5.68416306e-04 9.99289502e-01 -4.47207733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17088847900001 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:111.13, Y:35.68, Z:-4.47 [[ 8.67494360e-01 -4.96393548e-01 3.23570689e-02 1.11127813e+02] [ 4.96017697e-01 8.68097306e-01 1.93264379e-02 3.56818388e+01] [-3.76826034e-02 -7.15897026e-04 9.99289502e-01 -4.47209199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23088847900001 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:35.71, Z:-4.48 [[ 8.69552841e-01 -4.92779084e-01 3.23516942e-02 1.11180301e+02] [ 4.92400392e-01 8.70154006e-01 1.93354307e-02 3.57087932e+01] [-3.76790522e-02 -8.83191759e-04 9.99289502e-01 -4.47618077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29088847900002 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:111.23, Y:35.74, Z:-4.48 [[ 8.70718115e-01 -4.90717468e-01 3.23470506e-02 1.11232144e+02] [ 4.90337065e-01 8.71318199e-01 1.93431960e-02 3.57355223e+01] [-3.76766181e-02 -9.81513309e-04 9.99289502e-01 -4.48324095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.350888479 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:35.76, Z:-4.49 [[ 8.69776813e-01 -4.92384261e-01 3.23424771e-02 1.11283400e+02] [ 4.92004724e-01 8.70377445e-01 1.93508402e-02 3.57632345e+01] [-3.76782117e-02 -9.18260586e-04 9.99289502e-01 -4.49051030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41088847900001 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:35.78, Z:-4.49 [[ 8.70929255e-01 -4.90343047e-01 3.23408195e-02 1.11340796e+02] [ 4.89962000e-01 8.71528931e-01 1.93536100e-02 3.57822062e+01] [-3.76758680e-02 -1.00985253e-03 9.99289502e-01 -4.48654960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47088847900001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:35.81, Z:-4.49 [[ 8.71138227e-01 -4.89971781e-01 3.23395072e-02 1.11392768e+02] [ 4.89590397e-01 8.71737688e-01 1.93558027e-02 3.58053959e+01] [-3.76753643e-02 -1.02846744e-03 9.99289502e-01 -4.49023485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53088847900001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:35.83, Z:-4.50 [[ 8.70684974e-01 -4.90776913e-01 3.23372432e-02 1.11445379e+02] [ 4.90395943e-01 8.71284698e-01 1.93595843e-02 3.58313162e+01] [-3.76761822e-02 -9.98046257e-04 9.99289502e-01 -4.49529581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:35.85, Z:-4.49 [[ 8.71371940e-01 -4.89556471e-01 3.23327048e-02 1.11502376e+02] [ 4.89174380e-01 8.71970951e-01 1.93671610e-02 3.58510465e+01] [-3.76744983e-02 -1.05966982e-03 9.99289502e-01 -4.48715337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:35.88, Z:-4.49 [[ 8.71166706e-01 -4.89921916e-01 3.23278089e-02 1.11553511e+02] [ 4.89539773e-01 8.71765683e-01 1.93753298e-02 3.58787666e+01] [-3.76746731e-02 -1.05339403e-03 9.99289502e-01 -4.48973160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:35.90, Z:-4.49 [[ 8.70783814e-01 -4.90602256e-01 3.23260940e-02 1.11607781e+02] [ 4.90220475e-01 8.71383022e-01 1.93781905e-02 3.59020657e+01] [-3.76753935e-02 -1.02730143e-03 9.99289502e-01 -4.48841579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:35.93, Z:-4.49 [[ 8.70834915e-01 -4.90511709e-01 3.23235731e-02 1.11659456e+02] [ 4.90129711e-01 8.71433985e-01 1.93823946e-02 3.59287056e+01] [-3.76751516e-02 -1.03612244e-03 9.99289502e-01 -4.49033998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.71, Y:35.96, Z:-4.50 [[ 8.70587586e-01 -4.90950658e-01 3.23219115e-02 1.11711787e+02] [ 4.90568858e-01 8.71186783e-01 1.93851651e-02 3.59553239e+01] [-3.76755816e-02 -1.02036082e-03 9.99289502e-01 -4.49664341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:35.98, Z:-4.50 [[ 8.70763938e-01 -4.90638107e-01 3.23173753e-02 1.11763301e+02] [ 4.90255812e-01 8.71362818e-01 1.93927246e-02 3.59809389e+01] [-3.76749689e-02 -1.04270416e-03 9.99289502e-01 -4.50015024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:36.01, Z:-4.50 [[ 8.67711494e-01 -4.96016595e-01 3.23156321e-02 1.11815691e+02] [ 4.95637905e-01 8.68312660e-01 1.93956290e-02 3.60068809e+01] [-3.76806263e-02 -8.12958009e-04 9.99289502e-01 -4.50127161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.87, Y:36.03, Z:-4.50 [[ 8.63007912e-01 -5.04156123e-01 3.23101803e-02 1.11867661e+02] [ 5.03782765e-01 8.63612403e-01 1.94047066e-02 3.60331948e+01] [-3.76864741e-02 -4.69103378e-04 9.99289502e-01 -4.50237737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:36.06, Z:-4.50 [[ 8.56960124e-01 -5.14369273e-01 3.23047491e-02 1.11919375e+02] [ 5.14002779e-01 8.57568802e-01 1.94137441e-02 3.60581398e+01] [-3.76893785e-02 -3.20737748e-05 9.99289502e-01 -4.50477329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:36.09, Z:-4.50 [[ 8.51313502e-01 -5.23662067e-01 3.23011031e-02 1.11970433e+02] [ 5.23301986e-01 8.51925996e-01 1.94198086e-02 3.60883433e+01] [-3.76875665e-02 3.70886098e-04 9.99289502e-01 -4.50332855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:112.02, Y:36.12, Z:-4.51 [[ 8.48030568e-01 -5.28962275e-01 3.22965447e-02 1.12019649e+02] [ 5.28605734e-01 8.48645129e-01 1.94273866e-02 3.61195285e+01] [-3.76846599e-02 5.97121058e-04 9.99289503e-01 -4.50526557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:36.15, Z:-4.51 [[ 8.43836643e-01 -5.35627441e-01 3.22949455e-02 1.12068502e+02] [ 5.35275652e-01 8.44453936e-01 1.94300447e-02 3.61508248e+01] [-3.76788589e-02 8.90914288e-04 9.99289503e-01 -4.50619792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.12, Y:36.18, Z:-4.51 [[ 8.42278976e-01 -5.38073893e-01 3.22895085e-02 1.12116781e+02] [ 5.37723550e-01 8.42897091e-01 1.94390757e-02 3.61826845e+01] [-3.76763920e-02 9.89704341e-04 9.99289503e-01 -4.51227742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:36.22, Z:-4.52 [[ 8.41616995e-01 -5.39108877e-01 3.22870237e-02 1.12163223e+02] [ 5.38759136e-01 8.42235451e-01 1.94432021e-02 3.62198018e+01] [-3.76752788e-02 1.03119964e-03 9.99289503e-01 -4.51814310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43088847900002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:36.25, Z:-4.52 [[ 8.41262532e-01 -5.39662118e-01 3.22823552e-02 1.12212323e+02] [ 5.39312487e-01 8.41881050e-01 1.94509502e-02 3.62529822e+01] [-3.76748441e-02 1.04692164e-03 9.99289503e-01 -4.51879276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:36.29, Z:-4.52 [[ 8.41500610e-01 -5.39291091e-01 3.22775744e-02 1.12258976e+02] [ 5.38940883e-01 8.42118802e-01 1.94588805e-02 3.62872117e+01] [-3.76755532e-02 1.02104459e-03 9.99289503e-01 -4.52229028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:36.32, Z:-4.53 [[ 8.42489526e-01 -5.37745033e-01 3.22750322e-02 1.12306396e+02] [ 5.37393529e-01 8.43106982e-01 1.94630961e-02 3.63230534e+01] [-3.76774882e-02 9.46938810e-04 9.99289503e-01 -4.52519283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:36.35, Z:-4.52 [[ 8.45816008e-01 -5.32497800e-01 3.22703241e-02 1.12359423e+02] [ 5.32142167e-01 8.46431095e-01 1.94708992e-02 3.63507210e+01] [-3.76828167e-02 7.03601956e-04 9.99289503e-01 -4.52139253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67088847900001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:36.39, Z:-4.53 [[ 8.45425808e-01 -5.33117291e-01 3.22669535e-02 1.12403144e+02] [ 5.32761896e-01 8.46041032e-01 1.94764833e-02 3.63915699e+01] [-3.76824166e-02 7.24681645e-04 9.99289503e-01 -4.52736278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:36.42, Z:-4.53 [[ 8.47541088e-01 -5.29748068e-01 3.22658992e-02 1.12451551e+02] [ 5.29390161e-01 8.48154854e-01 1.94782297e-02 3.64245025e+01] [-3.76850336e-02 5.72649610e-04 9.99289503e-01 -4.53007820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79088847900002 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:36.46, Z:-4.53 [[ 8.52180110e-01 -5.22253120e-01 3.22604679e-02 1.12498764e+02] [ 5.21889474e-01 8.52790493e-01 1.94872210e-02 3.64572138e+01] [-3.76886823e-02 2.29776473e-04 9.99289503e-01 -4.53304110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.850888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:112.55, Y:36.49, Z:-4.54 [[ 8.55508523e-01 -5.16782914e-01 3.22581317e-02 1.12546341e+02] [ 5.16415219e-01 8.56116475e-01 1.94910874e-02 3.64897210e+01] [-3.76893790e-02 -1.62012461e-05 9.99289503e-01 -4.53657628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:36.52, Z:-4.54 [[ 8.57625765e-01 -5.13261941e-01 3.22525528e-02 1.12596054e+02] [ 5.12891402e-01 8.58231989e-01 1.95003148e-02 3.65214380e+01] [-3.76889419e-02 -1.81915344e-04 9.99289503e-01 -4.53907134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97088847900001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:36.54, Z:-4.53 [[ 8.59601712e-01 -5.09946060e-01 3.22476770e-02 1.12653234e+02] [ 5.09572881e-01 8.60206314e-01 1.95083745e-02 3.65423682e+01] [-3.76878741e-02 -3.36890466e-04 9.99289503e-01 -4.53331561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03088847900001 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:36.58, Z:-4.54 [[ 8.52451508e-01 -5.21810958e-01 3.22451753e-02 1.12700291e+02] [ 5.21446038e-01 8.53061130e-01 1.95125086e-02 3.65796011e+01] [-3.76889465e-02 1.80651523e-04 9.99289503e-01 -4.54121352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09088847900001 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:36.60, Z:-4.54 [[ 8.52896139e-01 -5.21084165e-01 3.22408015e-02 1.12756935e+02] [ 5.20718453e-01 8.53505286e-01 1.95197329e-02 3.65999945e+01] [-3.76891182e-02 1.40075466e-04 9.99289503e-01 -4.53736067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15088847900002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:36.64, Z:-4.55 [[ 8.45193183e-01 -5.33487886e-01 3.22359810e-02 1.12803345e+02] [ 5.33130808e-01 8.45807432e-01 1.95276905e-02 3.66365234e+01] [-3.76832186e-02 6.81323741e-04 9.99289503e-01 -4.54638376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.210888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:36.67, Z:-4.55 [[ 8.42376048e-01 -5.37925438e-01 3.22306778e-02 1.12853611e+02] [ 5.37571260e-01 8.42991974e-01 1.95364396e-02 3.66654355e+01] [-3.76793505e-02 8.69257343e-04 9.99289503e-01 -4.54926920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.270888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:36.70, Z:-4.55 [[ 8.40603243e-01 -5.40691928e-01 3.22246354e-02 1.12902590e+02] [ 5.40339396e-01 8.41220111e-01 1.95464012e-02 3.66961244e+01] [-3.76765927e-02 9.81471749e-04 9.99289503e-01 -4.54908154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33088847900001 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:36.72, Z:-4.55 [[ 8.41700804e-01 -5.38982063e-01 3.22194437e-02 1.12955002e+02] [ 5.38627950e-01 8.42316766e-01 1.95549553e-02 3.67206847e+01] [-3.76787478e-02 8.94871348e-04 9.99289503e-01 -4.54765609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39088847900001 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:36.75, Z:-4.55 [[ 8.44268709e-01 -5.34951023e-01 3.22141278e-02 1.13005369e+02] [ 5.34593635e-01 8.44882777e-01 1.95637085e-02 3.67509974e+01] [-3.76827877e-02 7.04440734e-04 9.99289503e-01 -4.55111550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45088847900001 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:113.06, Y:36.78, Z:-4.55 [[ 8.46813945e-01 -5.30913138e-01 3.22084188e-02 1.13055663e+02] [ 5.30552464e-01 8.47426089e-01 1.95731029e-02 3.67814216e+01] [-3.76858719e-02 5.13479502e-04 9.99289503e-01 -4.54545991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51088847900002 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:36.83, Z:-4.55 [[ 8.45606286e-01 -5.32834872e-01 3.22026148e-02 1.13096016e+02] [ 5.32475226e-01 8.46219034e-01 1.95826474e-02 3.68283357e+01] [-3.76847830e-02 5.87884881e-04 9.99289503e-01 -4.55418058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57088847900002 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:113.14, Y:36.86, Z:-4.56 [[ 8.47822561e-01 -5.29301667e-01 3.21970621e-02 1.13144024e+02] [ 5.28939121e-01 8.48433597e-01 1.95917727e-02 3.68585810e+01] [-3.76870271e-02 4.19938764e-04 9.99289503e-01 -4.55592249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.630888479 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:113.20, Y:36.89, Z:-4.55 [[ 8.57196818e-01 -5.13981669e-01 3.21940741e-02 1.13195308e+02] [ 5.13608018e-01 8.57801128e-01 1.95966814e-02 3.68864094e+01] [-3.76884481e-02 -2.63078321e-04 9.99289503e-01 -4.55278309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69088847900001 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:113.24, Y:36.92, Z:-4.56 [[ 8.60410346e-01 -5.08584263e-01 3.21882742e-02 1.13240431e+02] [ 5.08206464e-01 8.61012071e-01 1.96062033e-02 3.69215389e+01] [-3.76858991e-02 -5.11091107e-04 9.99289503e-01 -4.55628961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75088847900001 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:113.28, Y:36.96, Z:-4.56 [[ 8.59869216e-01 -5.09498793e-01 3.21855718e-02 1.13284784e+02] [ 5.09121469e-01 8.60471239e-01 1.96106386e-02 3.69602535e+01] [-3.76863556e-02 -4.76218852e-04 9.99289504e-01 -4.56422924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81088847900001 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:36.99, Z:-4.57 [[ 8.62111602e-01 -5.05695709e-01 3.21781770e-02 1.13330919e+02] [ 5.05315276e-01 8.62711666e-01 1.96227648e-02 3.69941771e+01] [-3.76836367e-02 -6.56888814e-04 9.99289504e-01 -4.56645363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87088847900002 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:113.38, Y:37.02, Z:-4.57 [[ 8.66190522e-01 -4.98677003e-01 3.21749499e-02 1.13382236e+02] [ 4.98291513e-01 8.66787349e-01 1.96280549e-02 3.70209062e+01] [-3.76768991e-02 -9.69130681e-04 9.99289504e-01 -4.56762869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93088847900002 meters Centerline goodness : 0.997999 with order 1 Centerline is valid? [True, True] Translation: X:113.43, Y:37.05, Z:-4.57 [[ 8.65829131e-01 -4.99304609e-01 3.21686641e-02 1.13430460e+02] [ 4.98919169e-01 8.66425991e-01 1.96383514e-02 3.70535066e+01] [-3.76772860e-02 -9.53893591e-04 9.99289504e-01 -4.57171218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.990888479 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:113.48, Y:37.08, Z:-4.57 [[ 8.68597242e-01 -4.94473865e-01 3.21625220e-02 1.13481992e+02] [ 4.94084735e-01 8.69191702e-01 1.96484054e-02 3.70822978e+01] [-3.76710202e-02 -1.17553956e-03 9.99289504e-01 -4.57296044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05088847900001 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:37.11, Z:-4.58 [[ 8.67216797e-01 -4.96891347e-01 3.21561419e-02 1.13531719e+02] [ 4.96503487e-01 8.67812086e-01 1.96588413e-02 3.71123182e+01] [-3.76737968e-02 -1.08284079e-03 9.99289504e-01 -4.57805584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11088847900001 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:37.14, Z:-4.58 [[ 8.64849499e-01 -5.01000445e-01 3.21542973e-02 1.13583186e+02] [ 5.00615302e-01 8.65446550e-01 1.96618580e-02 3.71390134e+01] [-3.76784252e-02 -9.07614770e-04 9.99289504e-01 -4.57972728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17088847900001 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:113.63, Y:37.17, Z:-4.58 [[ 8.63795224e-01 -5.02816329e-01 3.21488694e-02 1.13633545e+02] [ 5.02432112e-01 8.64392871e-01 1.96707291e-02 3.71675722e+01] [-3.76800173e-02 -8.38857556e-04 9.99289504e-01 -4.58027342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23088847900001 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:37.20, Z:-4.58 [[ 8.61233748e-01 -5.07191525e-01 3.21432603e-02 1.13683880e+02] [ 5.06810002e-01 8.61833118e-01 1.96798905e-02 3.71957705e+01] [-3.76835999e-02 -6.58459995e-04 9.99289504e-01 -4.58472207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29088847900002 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:113.74, Y:37.22, Z:-4.59 [[ 8.59098127e-01 -5.10800919e-01 3.21376486e-02 1.13737149e+02] [ 5.10421573e-01 8.59698877e-01 1.96890502e-02 3.72218204e+01] [-3.76858854e-02 -5.11077003e-04 9.99289504e-01 -4.58937155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.350888479 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:113.79, Y:37.25, Z:-4.58 [[ 8.58317056e-01 -5.12112605e-01 3.21327111e-02 1.13788588e+02] [ 5.11733875e-01 8.58918195e-01 1.96971050e-02 3.72497397e+01] [-3.76865059e-02 -4.62964420e-04 9.99289504e-01 -4.58410913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41088847900001 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:37.28, Z:-4.59 [[ 8.56375646e-01 -5.15352762e-01 3.21291546e-02 1.13839307e+02] [ 5.14976089e-01 8.56978076e-01 1.97029044e-02 3.72781819e+01] [-3.76879273e-02 -3.27341139e-04 9.99289504e-01 -4.58805695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47088847900001 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:37.31, Z:-4.59 [[ 8.55975743e-01 -5.16017097e-01 3.21229322e-02 1.13890580e+02] [ 5.15640511e-01 8.56578227e-01 1.97130441e-02 3.73055880e+01] [-3.76880721e-02 -3.10002410e-04 9.99289504e-01 -4.59025464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53088847900001 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:37.34, Z:-4.60 [[ 8.52707263e-01 -5.21400814e-01 3.21171873e-02 1.13939656e+02] [ 5.21027680e-01 8.53311891e-01 1.97223994e-02 3.73374521e+01] [-3.76892529e-02 -8.34896593e-05 9.99289504e-01 -4.59796807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59088847900001 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:37.37, Z:-4.60 [[ 8.52164366e-01 -5.22288007e-01 3.21112216e-02 1.13989073e+02] [ 5.21915136e-01 8.52769157e-01 1.97321077e-02 3.73671509e+01] [-3.76893026e-02 -5.56664406e-05 9.99289504e-01 -4.59724000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65088847900002 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:37.39, Z:-4.60 [[ 8.51731724e-01 -5.22993608e-01 3.21053790e-02 1.14040188e+02] [ 5.22620880e-01 8.52336603e-01 1.97416095e-02 3.73938482e+01] [-3.76893252e-02 -3.56136750e-05 9.99289504e-01 -4.60079204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.710888479 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:37.42, Z:-4.60 [[ 8.53037923e-01 -5.20860764e-01 3.20993283e-02 1.14093339e+02] [ 5.20486154e-01 8.53641637e-01 1.97514428e-02 3.74201241e+01] [-3.76890748e-02 -1.41473765e-04 9.99289504e-01 -4.60223259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.770888479 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:37.45, Z:-4.61 [[ 8.50689535e-01 -5.24687789e-01 3.20942300e-02 1.14141124e+02] [ 5.24315582e-01 8.51294734e-01 1.97597236e-02 3.74519972e+01] [-3.76893347e-02 1.81147688e-05 9.99289504e-01 -4.60606231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83088847900001 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:37.48, Z:-4.61 [[ 8.51168589e-01 -5.23910412e-01 3.20922710e-02 1.14191185e+02] [ 5.23537532e-01 8.51773374e-01 1.97629048e-02 3.74814724e+01] [-3.76893335e-02 -2.00554657e-05 9.99289504e-01 -4.60766822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89088847900001 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:37.51, Z:-4.61 [[ 8.53814229e-01 -5.19588063e-01 3.20859491e-02 1.14242532e+02] [ 5.19211736e-01 8.54416874e-01 1.97731634e-02 3.75064805e+01] [-3.76886760e-02 -2.23206882e-04 9.99289505e-01 -4.61182228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95088847900001 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:37.54, Z:-4.61 [[ 8.54621655e-01 -5.18259082e-01 3.20835041e-02 1.14291054e+02] [ 5.17881669e-01 8.55223621e-01 1.97771297e-02 3.75378893e+01] [-3.76882477e-02 -2.86504646e-04 9.99289505e-01 -4.61361977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01088847900002 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:114.34, Y:37.56, Z:-4.61 [[ 8.57068944e-01 -5.14202129e-01 3.20779626e-02 1.14343958e+02] [ 5.13821531e-01 8.57668901e-01 1.97861138e-02 3.75621863e+01] [-3.76863328e-02 -4.75715779e-04 9.99289505e-01 -4.61366338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07088847900002 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:37.59, Z:-4.62 [[ 8.56573097e-01 -5.15028113e-01 3.20713718e-02 1.14390397e+02] [ 5.14647693e-01 8.57173167e-01 1.97967912e-02 3.75947948e+01] [-3.76866233e-02 -4.51941211e-04 9.99289505e-01 -4.61805940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.130888479 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:37.62, Z:-4.62 [[ 8.57299681e-01 -5.13818140e-01 3.20651866e-02 1.14440445e+02] [ 5.13436499e-01 8.57898976e-01 1.98068043e-02 3.76249766e+01] [-3.76857861e-02 -5.16929802e-04 9.99289505e-01 -4.62163043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19088847900001 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:114.49, Y:37.65, Z:-4.62 [[ 8.59308523e-01 -5.10451836e-01 3.20590860e-02 1.14494323e+02] [ 5.10067480e-01 8.59906079e-01 1.98166738e-02 3.76502079e+01] [-3.76832605e-02 -6.76339446e-04 9.99289505e-01 -4.62183944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25088847900001 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:114.54, Y:37.68, Z:-4.63 [[ 8.56441594e-01 -5.15247853e-01 3.20538175e-02 1.14542995e+02] [ 5.14866524e-01 8.57041087e-01 1.98251921e-02 3.76836261e+01] [-3.76863262e-02 -4.75681486e-04 9.99289505e-01 -4.62854432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31088847900001 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:37.71, Z:-4.63 [[ 8.54687748e-01 -5.18152219e-01 3.20489013e-02 1.14594190e+02] [ 5.17772630e-01 8.55288344e-01 1.98331362e-02 3.77105192e+01] [-3.76876353e-02 -3.57094607e-04 9.99289505e-01 -4.63158268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37088847900002 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:37.74, Z:-4.63 [[ 8.54337076e-01 -5.18730324e-01 3.20470122e-02 1.14646078e+02] [ 5.18351027e-01 8.54937857e-01 1.98361882e-02 3.77383443e+01] [-3.76878363e-02 -3.35189339e-04 9.99289505e-01 -4.63128049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43088847900002 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:37.77, Z:-4.63 [[ 8.54290569e-01 -5.18807189e-01 3.20425375e-02 1.14695789e+02] [ 5.18427675e-01 8.54891212e-01 1.98434139e-02 3.77674519e+01] [-3.76877895e-02 -3.40303118e-04 9.99289505e-01 -4.63412884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.490888479 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:37.80, Z:-4.64 [[ 8.53381944e-01 -5.20300793e-01 3.20365748e-02 1.14744811e+02] [ 5.19921969e-01 8.53983023e-01 1.98530358e-02 3.77979341e+01] [-3.76882412e-02 -2.85703266e-04 9.99289505e-01 -4.64096113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55088847900001 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:37.83, Z:-4.64 [[ 8.53139085e-01 -5.20699037e-01 3.20345906e-02 1.14797551e+02] [ 5.20320373e-01 8.53740265e-01 1.98562370e-02 3.78255434e+01] [-3.76883433e-02 -2.71881753e-04 9.99289505e-01 -4.63657693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61088847900001 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:114.85, Y:37.85, Z:-4.64 [[ 8.50726708e-01 -5.24631435e-01 3.20300754e-02 1.14849538e+02] [ 5.24255277e-01 8.51329458e-01 1.98635177e-02 3.78540242e+01] [-3.76891725e-02 -1.06489010e-04 9.99289505e-01 -4.63788072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67088847900001 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:114.90, Y:37.89, Z:-4.64 [[ 8.49983983e-01 -5.25834212e-01 3.20251536e-02 1.14898740e+02] [ 5.25458608e-01 8.50587078e-01 1.98714498e-02 3.78853405e+01] [-3.76892700e-02 -6.25214007e-05 9.99289505e-01 -4.63941832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73088847900001 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:37.92, Z:-4.64 [[ 8.49960856e-01 -5.25871931e-01 3.20196154e-02 1.14948027e+02] [ 5.25496017e-01 8.50563758e-01 1.98803696e-02 3.79167119e+01] [-3.76892528e-02 -7.13556015e-05 9.99289505e-01 -4.64171724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79088847900002 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:37.95, Z:-4.65 [[ 8.50046440e-01 -5.25733895e-01 3.20144093e-02 1.14997233e+02] [ 5.25357567e-01 8.50649084e-01 1.98887499e-02 3.79480272e+01] [-3.76892179e-02 -8.73488888e-05 9.99289505e-01 -4.64504087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.850888479 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:37.98, Z:-4.64 [[ 8.50671300e-01 -5.24722346e-01 3.20124841e-02 1.15045453e+02] [ 5.24345185e-01 8.51273423e-01 1.98918482e-02 3.79804872e+01] [-3.76890741e-02 -1.35832444e-04 9.99289505e-01 -4.64492224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91088847900001 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:115.09, Y:38.02, Z:-4.65 [[ 8.51713854e-01 -5.23028520e-01 3.20105995e-02 1.15093282e+02] [ 5.22650048e-01 8.52315154e-01 1.98948804e-02 3.80150920e+01] [-3.76887089e-02 -2.14403866e-04 9.99289505e-01 -4.64932189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97088847900001 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:115.14, Y:38.05, Z:-4.65 [[ 8.52370854e-01 -5.21957471e-01 3.20050892e-02 1.15142265e+02] [ 5.21577911e-01 8.52971467e-01 1.99037409e-02 3.80464822e+01] [-3.76883342e-02 -2.72221085e-04 9.99289505e-01 -4.65183786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:38.08, Z:-4.66 [[ 8.51632394e-01 -5.23161644e-01 3.20025045e-02 1.15189560e+02] [ 5.22782777e-01 8.52233445e-01 1.99078959e-02 3.80806488e+01] [-3.76886522e-02 -2.23850884e-04 9.99289505e-01 -4.65948580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09088847900001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:38.11, Z:-4.65 [[ 8.53369726e-01 -5.20323041e-01 3.20006944e-02 1.15239553e+02] [ 5.19942065e-01 8.53969442e-01 1.99108052e-02 3.81103299e+01] [-3.76876658e-02 -3.52771244e-04 9.99289505e-01 -4.65447206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:38.14, Z:-4.66 [[ 8.53306267e-01 -5.20427213e-01 3.19989177e-02 1.15287907e+02] [ 5.20046204e-01 8.53905962e-01 1.99136600e-02 3.81426390e+01] [-3.76876772e-02 -3.51535203e-04 9.99289505e-01 -4.65770628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847900002 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:115.34, Y:38.17, Z:-4.66 [[ 8.52269063e-01 -5.22124362e-01 3.19936746e-02 1.15337528e+02] [ 5.21744231e-01 8.52869315e-01 1.99220802e-02 3.81733196e+01] [-3.76882267e-02 -2.86457482e-04 9.99289505e-01 -4.65926943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.270888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.39, Y:38.20, Z:-4.66 [[ 8.50888523e-01 -5.24371498e-01 3.19883434e-02 1.15386687e+02] [ 5.23992630e-01 8.51489573e-01 1.99306367e-02 3.82033299e+01] [-3.76887987e-02 -1.97093808e-04 9.99289505e-01 -4.66129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.44, Y:38.23, Z:-4.66 [[ 8.49501635e-01 -5.26615673e-01 3.19828916e-02 1.15436466e+02] [ 5.26238064e-01 8.50103477e-01 1.99393814e-02 3.82337278e+01] [-3.76891581e-02 -1.07922207e-04 9.99289505e-01 -4.66266528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39088847900001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:38.26, Z:-4.66 [[ 8.49272998e-01 -5.26984652e-01 3.19773452e-02 1.15485040e+02] [ 5.26606969e-01 8.49874794e-01 1.99482724e-02 3.82646620e+01] [-3.76891730e-02 -1.02036266e-04 9.99289506e-01 -4.66451705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:38.30, Z:-4.67 [[ 8.49220311e-01 -5.27069655e-01 3.19756505e-02 1.15533606e+02] [ 5.26691930e-01 8.49822081e-01 1.99509885e-02 3.82958009e+01] [-3.76891744e-02 -1.01467626e-04 9.99289506e-01 -4.66907115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51088847900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.58, Y:38.33, Z:-4.67 [[ 8.48954707e-01 -5.27497457e-01 3.19740151e-02 1.15584252e+02] [ 5.27119937e-01 8.49556605e-01 1.99536091e-02 3.83265879e+01] [-3.76892138e-02 -8.55695501e-05 9.99289506e-01 -4.67155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:38.36, Z:-4.67 [[ 8.47519282e-01 -5.29800928e-01 3.19694207e-02 1.15634578e+02] [ 5.29424766e-01 8.48122029e-01 1.99609675e-02 3.83564032e+01] [-3.76893090e-02 8.09824423e-06 9.99289506e-01 -4.67184270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:38.39, Z:-4.67 [[ 8.44821172e-01 -5.34093150e-01 3.19639592e-02 1.15683645e+02] [ 5.33719720e-01 8.45425616e-01 1.99697092e-02 3.83868363e+01] [-3.76888348e-02 1.88962276e-04 9.99289506e-01 -4.67212481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:38.42, Z:-4.67 [[ 8.43024875e-01 -5.36924085e-01 3.19622795e-02 1.15732845e+02] [ 5.36552583e-01 8.43630505e-01 1.99723974e-02 3.84174261e+01] [-3.76880152e-02 3.12215823e-04 9.99289506e-01 -4.67235255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.78, Y:38.45, Z:-4.67 [[ 8.43721403e-01 -5.35829172e-01 3.19576517e-02 1.15784458e+02] [ 5.35456604e-01 8.44326378e-01 1.99797995e-02 3.84460955e+01] [-3.76884477e-02 2.54551183e-04 9.99289506e-01 -4.67481525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.83, Y:38.48, Z:-4.68 [[ 8.42492204e-01 -5.37760099e-01 3.19524859e-02 1.15830487e+02] [ 5.37388604e-01 8.43097839e-01 1.99880574e-02 3.84814284e+01] [-3.76878515e-02 3.31119207e-04 9.99289506e-01 -4.67783691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:38.51, Z:-4.68 [[ 8.42191615e-01 -5.38230892e-01 3.19498052e-02 1.15878203e+02] [ 5.37859573e-01 8.42797358e-01 1.99923415e-02 3.85145674e+01] [-3.76877072e-02 3.47126212e-04 9.99289506e-01 -4.67957789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93088847900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:38.55, Z:-4.69 [[ 8.41807978e-01 -5.38831037e-01 3.19443565e-02 1.15924858e+02] [ 5.38459819e-01 8.42413783e-01 2.00010437e-02 3.85503190e+01] [-3.76875493e-02 3.63714284e-04 9.99289506e-01 -4.68552569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.990888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:38.58, Z:-4.68 [[ 8.43599640e-01 -5.36021957e-01 3.19391411e-02 1.15972929e+02] [ 5.35648407e-01 8.44204009e-01 2.00093686e-02 3.85830537e+01] [-3.76886119e-02 2.28253899e-04 9.99289506e-01 -4.68213442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:38.62, Z:-4.68 [[ 8.44751292e-01 -5.34205262e-01 3.19373225e-02 1.16019213e+02] [ 5.33830303e-01 8.45354788e-01 2.00122709e-02 3.86178704e+01] [-3.76890289e-02 1.43718865e-04 9.99289506e-01 -4.68239301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:116.06, Y:38.65, Z:-4.68 [[ 8.47156713e-01 -5.30382760e-01 3.19316658e-02 1.16064876e+02] [ 5.30004737e-01 8.47758295e-01 2.00212928e-02 3.86539043e+01] [-3.76892830e-02 -3.72384572e-05 9.99289506e-01 -4.68364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:38.69, Z:-4.69 [[ 8.48934897e-01 -5.27532245e-01 3.19260348e-02 1.16110903e+02] [ 5.27151865e-01 8.49534990e-01 2.00302679e-02 3.86888199e+01] [-3.76888959e-02 -1.74524598e-04 9.99289506e-01 -4.68637695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:38.73, Z:-4.69 [[ 8.51456758e-01 -5.23452457e-01 3.19204598e-02 1.16156325e+02] [ 5.23068868e-01 8.52054806e-01 2.00391483e-02 3.87260735e+01] [-3.76875226e-02 -3.65869451e-04 9.99289506e-01 -4.68894168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:116.20, Y:38.76, Z:-4.69 [[ 8.51900263e-01 -5.22730703e-01 3.19148011e-02 1.16202753e+02] [ 5.22346270e-01 8.52497768e-01 2.00481565e-02 3.87597616e+01] [-3.76870836e-02 -4.08452482e-04 9.99289506e-01 -4.69095252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:116.25, Y:38.79, Z:-4.69 [[ 8.51797210e-01 -5.22898845e-01 3.19109862e-02 1.16251359e+02] [ 5.22514303e-01 8.52394645e-01 2.00542269e-02 3.87920884e+01] [-3.76870858e-02 -4.08187759e-04 9.99289506e-01 -4.69204148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:38.83, Z:-4.69 [[ 8.52108233e-01 -5.22392202e-01 3.19052537e-02 1.16297666e+02] [ 5.22006964e-01 8.52705220e-01 2.00633429e-02 3.88270368e+01] [-3.76867102e-02 -4.41375045e-04 9.99289506e-01 -4.69388734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:116.34, Y:38.86, Z:-4.70 [[ 8.50784949e-01 -5.24544695e-01 3.19034977e-02 1.16342924e+02] [ 5.24160863e-01 8.51382840e-01 2.00661348e-02 3.88648911e+01] [-3.76876750e-02 -3.49400599e-04 9.99289506e-01 -4.69959240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530888479 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:38.90, Z:-4.70 [[ 8.51259372e-01 -5.23774727e-01 3.18985458e-02 1.16392953e+02] [ 5.23390058e-01 8.51856726e-01 2.00740036e-02 3.88966446e+01] [-3.76872465e-02 -3.92801957e-04 9.99289506e-01 -4.69794428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590888479 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:116.44, Y:38.93, Z:-4.70 [[ 8.50601935e-01 -5.24842027e-01 3.18934899e-02 1.16439390e+02] [ 5.24457807e-01 8.51199578e-01 2.00820332e-02 3.89295155e+01] [-3.76876201e-02 -3.55026516e-04 9.99289506e-01 -4.69944673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650888479 meters Centerline goodness : 0.996106 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:38.96, Z:-4.70 [[ 8.50793418e-01 -5.24531805e-01 3.18895842e-02 1.16489156e+02] [ 5.24147135e-01 8.51390771e-01 2.00882334e-02 3.89597019e+01] [-3.76874150e-02 -3.76102569e-04 9.99289506e-01 -4.69854300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710888479 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:39.00, Z:-4.71 [[ 8.45289674e-01 -5.33356192e-01 3.18832151e-02 1.16531254e+02] [ 5.32977377e-01 8.45890757e-01 2.00983371e-02 3.90012318e+01] [-3.76892895e-02 4.11556363e-06 9.99289506e-01 -4.71020426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770888479 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:39.03, Z:-4.70 [[ 8.48353551e-01 -5.28469677e-01 3.18756042e-02 1.16582438e+02] [ 5.28086946e-01 8.48952148e-01 2.01104006e-02 3.90277177e+01] [-3.76885995e-02 -2.27639287e-04 9.99289506e-01 -4.70296596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830888479 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:116.63, Y:39.06, Z:-4.70 [[ 8.49287665e-01 -5.26967426e-01 3.18715174e-02 1.16634685e+02] [ 5.26583394e-01 8.49885428e-01 2.01168753e-02 3.90558473e+01] [-3.76880762e-02 -3.02002285e-04 9.99289506e-01 -4.70129143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890888479 meters Centerline goodness : 0.993591 with order 1 Centerline is valid? [True, True] Translation: X:116.68, Y:39.09, Z:-4.71 [[ 8.44028715e-01 -5.35350381e-01 3.18668634e-02 1.16679502e+02] [ 5.34972008e-01 8.44630076e-01 2.01242450e-02 3.90943557e+01] [-3.76892335e-02 6.24392403e-05 9.99289506e-01 -4.71213877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:39.13, Z:-4.72 [[ 8.38163905e-01 -5.44486912e-01 3.18633181e-02 1.16725553e+02] [ 5.44114880e-01 8.38769209e-01 2.01298569e-02 3.91303100e+01] [-3.76864137e-02 4.65186051e-04 9.99289507e-01 -4.71595854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:39.17, Z:-4.73 [[ 8.30485411e-01 -5.56128524e-01 3.18598065e-02 1.16766198e+02] [ 5.55764761e-01 8.31095720e-01 2.01354131e-02 3.91744887e+01] [-3.76764264e-02 9.84390956e-04 9.99289507e-01 -4.72702522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.070888479 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:39.20, Z:-4.71 [[ 8.35161295e-01 -5.49081779e-01 3.18561056e-02 1.16819386e+02] [ 5.48712642e-01 8.35768369e-01 2.01412665e-02 3.92007492e+01] [-3.76835279e-02 6.58641639e-04 9.99289507e-01 -4.71164517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:39.25, Z:-4.73 [[ 8.28455230e-01 -5.59148860e-01 3.18509657e-02 1.16856715e+02] [ 5.58786785e-01 8.29066542e-01 2.01493914e-02 3.92502969e+01] [-3.76730793e-02 1.10503003e-03 9.99289507e-01 -4.73280792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:39.28, Z:-4.72 [[ 8.33615477e-01 -5.51426410e-01 3.18457290e-02 1.16909193e+02] [ 5.51058354e-01 8.34223207e-01 2.01576646e-02 3.92790843e+01] [-3.76819148e-02 7.45113824e-04 9.99289507e-01 -4.72271455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters Centerline goodness : 0.998154 with order 1 Centerline is valid? [True, True] Translation: X:116.96, Y:39.31, Z:-4.72 [[ 8.38348923e-01 -5.44203299e-01 3.18410594e-02 1.16957635e+02] [ 5.43829726e-01 8.38953277e-01 2.01650380e-02 3.93132350e+01] [-3.76870413e-02 4.10776655e-04 9.99289507e-01 -4.72004410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310888479 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:117.01, Y:39.35, Z:-4.72 [[ 8.44875352e-01 -5.34015139e-01 3.18350686e-02 1.17006305e+02] [ 5.33633921e-01 8.45474913e-01 2.01744914e-02 3.93472406e+01] [-3.76892357e-02 -5.66580357e-05 9.99289507e-01 -4.71920407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370888479 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:39.38, Z:-4.72 [[ 8.46712628e-01 -5.31097553e-01 3.18294816e-02 1.17052697e+02] [ 5.30713938e-01 8.47310658e-01 2.01833022e-02 3.93843038e+01] [-3.76887614e-02 -1.97107334e-04 9.99289507e-01 -4.71685589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430888479 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:39.42, Z:-4.72 [[ 8.49149344e-01 -5.27193191e-01 3.18234381e-02 1.17099883e+02] [ 5.26806470e-01 8.49745370e-01 2.01928267e-02 3.94179323e+01] [-3.76873399e-02 -3.81932439e-04 9.99289507e-01 -4.72193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490888479 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:39.45, Z:-4.72 [[ 8.51470083e-01 -5.23436857e-01 3.18206565e-02 1.17149812e+02] [ 5.23047343e-01 8.52064287e-01 2.01972091e-02 3.94502030e+01] [-3.76852086e-02 -5.53609478e-04 9.99289507e-01 -4.71831627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550888479 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:39.48, Z:-4.73 [[ 8.51677737e-01 -5.23099186e-01 3.18162443e-02 1.17198119e+02] [ 5.22709176e-01 8.52271617e-01 2.02041571e-02 3.94817261e+01] [-3.76848601e-02 -5.76787967e-04 9.99289507e-01 -4.72569564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610888479 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:117.25, Y:39.51, Z:-4.73 [[ 8.53929435e-01 -5.19415405e-01 3.18144062e-02 1.17248343e+02] [ 5.19022726e-01 8.54521553e-01 2.02070510e-02 3.95122489e+01] [-3.76819494e-02 -7.42995794e-04 9.99289507e-01 -4.72823494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:117.30, Y:39.54, Z:-4.73 [[ 8.55370234e-01 -5.17039582e-01 3.18093427e-02 1.17297888e+02] [ 5.16644962e-01 8.55961060e-01 2.02150187e-02 3.95417356e+01] [-3.76795235e-02 -8.57188666e-04 9.99289507e-01 -4.72824435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:39.57, Z:-4.74 [[ 8.57835029e-01 -5.12939912e-01 3.18073965e-02 1.17347433e+02] [ 5.12542356e-01 8.58423883e-01 2.02180804e-02 3.95713178e+01] [-3.76748892e-02 -1.04113966e-03 9.99289507e-01 -4.73586490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:117.40, Y:39.60, Z:-4.73 [[ 8.58515583e-01 -5.11800154e-01 3.18056118e-02 1.17398963e+02] [ 5.11401712e-01 8.59103838e-01 2.02208877e-02 3.96001960e+01] [-3.76733766e-02 -1.09450290e-03 9.99289507e-01 -4.73423916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:39.63, Z:-4.74 [[ 8.58764187e-01 -5.11383212e-01 3.18006451e-02 1.17450999e+02] [ 5.10984196e-01 8.59352053e-01 2.02286956e-02 3.96278051e+01] [-3.76725650e-02 -1.12205234e-03 9.99289507e-01 -4.73521796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:39.66, Z:-4.74 [[ 8.57702970e-01 -5.13161426e-01 3.17957018e-02 1.17502271e+02] [ 5.12763341e-01 8.58291467e-01 2.02364625e-02 3.96553909e+01] [-3.76745515e-02 -1.05320365e-03 9.99289507e-01 -4.73798260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:39.68, Z:-4.74 [[ 8.55418416e-01 -5.16960808e-01 3.17939655e-02 1.17555607e+02] [ 5.16565237e-01 8.56008605e-01 2.02391901e-02 3.96820590e+01] [-3.76787761e-02 -8.89318664e-04 9.99289507e-01 -4.73594555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030888479 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:39.71, Z:-4.74 [[ 8.53262454e-01 -5.20511921e-01 3.17887425e-02 1.17606144e+02] [ 5.20118501e-01 8.53854079e-01 2.02473904e-02 3.97104267e+01] [-3.76819555e-02 -7.42424961e-04 9.99289507e-01 -4.74119573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090888479 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:39.74, Z:-4.74 [[ 8.49185483e-01 -5.27137181e-01 3.17869108e-02 1.17659522e+02] [ 5.26748269e-01 8.49780082e-01 2.02502655e-02 3.97370532e+01] [-3.76865516e-02 -4.52531241e-04 9.99289507e-01 -4.73979614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150888479 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:39.76, Z:-4.75 [[ 8.46738047e-01 -5.31059887e-01 3.17816886e-02 1.17709305e+02] [ 5.30673423e-01 8.47334239e-01 2.02584581e-02 3.97638489e+01] [-3.76881675e-02 -2.87909797e-04 9.99289507e-01 -4.74665247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210888479 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:117.76, Y:39.79, Z:-4.75 [[ 8.43677219e-01 -5.35909442e-01 3.17776697e-02 1.17760807e+02] [ 5.35526167e-01 8.44275467e-01 2.02647603e-02 3.97920536e+01] [-3.76891833e-02 -7.91429542e-05 9.99289507e-01 -4.74630497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270888479 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:117.81, Y:39.82, Z:-4.75 [[ 8.42597241e-01 -5.37606210e-01 3.17718691e-02 1.17810123e+02] [ 5.37223797e-01 8.43196041e-01 2.02738506e-02 3.98217367e+01] [-3.76892622e-02 -1.40864138e-05 9.99289507e-01 -4.75012608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330888479 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:39.85, Z:-4.75 [[ 8.39580177e-01 -5.42306043e-01 3.17691940e-02 1.17863496e+02] [ 5.41926824e-01 8.40181004e-01 2.02780418e-02 3.98481919e+01] [-3.76887779e-02 1.91536475e-04 9.99289507e-01 -4.75165976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390888479 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:39.88, Z:-4.75 [[ 8.37930248e-01 -5.44852216e-01 3.17641797e-02 1.17915383e+02] [ 5.44474524e-01 8.38532036e-01 2.02858933e-02 3.98772253e+01] [-3.76880961e-02 2.96623005e-04 9.99289507e-01 -4.75273343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:39.91, Z:-4.75 [[ 8.38325048e-01 -5.44244872e-01 3.17589920e-02 1.17965955e+02] [ 5.43866437e-01 8.38926369e-01 2.02940116e-02 3.99053595e+01] [-3.76883676e-02 2.59671583e-04 9.99289507e-01 -4.75479410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:39.93, Z:-4.76 [[ 8.40912430e-01 -5.40238621e-01 3.17571736e-02 1.18016125e+02] [ 5.39857214e-01 8.41511869e-01 2.02968568e-02 3.99344893e+01] [-3.76891845e-02 7.64600900e-05 9.99289507e-01 -4.75675631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:118.07, Y:39.97, Z:-4.76 [[ 8.43376741e-01 -5.36383744e-01 3.17514189e-02 1.18065343e+02] [ 5.35999258e-01 8.43974210e-01 2.03058553e-02 3.99653507e+01] [-3.76891093e-02 -1.06749067e-04 9.99289507e-01 -4.76070053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:118.12, Y:40.00, Z:-4.76 [[ 8.47207567e-01 -5.30312688e-01 3.17457280e-02 1.18116036e+02] [ 5.29923587e-01 8.47802042e-01 2.03147483e-02 3.99960342e+01] [-3.76872618e-02 -3.87998360e-04 9.99289507e-01 -4.76322369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:40.03, Z:-4.77 [[ 8.49072043e-01 -5.27322666e-01 3.17406843e-02 1.18166169e+02] [ 5.26931178e-01 8.49664949e-01 2.03226258e-02 4.00271023e+01] [-3.76855281e-02 -5.30217312e-04 9.99289508e-01 -4.76562045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:118.22, Y:40.06, Z:-4.77 [[ 8.50793013e-01 -5.24541796e-01 3.17356668e-02 1.18218089e+02] [ 5.24148078e-01 8.51384440e-01 2.03304580e-02 4.00554073e+01] [-3.76834279e-02 -6.62822871e-04 9.99289508e-01 -4.76704641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810888479 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:40.08, Z:-4.77 [[ 8.51785957e-01 -5.22928147e-01 3.17307065e-02 1.18268709e+02] [ 5.22533020e-01 8.52376443e-01 2.03381970e-02 4.00814860e+01] [-3.76819224e-02 -7.43448677e-04 9.99289508e-01 -4.76916921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870888479 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:40.11, Z:-4.77 [[ 8.52183048e-01 -5.22281014e-01 3.17268778e-02 1.18319677e+02] [ 5.21885217e-01 8.52773086e-01 2.03441678e-02 4.01101700e+01] [-3.76812001e-02 -7.79166431e-04 9.99289508e-01 -4.77126710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930888479 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:118.37, Y:40.14, Z:-4.78 [[ 8.52512575e-01 -5.21743317e-01 3.17209776e-02 1.18370993e+02] [ 5.21346805e-01 8.53102133e-01 2.03533634e-02 4.01373618e+01] [-3.76804649e-02 -8.13867946e-04 9.99289508e-01 -4.77621286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:40.16, Z:-4.78 [[ 8.51345832e-01 -5.23645079e-01 3.17191664e-02 1.18424265e+02] [ 5.23249780e-01 8.51936203e-01 2.03561856e-02 4.01615594e+01] [-3.76821226e-02 -7.33106949e-04 9.99289508e-01 -4.77728577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.48, Y:40.19, Z:-4.78 [[ 8.49406781e-01 -5.26784943e-01 3.17134566e-02 1.18476582e+02] [ 5.26391495e-01 8.49998387e-01 2.03650771e-02 4.01897398e+01] [-3.76844030e-02 -6.04540773e-04 9.99289508e-01 -4.77870738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:40.22, Z:-4.78 [[ 8.46207537e-01 -5.31909181e-01 3.17084745e-02 1.18529407e+02] [ 5.31519024e-01 8.46801319e-01 2.03728313e-02 4.02157212e+01] [-3.76872741e-02 -3.85985912e-04 9.99289508e-01 -4.77971082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.58, Y:40.24, Z:-4.78 [[ 8.43246984e-01 -5.36590583e-01 3.17028598e-02 1.18582396e+02] [ 5.36203395e-01 8.43842705e-01 2.03815648e-02 4.02405295e+01] [-3.76887827e-02 -1.87511954e-04 9.99289508e-01 -4.78077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:40.27, Z:-4.78 [[ 8.41762985e-01 -5.38915916e-01 3.16971919e-02 1.18633399e+02] [ 5.38530042e-01 8.42359559e-01 2.03903757e-02 4.02690188e+01] [-3.76891306e-02 -9.39734358e-05 9.99289508e-01 -4.78283029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:40.30, Z:-4.78 [[ 8.41027435e-01 -5.40063421e-01 3.16915649e-02 1.18684502e+02] [ 5.39678031e-01 8.41624322e-01 2.03991176e-02 4.02960788e+01] [-3.76892091e-02 -5.29761727e-05 9.99289508e-01 -4.78384484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:40.32, Z:-4.79 [[ 8.40722532e-01 -5.40538285e-01 3.16857626e-02 1.18734386e+02] [ 5.40152892e-01 8.41319417e-01 2.04081263e-02 4.03231287e+01] [-3.76892209e-02 -4.24152324e-05 9.99289508e-01 -4.78748220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.78, Y:40.35, Z:-4.79 [[ 8.42148852e-01 -5.38313750e-01 3.16799405e-02 1.18783658e+02] [ 5.37926441e-01 8.42744495e-01 2.04171600e-02 4.03515852e+01] [-3.76889335e-02 -1.52810197e-04 9.99289508e-01 -4.78897543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:40.38, Z:-4.79 [[ 8.43120007e-01 -5.36791575e-01 3.16774160e-02 1.18834471e+02] [ 5.36403044e-01 8.43714854e-01 2.04210762e-02 4.03800076e+01] [-3.76885680e-02 -2.25555540e-04 9.99289508e-01 -4.78974200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:40.41, Z:-4.79 [[ 8.44060279e-01 -5.35312187e-01 3.16718735e-02 1.18883751e+02] [ 5.34922291e-01 8.44654232e-01 2.04296686e-02 4.04098320e+01] [-3.76880326e-02 -3.01880678e-04 9.99289508e-01 -4.79007536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.93, Y:40.44, Z:-4.79 [[ 8.45133637e-01 -5.33616094e-01 3.16701697e-02 1.18933843e+02] [ 5.33224907e-01 8.45726740e-01 2.04323096e-02 4.04397523e+01] [-3.76873186e-02 -3.80708816e-04 9.99289508e-01 -4.79060756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:40.47, Z:-4.79 [[ 8.44475220e-01 -5.34657805e-01 3.16643864e-02 1.18984258e+02] [ 5.34267014e-01 8.45068584e-01 2.04412680e-02 4.04680000e+01] [-3.76876617e-02 -3.44907096e-04 9.99289508e-01 -4.79272460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.03, Y:40.50, Z:-4.80 [[ 8.43305725e-01 -5.36500868e-01 3.16586944e-02 1.19034449e+02] [ 5.36111043e-01 8.43899724e-01 2.04500799e-02 4.04983606e+01] [-3.76882491e-02 -2.73093802e-04 9.99289508e-01 -4.79789953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:40.53, Z:-4.80 [[ 8.42583195e-01 -5.37635075e-01 3.16557522e-02 1.19084673e+02] [ 5.37245878e-01 8.43177606e-01 2.04546332e-02 4.05288955e+01] [-3.76885496e-02 -2.27807747e-04 9.99289508e-01 -4.79809882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:40.56, Z:-4.80 [[ 8.42060537e-01 -5.38453624e-01 3.16503714e-02 1.19134118e+02] [ 5.38064693e-01 8.42655122e-01 2.04629557e-02 4.05590784e+01] [-3.76887003e-02 -2.01100128e-04 9.99289508e-01 -4.80170601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:40.59, Z:-4.80 [[ 8.41589090e-01 -5.39190517e-01 3.16447346e-02 1.19184414e+02] [ 5.38801778e-01 8.42183801e-01 2.04716690e-02 4.05887974e+01] [-3.76888127e-02 -1.78494049e-04 9.99289508e-01 -4.80369917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:40.62, Z:-4.80 [[ 8.40407904e-01 -5.41030064e-01 3.16389636e-02 1.19235208e+02] [ 5.40642292e-01 8.41003245e-01 2.04805842e-02 4.06167800e+01] [-3.76890829e-02 -1.06683030e-04 9.99289508e-01 -4.80325231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:40.65, Z:-4.80 [[ 8.40643676e-01 -5.40663988e-01 3.16332420e-02 1.19285453e+02] [ 5.40275624e-01 8.41238631e-01 2.04894177e-02 4.06473177e+01] [-3.76889955e-02 -1.33629912e-04 9.99289508e-01 -4.80412104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:40.68, Z:-4.81 [[ 8.41698358e-01 -5.39020898e-01 3.16282462e-02 1.19334156e+02] [ 5.38631082e-01 8.42292363e-01 2.04971265e-02 4.06783567e+01] [-3.76886098e-02 -2.16441264e-04 9.99289509e-01 -4.80589446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:40.71, Z:-4.81 [[ 8.42933300e-01 -5.37087946e-01 3.16226121e-02 1.19383022e+02] [ 5.36696443e-01 8.43526194e-01 2.05058151e-02 4.07102126e+01] [-3.76879277e-02 -3.13291007e-04 9.99289509e-01 -4.81040585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.43, Y:40.74, Z:-4.81 [[ 8.42847510e-01 -5.37222855e-01 3.16177036e-02 1.19431493e+02] [ 5.36831163e-01 8.43440279e-01 2.05133806e-02 4.07413608e+01] [-3.76879017e-02 -3.16283097e-04 9.99289509e-01 -4.81311974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.48, Y:40.77, Z:-4.81 [[ 8.42757821e-01 -5.37363875e-01 3.16120529e-02 1.19481981e+02] [ 5.36971955e-01 8.43350439e-01 2.05220849e-02 4.07705746e+01] [-3.76878658e-02 -3.20361656e-04 9.99289509e-01 -4.81332868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.53, Y:40.80, Z:-4.81 [[ 8.42965390e-01 -5.37038539e-01 3.16062987e-02 1.19530891e+02] [ 5.36646059e-01 8.43557638e-01 2.05309432e-02 4.08019197e+01] [-3.76876424e-02 -3.45478865e-04 9.99289509e-01 -4.81387153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.58, Y:40.84, Z:-4.82 [[ 8.43364105e-01 -5.36412520e-01 3.16005421e-02 1.19577787e+02] [ 5.36019268e-01 8.43955841e-01 2.05397998e-02 4.08352202e+01] [-3.76872678e-02 -3.84030491e-04 9.99289509e-01 -4.81639764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430888479 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:40.87, Z:-4.82 [[ 8.42254309e-01 -5.38153547e-01 3.15980668e-02 1.19625670e+02] [ 5.37761376e-01 8.42846761e-01 2.05436071e-02 4.08674643e+01] [-3.76879433e-02 -3.10721710e-04 9.99289509e-01 -4.82245921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490888479 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:40.90, Z:-4.82 [[ 8.41175701e-01 -5.39838313e-01 3.15917224e-02 1.19675308e+02] [ 5.39446962e-01 8.41768695e-01 2.05533587e-02 4.08976350e+01] [-3.76884134e-02 -2.46927244e-04 9.99289509e-01 -4.82084091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:40.93, Z:-4.82 [[ 8.38246149e-01 -5.44376531e-01 3.15845982e-02 1.19724192e+02] [ 5.43987978e-01 8.38840980e-01 2.05643008e-02 4.09283626e+01] [-3.76891780e-02 -5.63042080e-05 9.99289509e-01 -4.82003954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:40.96, Z:-4.82 [[ 8.36235297e-01 -5.47460638e-01 3.15812892e-02 1.19771206e+02] [ 5.47074087e-01 8.36831431e-01 2.05693813e-02 4.09610234e+01] [-3.76891420e-02 7.64622718e-05 9.99289509e-01 -4.82180149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.82, Y:40.99, Z:-4.83 [[ 8.33349870e-01 -5.51843078e-01 3.15786721e-02 1.19819690e+02] [ 5.51459509e-01 8.33947927e-01 2.05733983e-02 4.09946319e+01] [-3.76882556e-02 2.69520268e-04 9.99289509e-01 -4.83079597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.87, Y:41.03, Z:-4.83 [[ 8.30149820e-01 -5.56645675e-01 3.15732236e-02 1.19868321e+02] [ 5.56265248e-01 8.30749881e-01 2.05817565e-02 4.10260583e+01] [-3.76861975e-02 4.77145583e-04 9.99289509e-01 -4.83261336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:41.06, Z:-4.82 [[ 8.30211598e-01 -5.56553640e-01 3.15713151e-02 1.19918400e+02] [ 5.56173036e-01 8.30811546e-01 2.05846836e-02 4.10554647e+01] [-3.76862937e-02 4.69471068e-04 9.99289509e-01 -4.82494341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:41.09, Z:-4.83 [[ 8.28695436e-01 -5.58808999e-01 3.15654492e-02 1.19966629e+02] [ 5.58429684e-01 8.29296201e-01 2.05936748e-02 4.10872521e+01] [-3.76850379e-02 5.61199530e-04 9.99289509e-01 -4.82599478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:41.12, Z:-4.83 [[ 8.28195968e-01 -5.59549081e-01 3.15636507e-02 1.20015236e+02] [ 5.59170198e-01 8.28797005e-01 2.05964310e-02 4.11193196e+01] [-3.76845732e-02 5.91571687e-04 9.99289509e-01 -4.82847229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:41.15, Z:-4.83 [[ 8.28866710e-01 -5.58555350e-01 3.15578367e-02 1.20060720e+02] [ 5.58175409e-01 8.29467078e-01 2.06053352e-02 4.11530673e+01] [-3.76854069e-02 5.35731975e-04 9.99289509e-01 -4.83202755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:41.19, Z:-4.84 [[ 8.31130041e-01 -5.55182056e-01 3.15553318e-02 1.20107739e+02] [ 5.54799532e-01 8.31728767e-01 2.06091707e-02 4.11868077e+01] [-3.76873189e-02 3.77982435e-04 9.99289509e-01 -4.83530971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:41.22, Z:-4.84 [[ 8.31937140e-01 -5.53972224e-01 3.15494862e-02 1.20155828e+02] [ 5.53588490e-01 8.32535091e-01 2.06181154e-02 4.12198505e+01] [-3.76879176e-02 3.12456446e-04 9.99289509e-01 -4.83658047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:41.25, Z:-4.84 [[ 8.33799087e-01 -5.51166141e-01 3.15431172e-02 1.20203471e+02] [ 5.50780025e-01 8.34395503e-01 2.06278547e-02 4.12537103e+01] [-3.76888102e-02 1.73832445e-04 9.99289509e-01 -4.83909646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.25, Y:41.29, Z:-4.84 [[ 8.36104496e-01 -5.47662916e-01 3.15373114e-02 1.20251335e+02] [ 5.47273967e-01 8.36699068e-01 2.06367271e-02 4.12869781e+01] [-3.76892092e-02 5.08924348e-06 9.99289509e-01 -4.84075219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.30, Y:41.32, Z:-4.84 [[ 8.36488072e-01 -5.47077199e-01 3.15316303e-02 1.20300028e+02] [ 5.46687507e-01 8.37082157e-01 2.06454039e-02 4.13183287e+01] [-3.76891948e-02 -3.16857161e-05 9.99289509e-01 -4.84263586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:41.35, Z:-4.85 [[ 8.37358870e-01 -5.45743780e-01 3.15253653e-02 1.20348913e+02] [ 5.45352782e-01 8.37952096e-01 2.06549660e-02 4.13499959e+01] [-3.76890652e-02 -1.03173340e-04 9.99289509e-01 -4.84534809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.40, Y:41.38, Z:-4.85 [[ 8.38265565e-01 -5.44350404e-01 3.15195284e-02 1.20396369e+02] [ 5.43958085e-01 8.38857918e-01 2.06638692e-02 4.13813478e+01] [-3.76887916e-02 -1.76507702e-04 9.99289510e-01 -4.84645212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:41.41, Z:-4.85 [[ 8.38240973e-01 -5.44388613e-01 3.15136269e-02 1.20445997e+02] [ 5.43995982e-01 8.38833120e-01 2.06728656e-02 4.14125019e+01] [-3.76887466e-02 -1.85556570e-04 9.99289510e-01 -4.84671151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.50, Y:41.44, Z:-4.85 [[ 8.37104516e-01 -5.46134826e-01 3.15084345e-02 1.20496317e+02] [ 5.45743133e-01 8.37697283e-01 2.06807765e-02 4.14423698e+01] [-3.76890222e-02 -1.16459648e-04 9.99289510e-01 -4.84921026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.55, Y:41.47, Z:-4.85 [[ 8.35763847e-01 -5.48184617e-01 3.15026744e-02 1.20546631e+02] [ 5.47794047e-01 8.36357355e-01 2.06895471e-02 4.14723809e+01] [-3.76891848e-02 -3.45980095e-05 9.99289510e-01 -4.85069707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:41.50, Z:-4.85 [[ 8.33429338e-01 -5.51727691e-01 3.14975201e-02 1.20595567e+02] [ 5.51339348e-01 8.34024305e-01 2.06973908e-02 4.15024355e+01] [-3.76890210e-02 1.16009472e-04 9.99289510e-01 -4.85449055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:41.53, Z:-4.86 [[ 8.31246085e-01 -5.55011723e-01 3.14949895e-02 1.20645678e+02] [ 5.54625584e-01 8.31842485e-01 2.07012409e-02 4.15326491e+01] [-3.76883018e-02 2.60101521e-04 9.99289510e-01 -4.85591456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:41.56, Z:-4.86 [[ 8.29481966e-01 -5.57645135e-01 3.14892466e-02 1.20695916e+02] [ 5.57260558e-01 8.30079374e-01 2.07099730e-02 4.15635531e+01] [-3.76873898e-02 3.69166032e-04 9.99289510e-01 -4.85641708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:41.60, Z:-4.86 [[ 8.27120924e-01 -5.61141445e-01 3.14841982e-02 1.20745535e+02] [ 5.60759102e-01 8.27719765e-01 2.07176450e-02 4.15958605e+01] [-3.76856224e-02 5.19053030e-04 9.99289510e-01 -4.86198097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:41.63, Z:-4.87 [[ 8.25080401e-01 -5.64137748e-01 3.14790959e-02 1.20793083e+02] [ 5.63757283e-01 8.25680437e-01 2.07253947e-02 4.16289032e+01] [-3.76836511e-02 6.46452592e-04 9.99289510e-01 -4.86656676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:41.66, Z:-4.87 [[ 8.24245594e-01 -5.65357085e-01 3.14732705e-02 1.20840218e+02] [ 5.64977171e-01 8.24845978e-01 2.07342372e-02 4.16620582e+01] [-3.76828485e-02 6.91575684e-04 9.99289510e-01 -4.86984123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.89, Y:41.70, Z:-4.87 [[ 8.24431225e-01 -5.65086684e-01 3.14673679e-02 1.20885343e+02] [ 5.64706231e-01 8.25031268e-01 2.07431915e-02 4.16973273e+01] [-3.76832637e-02 6.68483970e-04 9.99289510e-01 -4.87277652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:41.73, Z:-4.88 [[ 8.25355165e-01 -5.63736476e-01 3.14648668e-02 1.20930153e+02] [ 5.63354896e-01 8.25954492e-01 2.07469847e-02 4.17340186e+01] [-3.76843801e-02 6.02255780e-04 9.99289510e-01 -4.87724042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.98, Y:41.77, Z:-4.88 [[ 8.25962969e-01 -5.62845894e-01 3.14590785e-02 1.20977372e+02] [ 5.62463334e-01 8.26561671e-01 2.07557579e-02 4.17678110e+01] [-3.76851616e-02 5.51090717e-04 9.99289510e-01 -4.87948116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:41.81, Z:-4.88 [[ 8.29081281e-01 -5.58242703e-01 3.14533549e-02 1.21020639e+02] [ 5.57856490e-01 8.29677633e-01 2.07644279e-02 4.18072105e+01] [-3.76877354e-02 3.31059699e-04 9.99289510e-01 -4.88378576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.06, Y:41.84, Z:-4.89 [[ 8.31605224e-01 -5.54476158e-01 3.14474538e-02 1.21064916e+02] [ 5.54086906e-01 8.32199596e-01 2.07733611e-02 4.18444136e+01] [-3.76888918e-02 1.49386797e-04 9.99289510e-01 -4.88821169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.11, Y:41.88, Z:-4.89 [[ 8.35087532e-01 -5.49217614e-01 3.14456300e-02 1.21107405e+02] [ 5.48824515e-01 8.35679367e-01 2.07761215e-02 4.18846954e+01] [-3.76890761e-02 -9.17473201e-05 9.99289510e-01 -4.89435968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:41.93, Z:-4.90 [[ 8.37802311e-01 -5.45067731e-01 3.14397206e-02 1.21149760e+02] [ 5.44671366e-01 8.38391964e-01 2.07850602e-02 4.19259929e+01] [-3.76880747e-02 -2.89455897e-04 9.99289510e-01 -4.90062424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:41.96, Z:-4.90 [[ 8.38881012e-01 -5.43406207e-01 3.14379038e-02 1.21195235e+02] [ 5.43008571e-01 8.39469808e-01 2.07878077e-02 4.19630117e+01] [-3.76873948e-02 -3.67445879e-04 9.99289510e-01 -4.90359964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:42.00, Z:-4.91 [[ 8.40330236e-01 -5.41162757e-01 3.14318932e-02 1.21237289e+02] [ 5.40763209e-01 8.40917737e-01 2.07968920e-02 4.20023271e+01] [-3.76861399e-02 -4.79045785e-04 9.99289510e-01 -4.90773128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530888479 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:42.04, Z:-4.91 [[ 8.40033438e-01 -5.41623506e-01 3.14293053e-02 1.21282082e+02] [ 5.41224134e-01 8.40621058e-01 2.08008023e-02 4.20420735e+01] [-3.76863393e-02 -4.63070866e-04 9.99289510e-01 -4.91098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590888479 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:121.33, Y:42.08, Z:-4.91 [[ 8.38161274e-01 -5.44516352e-01 3.14264271e-02 1.21329211e+02] [ 5.44118845e-01 8.38750158e-01 2.08051498e-02 4.20783108e+01] [-3.76876650e-02 -3.38359587e-04 9.99289510e-01 -4.91490907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650888479 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:121.37, Y:42.12, Z:-4.92 [[ 8.34231612e-01 -5.50518210e-01 3.14216041e-02 1.21374865e+02] [ 5.50124666e-01 8.34823152e-01 2.08124313e-02 4.21151166e+01] [-3.76891050e-02 -7.65886087e-05 9.99289510e-01 -4.91922388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710888479 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:121.42, Y:42.15, Z:-4.92 [[ 8.31196412e-01 -5.55090561e-01 3.14164508e-02 1.21421554e+02] [ 5.54699977e-01 8.31789910e-01 2.08202073e-02 4.21494488e+01] [-3.76889874e-02 1.21022935e-04 9.99289510e-01 -4.92159832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770888479 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:121.47, Y:42.18, Z:-4.92 [[ 8.27559067e-01 -5.60499208e-01 3.14106407e-02 1.21470746e+02] [ 5.60112170e-01 8.28154884e-01 2.08289692e-02 4.21825143e+01] [-3.76874962e-02 3.56279797e-04 9.99289510e-01 -4.92209047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830888479 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:42.22, Z:-4.93 [[ 8.26710979e-01 -5.61749633e-01 3.14055282e-02 1.21519235e+02] [ 5.61363203e-01 8.27307190e-01 2.08366749e-02 4.22164143e+01] [-3.76870137e-02 4.03999967e-04 9.99289510e-01 -4.92692061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890888479 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:42.25, Z:-4.93 [[ 8.27771196e-01 -5.60186447e-01 3.14004846e-02 1.21568794e+02] [ 5.59798604e-01 8.28366489e-01 2.08442727e-02 4.22491101e+01] [-3.76877882e-02 3.23658908e-04 9.99289511e-01 -4.92738659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:42.28, Z:-4.93 [[ 8.29380781e-01 -5.57800898e-01 3.13955093e-02 1.21618875e+02] [ 5.57411058e-01 8.29974768e-01 2.08517638e-02 4.22801572e+01] [-3.76886131e-02 2.06151911e-04 9.99289511e-01 -4.92635759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:121.67, Y:42.31, Z:-4.93 [[ 8.32127228e-01 -5.53695694e-01 3.13903717e-02 1.21668402e+02] [ 5.53302632e-01 8.32719087e-01 2.08594951e-02 4.23108625e+01] [-3.76891743e-02 1.06214407e-05 9.99289511e-01 -4.92848486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:121.72, Y:42.34, Z:-4.93 [[ 8.34884437e-01 -5.49529609e-01 3.13876724e-02 1.21718662e+02] [ 5.49133442e-01 8.35474222e-01 2.08635560e-02 4.23408586e+01] [-3.76887329e-02 -1.82637623e-04 9.99289511e-01 -4.92724348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:42.37, Z:-4.93 [[ 8.36309076e-01 -5.47359168e-01 3.13858249e-02 1.21768971e+02] [ 5.46961366e-01 8.36897760e-01 2.08663349e-02 4.23709864e+01] [-3.76881062e-02 -2.83871609e-04 9.99289511e-01 -4.92841626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:42.40, Z:-4.93 [[ 8.38947418e-01 -5.43306988e-01 3.13806652e-02 1.21819585e+02] [ 5.42906053e-01 8.39533972e-01 2.08740916e-02 4.23995167e+01] [-3.76861743e-02 -4.75512202e-04 9.99289511e-01 -4.92900273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:42.43, Z:-4.93 [[ 8.40449791e-01 -5.40980144e-01 3.13788496e-02 1.21868685e+02] [ 5.40577482e-01 8.41035162e-01 2.08768205e-02 4.24289057e+01] [-3.76846612e-02 -5.83219914e-04 9.99289511e-01 -4.93205524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310888479 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:42.46, Z:-4.93 [[ 8.41907021e-01 -5.38709630e-01 3.13767872e-02 1.21920944e+02] [ 5.38305275e-01 8.42491223e-01 2.08799197e-02 4.24572965e+01] [-3.76828817e-02 -6.88660937e-04 9.99289511e-01 -4.93394684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370888479 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:42.49, Z:-4.94 [[ 8.41889314e-01 -5.38737608e-01 3.13715332e-02 1.21970871e+02] [ 5.38332978e-01 8.42473325e-01 2.08878107e-02 4.24855872e+01] [-3.76827291e-02 -6.96893691e-04 9.99289511e-01 -4.93605707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:122.02, Y:42.51, Z:-4.94 [[ 8.40972878e-01 -5.40167203e-01 3.13689459e-02 1.22021654e+02] [ 5.39763421e-01 8.41557477e-01 2.08916956e-02 4.25138374e+01] [-3.76837797e-02 -6.37539797e-04 9.99289511e-01 -4.93621320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:42.54, Z:-4.94 [[ 8.39048695e-01 -5.43151586e-01 3.13630595e-02 1.22075056e+02] [ 5.42749553e-01 8.39634498e-01 2.09005286e-02 4.25395708e+01] [-3.76856620e-02 -5.14274699e-04 9.99289511e-01 -4.93561059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:42.57, Z:-4.94 [[ 8.37604008e-01 -5.45377129e-01 3.13578362e-02 1.22125474e+02] [ 5.44976360e-01 8.38190675e-01 2.09083624e-02 4.25665046e+01] [-3.76867886e-02 -4.23648731e-04 9.99289511e-01 -4.93916755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:42.59, Z:-4.94 [[ 8.36657073e-01 -5.46828849e-01 3.13552693e-02 1.22176584e+02] [ 5.46428953e-01 8.37244336e-01 2.09122112e-02 4.25937697e+01] [-3.76874220e-02 -3.62922407e-04 9.99289511e-01 -4.94235361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:42.62, Z:-4.94 [[ 8.35433307e-01 -5.48696985e-01 3.13497678e-02 1.22230242e+02] [ 5.48298093e-01 8.36021253e-01 2.09204553e-02 4.26189269e+01] [-3.76880629e-02 -2.88627179e-04 9.99289511e-01 -4.94175588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:42.65, Z:-4.94 [[ 8.34282896e-01 -5.50444890e-01 3.13444106e-02 1.22280599e+02] [ 5.50046929e-01 8.34871472e-01 2.09284788e-02 4.26453416e+01] [-3.76885284e-02 -2.19375105e-04 9.99289511e-01 -4.94439786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.33, Y:42.67, Z:-4.95 [[ 8.33949300e-01 -5.50950319e-01 3.13418346e-02 1.22331583e+02] [ 5.50552570e-01 8.34538019e-01 2.09323358e-02 4.26736908e+01] [-3.76886296e-02 -2.01179277e-04 9.99289511e-01 -4.94619372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:42.70, Z:-4.95 [[ 8.33687718e-01 -5.51346399e-01 3.13358917e-02 1.22383021e+02] [ 5.50948595e-01 8.34276400e-01 2.09412286e-02 4.27015235e+01] [-3.76886659e-02 -1.93979537e-04 9.99289511e-01 -4.94788904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:42.73, Z:-4.95 [[ 8.31880913e-01 -5.54068879e-01 3.13340679e-02 1.22435169e+02] [ 5.53672898e-01 8.32470824e-01 2.09439572e-02 4.27299022e+01] [-3.76890922e-02 -7.40540416e-05 9.99289511e-01 -4.94861588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:42.76, Z:-4.95 [[ 8.31162813e-01 -5.55145818e-01 3.13288971e-02 1.22484447e+02] [ 5.54750310e-01 8.31753040e-01 2.09516890e-02 4.27603290e+01] [-3.76891479e-02 -3.45493311e-05 9.99289511e-01 -4.95003042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:42.79, Z:-4.95 [[ 8.30658883e-01 -5.55899896e-01 3.13229149e-02 1.22535136e+02] [ 5.55504588e-01 8.31249244e-01 2.09606286e-02 4.27876732e+01] [-3.76891606e-02 -1.11094575e-05 9.99289511e-01 -4.95140644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:42.82, Z:-4.96 [[ 8.31021881e-01 -5.55357328e-01 3.13188682e-02 1.22583180e+02] [ 5.54961406e-01 8.31611830e-01 2.09666734e-02 4.28199259e+01] [-3.76891370e-02 -4.30012671e-05 9.99289511e-01 -4.95610321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:42.86, Z:-4.96 [[ 8.32329865e-01 -5.53395419e-01 3.13130285e-02 1.22630851e+02] [ 5.52997779e-01 8.32918657e-01 2.09753912e-02 4.28552471e+01] [-3.76888910e-02 -1.42409372e-04 9.99289511e-01 -4.96158125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.68, Y:42.89, Z:-4.96 [[ 8.31470890e-01 -5.54685448e-01 3.13083507e-02 1.22679648e+02] [ 5.54288458e-01 8.32060121e-01 2.09823710e-02 4.28877623e+01] [-3.76890459e-02 -9.23732755e-05 9.99289511e-01 -4.96123885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.73, Y:42.92, Z:-4.96 [[ 8.29561938e-01 -5.57536678e-01 3.13024482e-02 1.22728678e+02] [ 5.57141381e-01 8.30152307e-01 2.09911730e-02 4.29193681e+01] [-3.76891484e-02 2.64110414e-05 9.99289511e-01 -4.96322244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.78, Y:42.95, Z:-4.96 [[ 8.26032642e-01 -5.62752589e-01 3.12985396e-02 1.22776700e+02] [ 5.62360799e-01 8.26625343e-01 2.09969992e-02 4.29533194e+01] [-3.76882817e-02 2.56865038e-04 9.99289511e-01 -4.96431474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:122.82, Y:42.99, Z:-4.97 [[ 8.24211952e-01 -5.65416138e-01 3.12929412e-02 1.22823225e+02] [ 5.65025947e-01 8.24805707e-01 2.10053394e-02 4.29872796e+01] [-3.76873544e-02 3.68471934e-04 9.99289511e-01 -4.96797407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.87, Y:43.02, Z:-4.97 [[ 8.23624544e-01 -5.66271792e-01 3.12868677e-02 1.22871091e+02] [ 5.65881874e-01 8.24218479e-01 2.10143819e-02 4.30204872e+01] [-3.76870662e-02 3.96710605e-04 9.99289511e-01 -4.96994211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.92, Y:43.05, Z:-4.97 [[ 8.23767830e-01 -5.66063660e-01 3.12809001e-02 1.22917493e+02] [ 5.65673255e-01 8.24361444e-01 2.10232612e-02 4.30541831e+01] [-3.76872722e-02 3.76482323e-04 9.99289511e-01 -4.97065218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.96, Y:43.09, Z:-4.97 [[ 8.24759176e-01 -5.64618423e-01 3.12784061e-02 1.22964074e+02] [ 5.64226837e-01 8.25352011e-01 2.10269711e-02 4.30886556e+01] [-3.76879107e-02 3.05928824e-04 9.99289512e-01 -4.97410591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:43.12, Z:-4.98 [[ 8.27105784e-01 -5.61175599e-01 3.12724864e-02 1.23008805e+02] [ 5.60781213e-01 8.27696761e-01 2.10357716e-02 4.31240126e+01] [-3.76888974e-02 1.38214469e-04 9.99289512e-01 -4.97600093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:43.16, Z:-4.98 [[ 8.29090483e-01 -5.58239353e-01 3.12697279e-02 1.23054830e+02] [ 5.57842719e-01 8.29679953e-01 2.10398712e-02 4.31600561e+01] [-3.76891505e-02 -3.66906484e-07 9.99289512e-01 -4.97906579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:43.19, Z:-4.98 [[ 8.28864269e-01 -5.58575496e-01 3.12640102e-02 1.23102760e+02] [ 5.58178781e-01 8.29453685e-01 2.10483640e-02 4.31946932e+01] [-3.76891488e-02 4.67023094e-06 9.99289512e-01 -4.98362546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:43.23, Z:-4.98 [[ 8.28419667e-01 -5.59234934e-01 3.12593091e-02 1.23150933e+02] [ 5.58838425e-01 8.29009221e-01 2.10553434e-02 4.32283559e+01] [-3.76891390e-02 2.62424473e-05 9.99289512e-01 -4.98493611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:43.26, Z:-4.99 [[ 8.26836659e-01 -5.61573072e-01 3.12541935e-02 1.23198505e+02] [ 5.61177942e-01 8.27427139e-01 2.10629342e-02 4.32610901e+01] [-3.76889445e-02 1.23557853e-04 9.99289512e-01 -4.98588492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:43.29, Z:-4.99 [[ 8.25295316e-01 -5.63836137e-01 3.12482378e-02 1.23246520e+02] [ 5.63442293e-01 8.25886653e-01 2.10717661e-02 4.32930489e+01] [-3.76885257e-02 2.16148849e-04 9.99289512e-01 -4.98781890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.29, Y:43.33, Z:-4.99 [[ 8.23850245e-01 -5.65945839e-01 3.12423101e-02 1.23294726e+02] [ 5.65553175e-01 8.24442367e-01 2.10805512e-02 4.33251060e+01] [-3.76879343e-02 3.01970409e-04 9.99289512e-01 -4.98945100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.34, Y:43.36, Z:-4.99 [[ 8.23037178e-01 -5.67127932e-01 3.12364038e-02 1.23342587e+02] [ 5.66735787e-01 8.23629643e-01 2.10892994e-02 4.33586577e+01] [-3.76875589e-02 3.45510407e-04 9.99289512e-01 -4.99244286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.39, Y:43.39, Z:-5.00 [[ 8.22285717e-01 -5.68217263e-01 3.12304712e-02 1.23390317e+02] [ 5.67825569e-01 8.22878481e-01 2.10980811e-02 4.33924295e+01] [-3.76871766e-02 3.84809290e-04 9.99289512e-01 -4.99533679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.44, Y:43.43, Z:-5.00 [[ 8.22185338e-01 -5.68362825e-01 3.12245077e-02 1.23437136e+02] [ 5.67970901e-01 8.22777950e-01 2.11069032e-02 4.34259648e+01] [-3.76872156e-02 3.80825415e-04 9.99289512e-01 -4.99733015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:43.46, Z:-5.00 [[ 8.23086359e-01 -5.67057307e-01 3.12226758e-02 1.23484260e+02] [ 5.66664341e-01 8.23678280e-01 2.11096127e-02 4.34602795e+01] [-3.76878001e-02 3.17742748e-04 9.99289512e-01 -4.99669869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.53, Y:43.50, Z:-5.00 [[ 8.23761090e-01 -5.66077009e-01 3.12167728e-02 1.23530469e+02] [ 5.65683007e-01 8.24352322e-01 2.11183385e-02 4.34953161e+01] [-3.76882250e-02 2.62332384e-04 9.99289512e-01 -5.00068968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:123.58, Y:43.53, Z:-5.00 [[ 8.25948050e-01 -5.62881634e-01 3.12103253e-02 1.23575454e+02] [ 5.62484985e-01 8.26537510e-01 2.11278628e-02 4.35318525e+01] [-3.76889905e-02 1.04822312e-04 9.99289512e-01 -5.00269013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:123.62, Y:43.57, Z:-5.00 [[ 8.26856811e-01 -5.61546199e-01 3.12038484e-02 1.23621944e+02] [ 5.61148238e-01 8.27445385e-01 2.11374243e-02 4.35669601e+01] [-3.76891206e-02 3.23612903e-05 9.99289512e-01 -5.00384157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:43.60, Z:-5.01 [[ 8.28205940e-01 -5.59554835e-01 3.11978687e-02 1.23667657e+02] [ 5.59155126e-01 8.28793329e-01 2.11462464e-02 4.36037355e+01] [-3.76890698e-02 -6.89986764e-05 9.99289512e-01 -5.00653487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.71, Y:43.64, Z:-5.01 [[ 8.29632606e-01 -5.57437714e-01 3.11919091e-02 1.23713687e+02] [ 5.57036175e-01 8.30218745e-01 2.11550334e-02 4.36397035e+01] [-3.76887211e-02 -1.75883699e-04 9.99289512e-01 -5.01046201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:123.76, Y:43.67, Z:-5.01 [[ 8.30383667e-01 -5.56318643e-01 3.11854556e-02 1.23759641e+02] [ 5.55915957e-01 8.30969019e-01 2.11645424e-02 4.36742382e+01] [-3.76883770e-02 -2.38197944e-04 9.99289512e-01 -5.01328389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:43.71, Z:-5.02 [[ 8.29208930e-01 -5.58068234e-01 3.11832790e-02 1.23804530e+02] [ 5.57666662e-01 8.29795047e-01 2.11677490e-02 4.37111790e+01] [-3.76887787e-02 -1.62611414e-04 9.99289512e-01 -5.01797430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:43.75, Z:-5.02 [[ 8.28886323e-01 -5.58547386e-01 3.11814204e-02 1.23850623e+02] [ 5.58146050e-01 8.29472602e-01 2.11704865e-02 4.37469414e+01] [-3.76888538e-02 -1.44140039e-04 9.99289512e-01 -5.02161544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:43.79, Z:-5.03 [[ 8.26895061e-01 -5.61491453e-01 3.11753958e-02 1.23895482e+02] [ 5.61091871e-01 8.27482536e-01 2.11793544e-02 4.37851634e+01] [-3.76891221e-02 -2.08424175e-05 9.99289512e-01 -5.02896526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830888479 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:43.82, Z:-5.02 [[ 8.28448181e-01 -5.59197686e-01 3.11698497e-02 1.23943307e+02] [ 5.58796170e-01 8.29034336e-01 2.11875136e-02 4.38181303e+01] [-3.76888842e-02 -1.35164517e-04 9.99289512e-01 -5.02361325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890888479 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:123.99, Y:43.85, Z:-5.03 [[ 8.27980037e-01 -5.59890722e-01 3.11679114e-02 1.23989334e+02] [ 5.59489589e-01 8.28566454e-01 2.11903645e-02 4.38529090e+01] [-3.76889743e-02 -1.07076842e-04 9.99289512e-01 -5.02659978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:124.04, Y:43.89, Z:-5.03 [[ 8.27788432e-01 -5.60174296e-01 3.11619887e-02 1.24035411e+02] [ 5.59773036e-01 8.28374763e-01 2.11990707e-02 4.38886446e+01] [-3.76889795e-02 -1.04704502e-04 9.99289513e-01 -5.03013650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:124.08, Y:43.93, Z:-5.03 [[ 8.26596928e-01 -5.61931333e-01 3.11559805e-02 1.24079638e+02] [ 5.61530987e-01 8.27183883e-01 2.12078972e-02 4.39258033e+01] [-3.76891069e-02 -3.53342454e-05 9.99289513e-01 -5.03479161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:124.13, Y:43.96, Z:-5.04 [[ 8.25847826e-01 -5.63032010e-01 3.11500199e-02 1.24125456e+02] [ 5.62632116e-01 8.26435089e-01 2.12166486e-02 4.39602578e+01] [-3.76891217e-02 4.27848794e-06 9.99289513e-01 -5.03697004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:124.17, Y:43.99, Z:-5.04 [[ 8.25485101e-01 -5.63563836e-01 3.11472429e-02 1.24172541e+02] [ 5.63164167e-01 8.26072516e-01 2.12207245e-02 4.39948800e+01] [-3.76891142e-02 2.36192203e-05 9.99289513e-01 -5.03963841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:124.22, Y:44.03, Z:-5.04 [[ 8.26025772e-01 -5.62771397e-01 3.11412639e-02 1.24218007e+02] [ 5.62370834e-01 8.26612578e-01 2.12294951e-02 4.40304475e+01] [-3.76891130e-02 -2.31715262e-05 9.99289513e-01 -5.04259361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:44.07, Z:-5.05 [[ 8.26454740e-01 -5.62141583e-01 3.11352470e-02 1.24264491e+02] [ 5.61740240e-01 8.27041012e-01 2.12383157e-02 4.40653099e+01] [-3.76890667e-02 -6.25855171e-05 9.99289513e-01 -5.04561128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310888479 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:44.10, Z:-5.05 [[ 8.27695872e-01 -5.60312870e-01 3.11292806e-02 1.24312213e+02] [ 5.59909903e-01 8.28281029e-01 2.12470573e-02 4.40990058e+01] [-3.76887922e-02 -1.56509115e-04 9.99289513e-01 -5.04743854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370888479 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:44.13, Z:-5.05 [[ 8.29935200e-01 -5.56990940e-01 3.11232632e-02 1.24358709e+02] [ 5.56585300e-01 8.30518508e-01 2.12558680e-02 4.41331682e+01] [-3.76877720e-02 -3.18242199e-04 9.99289513e-01 -5.04926011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430888479 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:44.17, Z:-5.05 [[ 8.31840826e-01 -5.54141275e-01 3.11173143e-02 1.24405051e+02] [ 5.53733312e-01 8.32422511e-01 2.12645733e-02 4.41680868e+01] [-3.76863307e-02 -4.58046707e-04 9.99289513e-01 -5.05095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490888479 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:124.45, Y:44.20, Z:-5.05 [[ 8.31925663e-01 -5.54014243e-01 3.11112660e-02 1.24452850e+02] [ 5.53605860e-01 8.32507053e-01 2.12734186e-02 4.42007038e+01] [-3.76861253e-02 -4.74523731e-04 9.99289513e-01 -5.05355784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550888479 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:44.23, Z:-5.06 [[ 8.31177533e-01 -5.55136360e-01 3.11051640e-02 1.24499883e+02] [ 5.54728428e-01 8.31759240e-01 2.12823370e-02 4.42331971e+01] [-3.76866066e-02 -4.34481662e-04 9.99289513e-01 -5.05677972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610888479 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:124.55, Y:44.26, Z:-5.06 [[ 8.30005431e-01 -5.56887437e-01 3.11025267e-02 1.24548230e+02] [ 5.56480588e-01 8.30587896e-01 2.12861905e-02 4.42641163e+01] [-3.76873943e-02 -3.59701398e-04 9.99289513e-01 -5.05989248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670888479 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:44.29, Z:-5.06 [[ 8.28338809e-01 -5.59363576e-01 3.10999482e-02 1.24597815e+02] [ 5.58958327e-01 8.28922389e-01 2.12899571e-02 4.42946719e+01] [-3.76882699e-02 -2.51722735e-04 9.99289513e-01 -5.06207300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:124.65, Y:44.32, Z:-5.06 [[ 8.27149826e-01 -5.61120609e-01 3.10938581e-02 1.24647201e+02] [ 5.60716265e-01 8.27734033e-01 2.12988480e-02 4.43248915e+01] [-3.76886671e-02 -1.82506414e-04 9.99289513e-01 -5.06451685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:124.70, Y:44.36, Z:-5.07 [[ 8.26462429e-01 -5.62132902e-01 3.10878313e-02 1.24696674e+02] [ 5.61728944e-01 8.27046902e-01 2.13076411e-02 4.43554314e+01] [-3.76888207e-02 -1.47030225e-04 9.99289513e-01 -5.06693261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:124.75, Y:44.38, Z:-5.07 [[ 8.25414125e-01 -5.63671403e-01 3.10816942e-02 1.24746514e+02] [ 5.63268196e-01 8.25999117e-01 2.13165895e-02 4.43842195e+01] [-3.76890039e-02 -8.76842512e-05 9.99289513e-01 -5.06820529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:44.41, Z:-5.07 [[ 8.24926537e-01 -5.64384887e-01 3.10790502e-02 1.24796575e+02] [ 5.63982042e-01 8.25511778e-01 2.13204437e-02 4.44137862e+01] [-3.76890582e-02 -5.97735857e-05 9.99289513e-01 -5.06944315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:44.44, Z:-5.07 [[ 8.25682384e-01 -5.63278851e-01 3.10730687e-02 1.24846299e+02] [ 5.62874894e-01 8.26266858e-01 2.13291578e-02 4.44439903e+01] [-3.76889104e-02 -1.20859600e-04 9.99289513e-01 -5.07082216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030888479 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:124.90, Y:44.47, Z:-5.07 [[ 8.27652435e-01 -5.60380486e-01 3.10669825e-02 1.24895937e+02] [ 5.59974149e-01 8.28235257e-01 2.13380190e-02 4.44749532e+01] [-3.76881797e-02 -2.63756272e-04 9.99289513e-01 -5.07262145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090888479 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:44.51, Z:-5.08 [[ 8.29626450e-01 -5.57454189e-01 3.10609298e-02 1.24945346e+02] [ 5.57045466e-01 8.30207601e-01 2.13468261e-02 4.45060679e+01] [-3.76868976e-02 -4.07541447e-04 9.99289513e-01 -5.07693447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:44.53, Z:-5.08 [[ 8.31042828e-01 -5.55340807e-01 3.10549020e-02 1.24995206e+02] [ 5.54930279e-01 8.31622705e-01 2.13555916e-02 4.45348457e+01] [-3.76855931e-02 -5.14105805e-04 9.99289513e-01 -5.07750602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210888479 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:44.57, Z:-5.08 [[ 8.31273403e-01 -5.54995750e-01 3.10523114e-02 1.25043831e+02] [ 5.54584841e-01 8.31853011e-01 2.13593578e-02 4.45660936e+01] [-3.76853115e-02 -5.34324869e-04 9.99289514e-01 -5.08143276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:44.60, Z:-5.08 [[ 8.30777235e-01 -5.55738526e-01 3.10463732e-02 1.25093420e+02] [ 5.55327813e-01 8.31356981e-01 2.13679857e-02 4.45956661e+01] [-3.76856319e-02 -5.11121576e-04 9.99289514e-01 -5.08418868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:44.63, Z:-5.09 [[ 8.28807378e-01 -5.58672385e-01 3.10402471e-02 1.25143165e+02] [ 5.58263391e-01 8.29388338e-01 2.13768810e-02 4.46252201e+01] [-3.76870921e-02 -3.88683112e-04 9.99289514e-01 -5.08614955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:44.66, Z:-5.09 [[ 8.27056191e-01 -5.61261913e-01 3.10342027e-02 1.25191464e+02] [ 5.60854409e-01 8.27638198e-01 2.13856525e-02 4.46555432e+01] [-3.76880438e-02 -2.81466916e-04 9.99289514e-01 -5.08833377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:44.69, Z:-5.09 [[ 8.23609003e-01 -5.66308440e-01 3.10316098e-02 1.25240622e+02] [ 5.65904361e-01 8.24193392e-01 2.13894143e-02 4.46862119e+01] [-3.76890536e-02 -5.55908975e-05 9.99289514e-01 -5.09005320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:44.72, Z:-5.09 [[ 8.19486561e-01 -5.72257976e-01 3.10255455e-02 1.25289517e+02] [ 5.71857806e-01 8.20073635e-01 2.13982070e-02 4.47157125e+01] [-3.76885265e-02 2.06657263e-04 9.99289514e-01 -5.09227588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:44.75, Z:-5.10 [[ 8.16764071e-01 -5.76137162e-01 3.10229417e-02 1.25339391e+02] [ 5.75739637e-01 8.17352938e-01 2.14019812e-02 4.47478656e+01] [-3.76871693e-02 3.80767922e-04 9.99289514e-01 -5.09518821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:44.78, Z:-5.10 [[ 8.13978352e-01 -5.80066375e-01 3.10200478e-02 1.25388237e+02] [ 5.79671532e-01 8.14569021e-01 2.14061749e-02 4.47798256e+01] [-3.76849722e-02 5.57275650e-04 9.99289514e-01 -5.09836482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.44, Y:44.81, Z:-5.10 [[ 8.13479978e-01 -5.80765407e-01 3.10139869e-02 1.25436584e+02] [ 5.80370738e-01 8.14070762e-01 2.14149525e-02 4.48114429e+01] [-3.76846436e-02 5.78975401e-04 9.99289514e-01 -5.10010315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.48, Y:44.84, Z:-5.10 [[ 8.14771248e-01 -5.78952780e-01 3.10079369e-02 1.25483843e+02] [ 5.78556463e-01 8.15360928e-01 2.14237090e-02 4.48437512e+01] [-3.76859761e-02 4.84420163e-04 9.99289514e-01 -5.10176028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.53, Y:44.88, Z:-5.10 [[ 8.15556265e-01 -5.77846561e-01 3.10053346e-02 1.25531550e+02] [ 5.77449301e-01 8.16145311e-01 2.14274745e-02 4.48771374e+01] [-3.76866509e-02 4.28697691e-04 9.99289514e-01 -5.10352490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.58, Y:44.91, Z:-5.10 [[ 8.18794171e-01 -5.73249641e-01 3.09992513e-02 1.25579524e+02] [ 5.72848741e-01 8.19380746e-01 2.14362717e-02 4.49102670e+01] [-3.76885247e-02 2.05987739e-04 9.99289514e-01 -5.10389946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.63, Y:44.94, Z:-5.11 [[ 8.21425503e-01 -5.69473062e-01 3.09931391e-02 1.25627123e+02] [ 5.69069131e-01 8.22009995e-01 2.14451052e-02 4.49424424e+01] [-3.76890799e-02 2.16823837e-05 9.99289514e-01 -5.10572221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:44.98, Z:-5.11 [[ 8.23319338e-01 -5.66731731e-01 3.09905217e-02 1.25674584e+02] [ 5.66325712e-01 8.23902381e-01 2.14488870e-02 4.49757461e+01] [-3.76889295e-02 -1.08554209e-04 9.99289514e-01 -5.10888683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:45.01, Z:-5.11 [[ 8.24399113e-01 -5.65160213e-01 3.09844323e-02 1.25722515e+02] [ 5.64752752e-01 8.24981149e-01 2.14576800e-02 4.50084874e+01] [-3.76885996e-02 -1.91148966e-04 9.99289514e-01 -5.11106050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.77, Y:45.04, Z:-5.11 [[ 8.25739226e-01 -5.63200741e-01 3.09783109e-02 1.25770065e+02] [ 5.62791567e-01 8.26320059e-01 2.14665137e-02 4.50421683e+01] [-3.76879562e-02 -2.91410245e-04 9.99289514e-01 -5.11388842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:45.08, Z:-5.12 [[ 8.26241849e-01 -5.62463449e-01 3.09721582e-02 1.25816951e+02] [ 5.62053425e-01 8.26822082e-01 2.14753873e-02 4.50755898e+01] [-3.76875847e-02 -3.35856138e-04 9.99289514e-01 -5.11609780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:45.11, Z:-5.12 [[ 8.25871530e-01 -5.63007388e-01 3.09660650e-02 1.25864631e+02] [ 5.62597417e-01 8.26451800e-01 2.14841697e-02 4.51092449e+01] [-3.76877064e-02 -3.21735933e-04 9.99289514e-01 -5.11943923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:45.14, Z:-5.12 [[ 8.24390900e-01 -5.65173529e-01 3.09600733e-02 1.25915084e+02] [ 5.64764758e-01 8.24972016e-01 2.14928007e-02 4.51406136e+01] [-3.76883561e-02 -2.33311032e-04 9.99289514e-01 -5.12189196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:45.17, Z:-5.13 [[ 8.22591106e-01 -5.67790166e-01 3.09548155e-02 1.25963239e+02] [ 5.67382958e-01 8.23173319e-01 2.15003706e-02 4.51712318e+01] [-3.76888771e-02 -1.22778818e-04 9.99289514e-01 -5.12537989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.01, Y:45.20, Z:-5.13 [[ 8.20858059e-01 -5.70292913e-01 3.09522325e-02 1.26012174e+02] [ 5.69887341e-01 8.21441412e-01 2.15040883e-02 4.52022119e+01] [-3.76890748e-02 -1.25187011e-05 9.99289514e-01 -5.12646604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:45.23, Z:-5.13 [[ 8.19035769e-01 -5.72907277e-01 3.09460995e-02 1.26061444e+02] [ 5.72503233e-01 8.19620182e-01 2.15129106e-02 4.52326302e+01] [-3.76889508e-02 9.68987038e-05 9.99289514e-01 -5.12811269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:45.26, Z:-5.13 [[ 8.18434527e-01 -5.73766194e-01 3.09399373e-02 1.26109062e+02] [ 5.73362428e-01 8.19019132e-01 2.15217695e-02 4.52646843e+01] [-3.76888644e-02 1.25638284e-04 9.99289514e-01 -5.13122354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.16, Y:45.30, Z:-5.13 [[ 8.17503543e-01 -5.75092029e-01 3.09372918e-02 1.26158255e+02] [ 5.74689067e-01 8.18088703e-01 2.15255717e-02 4.52962344e+01] [-3.76886336e-02 1.82092213e-04 9.99289514e-01 -5.13280100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.21, Y:45.33, Z:-5.13 [[ 8.15218731e-01 -5.78326618e-01 3.09312725e-02 1.26208207e+02] [ 5.77925651e-01 8.15805258e-01 2.15342177e-02 4.53282120e+01] [-3.76877060e-02 3.20878157e-04 9.99289515e-01 -5.13331050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.26, Y:45.36, Z:-5.13 [[ 8.13696879e-01 -5.80466171e-01 3.09259394e-02 1.26257557e+02] [ 5.80066455e-01 8.14284260e-01 2.15418741e-02 4.53610222e+01] [-3.76868348e-02 4.10544302e-04 9.99289515e-01 -5.13357139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.31, Y:45.39, Z:-5.13 [[ 8.13491525e-01 -5.80754216e-01 3.09205460e-02 1.26305789e+02] [ 5.80354413e-01 8.14078847e-01 2.15496127e-02 4.53937224e+01] [-3.76867909e-02 4.14448096e-04 9.99289515e-01 -5.13465656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:45.43, Z:-5.14 [[ 8.15913364e-01 -5.77347106e-01 3.09144198e-02 1.26354534e+02] [ 5.76944518e-01 8.16498781e-01 2.15583977e-02 4.54273422e+01] [-3.76882645e-02 2.46120236e-04 9.99289515e-01 -5.13816536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.40, Y:45.46, Z:-5.14 [[ 8.19042223e-01 -5.72900046e-01 3.09091224e-02 1.26400729e+02] [ 5.72493993e-01 8.19625241e-01 2.15659901e-02 4.54612856e+01] [-3.76890536e-02 3.18304557e-05 9.99289515e-01 -5.14275940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:126.45, Y:45.50, Z:-5.15 [[ 8.20794948e-01 -5.70386180e-01 3.09072622e-02 1.26447211e+02] [ 5.69978241e-01 8.21376648e-01 2.15686556e-02 4.54954931e+01] [-3.76889665e-02 -8.69766201e-05 9.99289515e-01 -5.14610795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:45.53, Z:-5.15 [[ 8.21915916e-01 -5.68770016e-01 3.09014009e-02 1.26494305e+02] [ 5.68360617e-01 8.22496589e-01 2.15770499e-02 4.55296240e+01] [-3.76886758e-02 -1.71381476e-04 9.99289515e-01 -5.14727001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.54, Y:45.56, Z:-5.15 [[ 8.21907692e-01 -5.68782215e-01 3.08955900e-02 1.26541203e+02] [ 5.68372512e-01 8.22488151e-01 2.15853672e-02 4.55632594e+01] [-3.76886296e-02 -1.80975243e-04 9.99289515e-01 -5.14906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.59, Y:45.60, Z:-5.15 [[ 8.21428483e-01 -5.69474380e-01 3.08897876e-02 1.26588655e+02] [ 5.69064854e-01 8.22009067e-01 2.15936674e-02 4.55959977e+01] [-3.76887259e-02 -1.59360968e-04 9.99289515e-01 -5.14946980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.64, Y:45.63, Z:-5.15 [[ 8.20696947e-01 -5.70528222e-01 3.08880063e-02 1.26636689e+02] [ 5.70119346e-01 8.21277989e-01 2.15962152e-02 4.56292722e+01] [-3.76888900e-02 -1.14097892e-04 9.99289515e-01 -5.15003968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.68, Y:45.66, Z:-5.15 [[ 8.21243378e-01 -5.69741711e-01 3.08819892e-02 1.26684068e+02] [ 5.69331955e-01 8.21823800e-01 2.16048160e-02 4.56625268e+01] [-3.76887186e-02 -1.60708806e-04 9.99289515e-01 -5.15316706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:45.70, Z:-5.16 [[ 8.23170088e-01 -5.66954738e-01 3.08760459e-02 1.26730962e+02] [ 5.66542699e-01 8.23748891e-01 2.16133065e-02 4.56965123e+01] [-3.76878751e-02 -2.98829093e-04 9.99289515e-01 -5.15578296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:45.73, Z:-5.16 [[ 8.23835021e-01 -5.65988433e-01 3.08699249e-02 1.26777508e+02] [ 5.65575387e-01 8.24413106e-01 2.16220455e-02 4.57309354e+01] [-3.76873983e-02 -3.53728596e-04 9.99289515e-01 -5.16024101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:45.76, Z:-5.16 [[ 8.23715535e-01 -5.66162646e-01 3.08638149e-02 1.26825546e+02] [ 5.65749396e-01 8.24293474e-01 2.16307635e-02 4.57643495e+01] [-3.76873715e-02 -3.56411307e-04 9.99289515e-01 -5.16368378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.87, Y:45.80, Z:-5.17 [[ 8.23207969e-01 -5.66900692e-01 3.08584639e-02 1.26874401e+02] [ 5.66487674e-01 8.23786074e-01 2.16383946e-02 4.57963553e+01] [-3.76875937e-02 -3.31959420e-04 9.99289515e-01 -5.16533421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:45.83, Z:-5.17 [[ 8.22663680e-01 -5.67690587e-01 3.08523328e-02 1.26921308e+02] [ 5.67277797e-01 8.23241947e-01 2.16471329e-02 4.58299337e+01] [-3.76878081e-02 -3.06466674e-04 9.99289515e-01 -5.16724791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.97, Y:45.86, Z:-5.17 [[ 8.20759759e-01 -5.70440119e-01 3.08462059e-02 1.26967828e+02] [ 5.70028938e-01 8.21339171e-01 2.16558599e-02 4.58644465e+01] [-3.76885685e-02 -1.91028324e-04 9.99289515e-01 -5.17069524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.02, Y:45.90, Z:-5.17 [[ 8.18628419e-01 -5.73494671e-01 3.08443429e-02 1.27016593e+02] [ 5.73085552e-01 8.19209289e-01 2.16585130e-02 4.58962027e+01] [-3.76890140e-02 -5.38269708e-05 9.99289515e-01 -5.17086357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:45.93, Z:-5.17 [[ 8.18147183e-01 -5.74181321e-01 3.08382436e-02 1.27064645e+02] [ 5.73772362e-01 8.18728166e-01 2.16671940e-02 4.59291372e+01] [-3.76890367e-02 -3.28218052e-05 9.99289515e-01 -5.17219806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:45.96, Z:-5.18 [[ 8.18103468e-01 -5.74243936e-01 3.08320740e-02 1.27110860e+02] [ 5.73834691e-01 8.18684249e-01 2.16759696e-02 4.59616165e+01] [-3.76890275e-02 -4.06722780e-05 9.99289515e-01 -5.17501813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:46.00, Z:-5.18 [[ 8.19646135e-01 -5.72039998e-01 3.08294235e-02 1.27156025e+02] [ 5.71629049e-01 8.20225712e-01 2.16797387e-02 4.59979553e+01] [-3.76887636e-02 -1.46719980e-04 9.99289515e-01 -5.17814770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:46.03, Z:-5.18 [[ 8.20748495e-01 -5.70457566e-01 3.08232641e-02 1.27203942e+02] [ 5.70045171e-01 8.21327043e-01 2.16884925e-02 4.60304829e+01] [-3.76883450e-02 -2.30144714e-04 9.99289515e-01 -5.17973507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:46.06, Z:-5.18 [[ 8.21061567e-01 -5.70007204e-01 3.08170562e-02 1.27251417e+02] [ 5.69594161e-01 8.21639653e-01 2.16973096e-02 4.60648767e+01] [-3.76881381e-02 -2.61611725e-04 9.99289516e-01 -5.18150619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.30, Y:46.10, Z:-5.18 [[ 8.21760627e-01 -5.68999220e-01 3.08116911e-02 1.27298322e+02] [ 5.68585182e-01 8.22338001e-01 2.17049257e-02 4.60990055e+01] [-3.76877103e-02 -3.17182315e-04 9.99289516e-01 -5.18303033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:46.13, Z:-5.18 [[ 8.22065537e-01 -5.68558711e-01 3.08098106e-02 1.27346238e+02] [ 5.68144264e-01 8.22642617e-01 2.17075947e-02 4.61334019e+01] [-3.76875053e-02 -3.40648326e-04 9.99289516e-01 -5.18363456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.39, Y:46.17, Z:-5.19 [[ 8.22629559e-01 -5.67742638e-01 3.08043209e-02 1.27393305e+02] [ 5.67327326e-01 8.23206017e-01 2.17153821e-02 4.61678259e+01] [-3.76870507e-02 -3.87582209e-04 9.99289516e-01 -5.18547262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:46.20, Z:-5.19 [[ 8.23403284e-01 -5.66620251e-01 3.07981023e-02 1.27438614e+02] [ 5.66203824e-01 8.23978937e-01 2.17241982e-02 4.62029387e+01] [-3.76863582e-02 -4.49772912e-04 9.99289516e-01 -5.18880651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:46.24, Z:-5.19 [[ 8.23572353e-01 -5.66374828e-01 3.07917829e-02 1.27485336e+02] [ 5.65957895e-01 8.24147640e-01 2.17331515e-02 4.62380011e+01] [-3.76860852e-02 -4.71970110e-04 9.99289516e-01 -5.19116631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.53, Y:46.27, Z:-5.19 [[ 8.23478447e-01 -5.66511704e-01 3.07853333e-02 1.27531542e+02] [ 5.66094525e-01 8.24053556e-01 2.17422837e-02 4.62729414e+01] [-3.76860215e-02 -4.76893419e-04 9.99289516e-01 -5.19411292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:46.31, Z:-5.20 [[ 8.23040426e-01 -5.67148211e-01 3.07792741e-02 1.27578945e+02] [ 5.66731156e-01 8.23615625e-01 2.17508580e-02 4.63067700e+01] [-3.76862513e-02 -4.58261925e-04 9.99289516e-01 -5.19599658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.62, Y:46.34, Z:-5.20 [[ 8.22249107e-01 -5.68295189e-01 3.07730928e-02 1.27624965e+02] [ 5.67878610e-01 8.22824650e-01 2.17595997e-02 4.63405773e+01] [-3.76867352e-02 -4.16430280e-04 9.99289516e-01 -5.19893566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.67, Y:46.38, Z:-5.20 [[ 8.21135926e-01 -5.69902680e-01 3.07689072e-02 1.27671788e+02] [ 5.69487006e-01 8.21712123e-01 2.17655167e-02 4.63754125e+01] [-3.76874104e-02 -3.49954910e-04 9.99289516e-01 -5.20185879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:46.41, Z:-5.20 [[ 8.19701206e-01 -5.71964677e-01 3.07626688e-02 1.27718875e+02] [ 5.71550121e-01 8.20278207e-01 2.17743303e-02 4.64090636e+01] [-3.76880946e-02 -2.66037719e-04 9.99289516e-01 -5.20336053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.77, Y:46.44, Z:-5.20 [[ 8.16639421e-01 -5.76328116e-01 3.07564603e-02 1.27765955e+02] [ 5.75916313e-01 8.17218390e-01 2.17830964e-02 4.64435508e+01] [-3.76889559e-02 -7.57879996e-05 9.99289516e-01 -5.20428038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:46.48, Z:-5.20 [[ 8.14108946e-01 -5.79897217e-01 3.07545513e-02 1.27812580e+02] [ 5.79487850e-01 8.14689641e-01 2.17857914e-02 4.64783066e+01] [-3.76889341e-02 8.58811672e-05 9.99289516e-01 -5.20442068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:46.51, Z:-5.21 [[ 8.10613036e-01 -5.84774352e-01 3.07483913e-02 1.27858497e+02] [ 5.84368149e-01 8.11195949e-01 2.17944820e-02 4.65142742e+01] [-3.76878245e-02 3.01489253e-04 9.99289516e-01 -5.20509016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:46.55, Z:-5.21 [[ 8.08705029e-01 -5.87410323e-01 3.07455461e-02 1.27904260e+02] [ 5.87005867e-01 8.09289155e-01 2.17984950e-02 4.65508431e+01] [-3.76866980e-02 4.19263388e-04 9.99289516e-01 -5.20800407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.95, Y:46.59, Z:-5.21 [[ 8.04947420e-01 -5.92549351e-01 3.07395019e-02 1.27949002e+02] [ 5.92148300e-01 8.05533888e-01 2.18070151e-02 4.65875407e+01] [-3.76834431e-02 6.48843245e-04 9.99289516e-01 -5.21245484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.99, Y:46.62, Z:-5.21 [[ 8.02529745e-01 -5.95820019e-01 3.07329399e-02 1.27994538e+02] [ 5.95421004e-01 8.03117600e-01 2.18162591e-02 4.66233113e+01] [-3.76807288e-02 7.90841116e-04 9.99289516e-01 -5.21294076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:128.04, Y:46.66, Z:-5.21 [[ 8.03516963e-01 -5.94488101e-01 3.07308956e-02 1.28039635e+02] [ 5.94088001e-01 8.04104080e-01 2.18191383e-02 4.66598638e+01] [-3.76820566e-02 7.24808559e-04 9.99289516e-01 -5.21270925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:46.70, Z:-5.22 [[ 7.98141211e-01 -6.01686439e-01 3.07251752e-02 1.28084847e+02] [ 6.01291322e-01 7.98731694e-01 2.18271907e-02 4.66969571e+01] [-3.76742959e-02 1.05360076e-03 9.99289516e-01 -5.21790040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110888479 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:46.73, Z:-5.22 [[ 7.97389852e-01 -6.02682122e-01 3.07194431e-02 1.28129887e+02] [ 6.02287433e-01 7.97980620e-01 2.18352550e-02 4.67337689e+01] [-3.76732381e-02 1.09072373e-03 9.99289516e-01 -5.22097017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170888479 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:128.17, Y:46.77, Z:-5.22 [[ 7.97770179e-01 -6.02178906e-01 3.07132871e-02 1.28173282e+02] [ 6.01783511e-01 7.98360476e-01 2.18439106e-02 4.67739271e+01] [-3.76742167e-02 1.05632930e-03 9.99289516e-01 -5.22080740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:128.22, Y:46.81, Z:-5.22 [[ 8.00506367e-01 -5.98537059e-01 3.07074204e-02 1.28216749e+02] [ 5.98138662e-01 8.01094641e-01 2.18521547e-02 4.68135419e+01] [-3.76788743e-02 8.74506376e-04 9.99289516e-01 -5.22173440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:128.26, Y:46.85, Z:-5.22 [[ 8.03618670e-01 -5.94352139e-01 3.07012620e-02 1.28260639e+02] [ 5.93950348e-01 8.04204632e-01 2.18608035e-02 4.68526420e+01] [-3.76831124e-02 6.67275422e-04 9.99289516e-01 -5.22399751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:128.30, Y:46.89, Z:-5.23 [[ 8.08426683e-01 -5.87795976e-01 3.06950778e-02 1.28302528e+02] [ 5.87389103e-01 8.09009127e-01 2.18694834e-02 4.68934051e+01] [-3.76873924e-02 3.50080290e-04 9.99289517e-01 -5.22808413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:46.93, Z:-5.23 [[ 8.11785613e-01 -5.83148393e-01 3.06931797e-02 1.28347994e+02] [ 5.82738084e-01 8.12365641e-01 2.18721469e-02 4.69302058e+01] [-3.76887920e-02 1.30590549e-04 9.99289517e-01 -5.22976529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:46.97, Z:-5.23 [[ 8.15948730e-01 -5.77309260e-01 3.06869232e-02 1.28391159e+02] [ 5.76894471e-01 8.16525563e-01 2.18809214e-02 4.69683501e+01] [-3.76887158e-02 -1.50593732e-04 9.99289517e-01 -5.23365575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530888479 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:47.00, Z:-5.23 [[ 8.19928529e-01 -5.71642929e-01 3.06850022e-02 1.28438817e+02] [ 5.71224052e-01 8.20502401e-01 2.18836150e-02 4.70027557e+01] [-3.76867318e-02 -4.14988967e-04 9.99289517e-01 -5.23032708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590888479 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:47.04, Z:-5.23 [[ 8.20542539e-01 -5.70761531e-01 3.06792512e-02 1.28486690e+02] [ 5.70341736e-01 8.21115740e-01 2.18916746e-02 4.70359648e+01] [-3.76861417e-02 -4.65392857e-04 9.99289517e-01 -5.23149300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650888479 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:47.07, Z:-5.24 [[ 8.19510876e-01 -5.72242136e-01 3.06734815e-02 1.28531085e+02] [ 5.71823075e-01 8.20084613e-01 2.18997558e-02 4.70735789e+01] [-3.76868132e-02 -4.07283523e-04 9.99289517e-01 -5.23594808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710888479 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:128.58, Y:47.11, Z:-5.24 [[ 8.19630271e-01 -5.72071193e-01 3.06719612e-02 1.28577639e+02] [ 5.71651933e-01 8.20203862e-01 2.19018848e-02 4.71083546e+01] [-3.76866984e-02 -4.17761835e-04 9.99289517e-01 -5.23842068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770888479 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:128.63, Y:47.14, Z:-5.24 [[ 8.19221942e-01 -5.72656109e-01 3.06657753e-02 1.28626263e+02] [ 5.72236934e-01 8.19795596e-01 2.19105426e-02 4.71421221e+01] [-3.76868736e-02 -4.01508009e-04 9.99289517e-01 -5.24091722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830888479 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:47.18, Z:-5.25 [[ 8.19235802e-01 -5.72636596e-01 3.06599108e-02 1.28673435e+02] [ 5.72217100e-01 8.19809221e-01 2.19187459e-02 4.71757856e+01] [-3.76867536e-02 -4.12496127e-04 9.99289517e-01 -5.24517059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890888479 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:47.21, Z:-5.25 [[ 8.21021530e-01 -5.70073699e-01 3.06533032e-02 1.28721512e+02] [ 5.69652068e-01 8.21593382e-01 2.19279827e-02 4.72081274e+01] [-3.76851172e-02 -5.41628379e-04 9.99289517e-01 -5.24729750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:47.24, Z:-5.25 [[ 8.21477841e-01 -5.69416062e-01 3.06513416e-02 1.28770830e+02] [ 5.68993872e-01 8.22049279e-01 2.19307242e-02 4.72406263e+01] [-3.76846199e-02 -5.75178413e-04 9.99289517e-01 -5.24705600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:128.82, Y:47.27, Z:-5.25 [[ 8.20987898e-01 -5.70122532e-01 3.06458821e-02 1.28820208e+02] [ 5.69700549e-01 8.21559489e-01 2.19383507e-02 4.72694997e+01] [-3.76849633e-02 -5.52144588e-04 9.99289517e-01 -5.24758248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:47.31, Z:-5.26 [[ 8.13772557e-01 -5.80375063e-01 3.06432998e-02 1.28865120e+02] [ 5.79960146e-01 8.14349298e-01 2.19419571e-02 4.73073740e+01] [-3.76889144e-02 -8.38698634e-05 9.99289517e-01 -5.26270531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:128.92, Y:47.33, Z:-5.25 [[ 8.18183710e-01 -5.74139774e-01 3.06420645e-02 1.28921047e+02] [ 5.73720397e-01 8.18757217e-01 2.19436820e-02 4.73303117e+01] [-3.76871521e-02 -3.73985781e-04 9.99289517e-01 -5.24778929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:47.36, Z:-5.25 [[ 8.16044729e-01 -5.77176023e-01 3.06404760e-02 1.28972166e+02] [ 5.76758697e-01 8.16619729e-01 2.19458998e-02 4.73574617e+01] [-3.76882644e-02 -2.36674829e-04 9.99289517e-01 -5.24900911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250888479 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:47.39, Z:-5.25 [[ 8.15293477e-01 -5.78236845e-01 3.06381740e-02 1.29022065e+02] [ 5.77820146e-01 8.15868932e-01 2.19491131e-02 4.73888026e+01] [-3.76885202e-02 -1.91614525e-04 9.99289517e-01 -5.25018752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310888479 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:47.42, Z:-5.25 [[ 8.15617518e-01 -5.77779959e-01 3.06330300e-02 1.29072153e+02] [ 5.77362669e-01 8.16192544e-01 2.19562900e-02 4.74205085e+01] [-3.76883550e-02 -2.21566801e-04 9.99289517e-01 -5.25209863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370888479 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:129.12, Y:47.45, Z:-5.25 [[ 8.16538643e-01 -5.76477743e-01 3.06277027e-02 1.29121318e+02] [ 5.76059257e-01 8.17112799e-01 2.19637188e-02 4.74531998e+01] [-3.76878829e-02 -2.90853447e-04 9.99289517e-01 -5.25429481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430888479 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:129.17, Y:47.48, Z:-5.26 [[ 8.17772780e-01 -5.74725985e-01 3.06222411e-02 1.29170217e+02] [ 5.74305985e-01 8.18345830e-01 2.19713308e-02 4.74824838e+01] [-3.76870780e-02 -3.81019927e-04 9.99289517e-01 -5.25783851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490888479 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:129.22, Y:47.51, Z:-5.26 [[ 8.17404579e-01 -5.75249763e-01 3.06180352e-02 1.29220362e+02] [ 5.74829910e-01 8.17977737e-01 2.19771903e-02 4.75140635e+01] [-3.76872446e-02 -3.64093584e-04 9.99289517e-01 -5.25794481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:129.27, Y:47.55, Z:-5.26 [[ 8.16817149e-01 -5.76083860e-01 3.06125985e-02 1.29270282e+02] [ 5.75664309e-01 8.17390527e-01 2.19847606e-02 4.75460631e+01] [-3.76875138e-02 -3.34949087e-04 9.99289517e-01 -5.25780538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:47.58, Z:-5.26 [[ 8.16040926e-01 -5.77183176e-01 3.06069884e-02 1.29320407e+02] [ 5.76764105e-01 8.16614655e-01 2.19925681e-02 4.75756638e+01] [-3.76878556e-02 -2.93823380e-04 9.99289517e-01 -5.25984952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:47.61, Z:-5.26 [[ 8.15733484e-01 -5.77617708e-01 3.06050205e-02 1.29369555e+02] [ 5.77198839e-01 8.16307360e-01 2.19953063e-02 4.76076745e+01] [-3.76879820e-02 -2.77125555e-04 9.99289517e-01 -5.26288218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:47.64, Z:-5.26 [[ 8.15157882e-01 -5.78430020e-01 3.05996554e-02 1.29418014e+02] [ 5.78011443e-01 8.15731972e-01 2.20027678e-02 4.76404937e+01] [-3.76881786e-02 -2.48778649e-04 9.99289517e-01 -5.26449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:47.67, Z:-5.27 [[ 8.12025275e-01 -5.82819869e-01 3.05933599e-02 1.29468912e+02] [ 5.82404066e-01 8.12601377e-01 2.20115177e-02 4.76698963e+01] [-3.76889562e-02 -5.62115161e-05 9.99289517e-01 -5.26849798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:47.70, Z:-5.27 [[ 8.09895452e-01 -5.85776163e-01 3.05882908e-02 1.29518251e+02] [ 5.85362196e-01 8.10472876e-01 2.20185597e-02 4.77011193e+01] [-3.76889274e-02 7.24977562e-05 9.99289517e-01 -5.27039598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:47.73, Z:-5.28 [[ 8.07286440e-01 -5.89366904e-01 3.05819768e-02 1.29567689e+02] [ 5.88955174e-01 8.07865459e-01 2.20273259e-02 4.77324617e+01] [-3.76882996e-02 2.29051969e-04 9.99289517e-01 -5.27619272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:47.76, Z:-5.27 [[ 8.06356901e-01 -5.90638348e-01 3.05759685e-02 1.29617960e+02] [ 5.90227215e-01 8.06936345e-01 2.20356628e-02 4.77630224e+01] [-3.76879677e-02 2.78159914e-04 9.99289517e-01 -5.27469336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.67, Y:47.80, Z:-5.28 [[ 8.06793118e-01 -5.90042711e-01 3.05690051e-02 1.29667456e+02] [ 5.89630785e-01 8.07371997e-01 2.20453185e-02 4.77954901e+01] [-3.76882382e-02 2.38415214e-04 9.99289518e-01 -5.27672368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:129.72, Y:47.83, Z:-5.28 [[ 8.09345852e-01 -5.86536583e-01 3.05635245e-02 1.29717046e+02] [ 5.86121861e-01 8.09922733e-01 2.20529142e-02 4.78278158e+01] [-3.76889342e-02 6.55151996e-05 9.99289518e-01 -5.28355665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:47.86, Z:-5.28 [[ 8.11089545e-01 -5.84123266e-01 3.05574898e-02 1.29765483e+02] [ 5.83706513e-01 8.11664960e-01 2.20612731e-02 4.78606572e+01] [-3.76889466e-02 -5.70621452e-05 9.99289518e-01 -5.28228303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:47.90, Z:-5.30 [[ 8.10995226e-01 -5.84254325e-01 3.05553213e-02 1.29810315e+02] [ 5.83837551e-01 8.11570626e-01 2.20642760e-02 4.78980316e+01] [-3.76889499e-02 -5.46785560e-05 9.99289518e-01 -5.29734375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.86, Y:47.93, Z:-5.30 [[ 8.12098082e-01 -5.82720536e-01 3.05529309e-02 1.29860516e+02] [ 5.82302552e-01 8.12672603e-01 2.20675855e-02 4.79287311e+01] [-3.76887652e-02 -1.29994208e-04 9.99289518e-01 -5.29659682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:47.96, Z:-5.29 [[ 8.15280596e-01 -5.78259878e-01 3.05460897e-02 1.29912379e+02] [ 5.77838395e-01 8.15852556e-01 2.20770511e-02 4.79572528e+01] [-3.76873782e-02 -3.48287923e-04 9.99289518e-01 -5.28904777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.96, Y:47.99, Z:-5.29 [[ 8.14946019e-01 -5.78731612e-01 3.05402782e-02 1.29961447e+02] [ 5.78310159e-01 8.15518000e-01 2.20850876e-02 4.79892499e+01] [-3.76874849e-02 -3.36401067e-04 9.99289518e-01 -5.29088568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:48.02, Z:-5.29 [[ 8.14148512e-01 -5.79853318e-01 3.05340860e-02 1.30010749e+02] [ 5.79432333e-01 8.14720837e-01 2.20936454e-02 4.80220415e+01] [-3.76878297e-02 -2.95071815e-04 9.99289518e-01 -5.29315609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:48.05, Z:-5.29 [[ 8.12975956e-01 -5.81496427e-01 3.05286789e-02 1.30059396e+02] [ 5.81076319e-01 8.13548925e-01 2.21011143e-02 4.80545714e+01] [-3.76882929e-02 -2.28182188e-04 9.99289518e-01 -5.29483799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:48.09, Z:-5.30 [[ 8.11823727e-01 -5.83104248e-01 3.05233022e-02 1.30106851e+02] [ 5.82684994e-01 8.12397323e-01 2.21085374e-02 4.80855206e+01] [-3.76886311e-02 -1.62765040e-04 9.99289518e-01 -5.29693957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:48.12, Z:-5.30 [[ 8.10809367e-01 -5.84514037e-01 3.05206670e-02 1.30156343e+02] [ 5.84095644e-01 8.11383590e-01 2.21121747e-02 4.81162368e+01] [-3.76888449e-02 -1.01769746e-04 9.99289518e-01 -5.29846549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.20, Y:48.15, Z:-5.30 [[ 8.10600649e-01 -5.84803773e-01 3.05145047e-02 1.30204233e+02] [ 5.84385265e-01 8.11174789e-01 2.21206753e-02 4.81482246e+01] [-3.76888513e-02 -9.88068248e-05 9.99289518e-01 -5.30136004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:48.18, Z:-5.30 [[ 8.10406210e-01 -5.85073519e-01 3.05082417e-02 1.30251209e+02] [ 5.84654877e-01 8.10980252e-01 2.21293097e-02 4.81812232e+01] [-3.76888546e-02 -9.69377413e-05 9.99289518e-01 -5.30479864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810888479 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:48.22, Z:-5.32 [[ 8.07760758e-01 -5.88720620e-01 3.05055540e-02 1.30296507e+02] [ 5.88304431e-01 8.08336580e-01 2.21330142e-02 4.82178071e+01] [-3.76889170e-02 6.83722521e-05 9.99289518e-01 -5.31577023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:48.25, Z:-5.31 [[ 8.06611290e-01 -5.90294808e-01 3.05002803e-02 1.30346020e+02] [ 5.89879467e-01 8.07187724e-01 2.21402791e-02 4.82490265e+01] [-3.76887437e-02 1.32890051e-04 9.99289518e-01 -5.31267752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:48.28, Z:-5.31 [[ 8.08119343e-01 -5.88228926e-01 3.04935656e-02 1.30394815e+02] [ 5.87811763e-01 8.08694460e-01 2.21495234e-02 4.82808704e+01] [-3.76889679e-02 2.50182369e-05 9.99289518e-01 -5.30870984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:48.32, Z:-5.31 [[ 8.07778813e-01 -5.88696575e-01 3.04914980e-02 1.30441987e+02] [ 5.88279637e-01 8.08354094e-01 2.21523693e-02 4.83153997e+01] [-3.76889512e-02 4.33128098e-05 9.99289518e-01 -5.30998794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:48.35, Z:-5.31 [[ 8.08467680e-01 -5.87750517e-01 3.04850947e-02 1.30488926e+02] [ 5.87332574e-01 8.09042230e-01 2.21611778e-02 4.83500309e+01] [-3.76889727e-02 -1.17068922e-05 9.99289518e-01 -5.31324761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.53, Y:48.39, Z:-5.32 [[ 8.08200382e-01 -5.88118344e-01 3.04787861e-02 1.30534969e+02] [ 5.87700335e-01 8.08774884e-01 2.21698508e-02 4.83860745e+01] [-3.76889726e-02 -5.28907494e-06 9.99289518e-01 -5.31816214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:48.42, Z:-5.32 [[ 8.07819273e-01 -5.88642042e-01 3.04724255e-02 1.30580838e+02] [ 5.88224077e-01 8.08393806e-01 2.21785900e-02 4.84210237e+01] [-3.76889705e-02 8.32193023e-06 9.99289518e-01 -5.31991310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.63, Y:48.46, Z:-5.32 [[ 8.06962426e-01 -5.89816459e-01 3.04661668e-02 1.30626664e+02] [ 5.89399005e-01 8.07537332e-01 2.21871841e-02 4.84561004e+01] [-3.76889334e-02 5.25044879e-05 9.99289518e-01 -5.32074228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:48.49, Z:-5.32 [[ 8.06614905e-01 -5.90291951e-01 3.04599376e-02 1.30672003e+02] [ 5.89874512e-01 8.07189822e-01 2.21957325e-02 4.84923334e+01] [-3.76889139e-02 6.41321946e-05 9.99289518e-01 -5.32429495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:48.53, Z:-5.33 [[ 8.06709706e-01 -5.90162712e-01 3.04536348e-02 1.30717920e+02] [ 5.89744856e-01 8.07284318e-01 2.22043770e-02 4.85267430e+01] [-3.76889371e-02 4.73880207e-05 9.99289518e-01 -5.32650714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.76, Y:48.56, Z:-5.33 [[ 8.06714707e-01 -5.90156013e-01 3.04509627e-02 1.30764030e+02] [ 5.89738013e-01 8.07289216e-01 2.22080409e-02 4.85614107e+01] [-3.76889427e-02 4.25370314e-05 9.99289519e-01 -5.32723836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:48.60, Z:-5.33 [[ 8.07206704e-01 -5.89483209e-01 3.04447542e-02 1.30810688e+02] [ 5.89064410e-01 8.07780630e-01 2.22165488e-02 4.85970122e+01] [-3.76889652e-02 5.74021506e-07 9.99289519e-01 -5.32663392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.86, Y:48.63, Z:-5.33 [[ 8.08123751e-01 -5.88225681e-01 3.04392988e-02 1.30856479e+02] [ 5.87805707e-01 8.08696818e-01 2.22240208e-02 4.86329894e+01] [-3.76889038e-02 -6.73654960e-05 9.99289519e-01 -5.32934478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:48.67, Z:-5.33 [[ 8.09911447e-01 -5.85762118e-01 3.04333491e-02 1.30902587e+02] [ 5.85340095e-01 8.10483007e-01 2.22321652e-02 4.86681314e+01] [-3.76884725e-02 -1.92225652e-04 9.99289519e-01 -5.33135476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:48.70, Z:-5.33 [[ 8.10298714e-01 -5.85226631e-01 3.04267182e-02 1.30950180e+02] [ 5.84803889e-01 8.10869742e-01 2.22412366e-02 4.87024778e+01] [-3.76882691e-02 -2.28382280e-04 9.99289519e-01 -5.33388379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:48.74, Z:-5.34 [[ 8.09431608e-01 -5.86425634e-01 3.04211738e-02 1.30996920e+02] [ 5.86003453e-01 8.10003051e-01 2.22488175e-02 4.87362390e+01] [-3.76885205e-02 -1.81983206e-04 9.99289519e-01 -5.33564604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:48.77, Z:-5.34 [[ 8.06522944e-01 -5.90419916e-01 3.04148660e-02 1.31044352e+02] [ 5.90000240e-01 8.07096229e-01 2.22574371e-02 4.87701256e+01] [-3.76889578e-02 -6.35548974e-06 9.99289519e-01 -5.33703590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:48.80, Z:-5.34 [[ 8.04107559e-01 -5.93705608e-01 3.04086301e-02 1.31092505e+02] [ 5.93287953e-01 8.04682318e-01 2.22659535e-02 4.88033310e+01] [-3.76887084e-02 1.36852397e-04 9.99289519e-01 -5.33756941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.14, Y:48.84, Z:-5.34 [[ 8.00472739e-01 -5.98597609e-01 3.04022555e-02 1.31139397e+02] [ 5.98183136e-01 8.01049796e-01 2.22746541e-02 4.88372013e+01] [-3.76872752e-02 3.55863142e-04 9.99289519e-01 -5.33785399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.19, Y:48.87, Z:-5.34 [[ 7.97947507e-01 -6.01960017e-01 3.03959388e-02 1.31185617e+02] [ 6.01547648e-01 7.98526069e-01 2.22832705e-02 4.88720835e+01] [-3.76855874e-02 5.03725283e-04 9.99289519e-01 -5.33918986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.23, Y:48.91, Z:-5.34 [[ 7.96733644e-01 -6.03566044e-01 3.03896467e-02 1.31230929e+02] [ 6.03154513e-01 7.97312804e-01 2.22918483e-02 4.89063866e+01] [-3.76846571e-02 5.68987074e-04 9.99289519e-01 -5.34188498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.28, Y:48.94, Z:-5.34 [[ 7.96080624e-01 -6.04427228e-01 3.03869429e-02 1.31276371e+02] [ 6.04016183e-01 7.96660128e-01 2.22955334e-02 4.89421205e+01] [-3.76840932e-02 6.05163083e-04 9.99289519e-01 -5.34485305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:48.98, Z:-5.35 [[ 7.96513220e-01 -6.03857354e-01 3.03806895e-02 1.31321455e+02] [ 6.03445570e-01 7.97092199e-01 2.23040512e-02 4.89786875e+01] [-3.76846760e-02 5.67620812e-04 9.99289519e-01 -5.34808759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.37, Y:49.01, Z:-5.35 [[ 7.97236893e-01 -6.02901922e-01 3.03744738e-02 1.31367992e+02] [ 6.02489121e-01 7.97815148e-01 2.23125128e-02 4.90141061e+01] [-3.76854721e-02 5.11931630e-04 9.99289519e-01 -5.34979783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.41, Y:49.05, Z:-5.35 [[ 7.98988595e-01 -6.00578888e-01 3.03681502e-02 1.31413978e+02] [ 6.00164079e-01 7.99565411e-01 2.23211161e-02 4.90497830e+01] [-3.76869136e-02 3.91555683e-04 9.99289519e-01 -5.35107690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:131.46, Y:49.09, Z:-5.35 [[ 8.03005337e-01 -5.95197717e-01 3.03662137e-02 1.31459033e+02] [ 5.94778943e-01 8.03579280e-01 2.23237502e-02 4.90864340e+01] [-3.76887053e-02 1.35093950e-04 9.99289519e-01 -5.35241824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:49.12, Z:-5.35 [[ 8.06701111e-01 -5.90179289e-01 3.03599040e-02 1.31504792e+02] [ 5.89756622e-01 8.07272193e-01 2.23323280e-02 4.91215390e+01] [-3.76887838e-02 -1.10559382e-04 9.99289519e-01 -5.35365065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:131.55, Y:49.16, Z:-5.36 [[ 8.08640615e-01 -5.87519370e-01 3.03536759e-02 1.31551009e+02] [ 5.87094506e-01 8.09210065e-01 2.23407900e-02 4.91567385e+01] [-3.76881469e-02 -2.45193777e-04 9.99289519e-01 -5.35588979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.60, Y:49.19, Z:-5.36 [[ 8.14543861e-01 -5.79307630e-01 3.03474635e-02 1.31596434e+02] [ 5.78876712e-01 8.15108744e-01 2.23492257e-02 4.91927132e+01] [-3.76835598e-02 -6.36984724e-04 9.99289519e-01 -5.35898191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.64, Y:49.23, Z:-5.36 [[ 8.18697980e-01 -5.73422217e-01 3.03410299e-02 1.31642611e+02] [ 5.72986916e-01 8.19259492e-01 2.23579565e-02 4.92282728e+01] [-3.76777257e-02 -9.19400657e-04 9.99289519e-01 -5.36292554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:49.26, Z:-5.37 [[ 8.20150880e-01 -5.71342578e-01 3.03346621e-02 1.31689309e+02] [ 5.70905534e-01 8.20711037e-01 2.23665927e-02 4.92619825e+01] [-3.76749787e-02 -1.02575422e-03 9.99289520e-01 -5.36547716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:49.30, Z:-5.37 [[ 8.20907288e-01 -5.70255578e-01 3.03282186e-02 1.31735762e+02] [ 5.69817471e-01 8.21466612e-01 2.23753264e-02 4.92957589e+01] [-3.76732737e-02 -1.08651966e-03 9.99289520e-01 -5.36827855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:49.33, Z:-5.37 [[ 8.19919662e-01 -5.71674833e-01 3.03254460e-02 1.31784540e+02] [ 5.71237555e-01 8.20479636e-01 2.23790836e-02 4.93276466e+01] [-3.76749697e-02 -1.02601707e-03 9.99289520e-01 -5.36995862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:49.36, Z:-5.37 [[ 8.18915442e-01 -5.73112771e-01 3.03191523e-02 1.31833217e+02] [ 5.72676161e-01 8.19475936e-01 2.23876070e-02 4.93598395e+01] [-3.76764392e-02 -9.70501303e-04 9.99289520e-01 -5.37234390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:49.39, Z:-5.38 [[ 8.17169943e-01 -5.75599173e-01 3.03129790e-02 1.31880252e+02] [ 5.75163959e-01 8.17731521e-01 2.23959626e-02 4.93912503e+01] [-3.76789760e-02 -8.66374415e-04 9.99289520e-01 -5.37604319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:49.42, Z:-5.38 [[ 8.14929027e-01 -5.78767627e-01 3.03103095e-02 1.31926931e+02] [ 5.78334462e-01 8.15492188e-01 2.23995748e-02 4.94249328e+01] [-3.76819694e-02 -7.24567163e-04 9.99289520e-01 -5.37896706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:49.46, Z:-5.38 [[ 8.11280620e-01 -5.83871076e-01 3.03038348e-02 1.31977261e+02] [ 5.83441127e-01 8.11846240e-01 2.24083310e-02 4.94556884e+01] [-3.76856306e-02 -4.98941122e-04 9.99289520e-01 -5.37883071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:49.49, Z:-5.38 [[ 8.07059653e-01 -5.89692069e-01 3.02981809e-02 1.32025989e+02] [ 5.89265914e-01 8.07628137e-01 2.24159729e-02 4.94863802e+01] [-3.76881848e-02 -2.37342095e-04 9.99289520e-01 -5.37849245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090888479 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:49.52, Z:-5.38 [[ 8.03950720e-01 -5.93923757e-01 3.02953904e-02 1.32073073e+02] [ 5.93500452e-01 8.04521329e-01 2.24197436e-02 4.95199511e+01] [-3.76889061e-02 -4.40411282e-05 9.99289520e-01 -5.38178931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:49.55, Z:-5.39 [[ 8.00613380e-01 -5.98415236e-01 3.02889646e-02 1.32118301e+02] [ 5.97994804e-01 8.01186109e-01 2.24284215e-02 4.95542800e+01] [-3.76886068e-02 1.56149114e-04 9.99289520e-01 -5.38714254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.17, Y:49.59, Z:-5.39 [[ 7.98574134e-01 -6.01134010e-01 3.02862063e-02 1.32165561e+02] [ 6.00715386e-01 7.99148186e-01 2.24321456e-02 4.95888154e+01] [-3.76878925e-02 2.79658882e-04 9.99289520e-01 -5.38953277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.21, Y:49.62, Z:-5.39 [[ 7.94285131e-01 -6.06790123e-01 3.02799715e-02 1.32210555e+02] [ 6.06375266e-01 7.94861911e-01 2.24405584e-02 4.96248836e+01] [-3.76851052e-02 5.36823873e-04 9.99289520e-01 -5.39152230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.26, Y:49.66, Z:-5.39 [[ 7.89089109e-01 -6.13532304e-01 3.02736007e-02 1.32255577e+02] [ 6.13122044e-01 7.89669168e-01 2.24491497e-02 4.96613139e+01] [-3.76794076e-02 8.47032439e-04 9.99289520e-01 -5.39312096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:49.70, Z:-5.40 [[ 7.84289478e-01 -6.19656286e-01 3.02671705e-02 1.32299777e+02] [ 6.19250220e-01 7.84872481e-01 2.24578160e-02 4.97000188e+01] [-3.76719960e-02 1.12952319e-03 9.99289520e-01 -5.39539406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:49.74, Z:-5.40 [[ 7.82620167e-01 -6.21763585e-01 3.02608400e-02 1.32344555e+02] [ 6.21358760e-01 7.83204032e-01 2.24663428e-02 4.97372688e+01] [-3.76691657e-02 1.22022505e-03 9.99289520e-01 -5.39671898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.39, Y:49.78, Z:-5.40 [[ 7.82527600e-01 -6.21880383e-01 3.02546641e-02 1.32387369e+02] [ 6.21475323e-01 7.83111303e-01 2.24746565e-02 4.97773688e+01] [-3.76693174e-02 1.21548814e-03 9.99289520e-01 -5.40042256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:49.82, Z:-5.40 [[ 7.84786465e-01 -6.19027684e-01 3.02478165e-02 1.32430665e+02] [ 6.18620148e-01 7.85368441e-01 2.24838687e-02 4.98163020e+01] [-3.76738177e-02 1.06687283e-03 9.99289520e-01 -5.40360705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.47, Y:49.86, Z:-5.41 [[ 7.90630821e-01 -6.11545874e-01 3.02414956e-02 1.32470616e+02] [ 6.11132504e-01 7.91208668e-01 2.24923673e-02 4.98577644e+01] [-3.76824479e-02 6.98402160e-04 9.99289520e-01 -5.40695591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:49.90, Z:-5.41 [[ 7.95900699e-01 -6.04671636e-01 3.02372312e-02 1.32511271e+02] [ 6.04253056e-01 7.96474783e-01 2.24980986e-02 4.98997989e+01] [-3.76871543e-02 3.64687010e-04 9.99289520e-01 -5.40954644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:49.94, Z:-5.41 [[ 7.98235389e-01 -6.01586533e-01 3.02309041e-02 1.32553512e+02] [ 6.01165412e-01 7.98807611e-01 2.25065972e-02 4.99399500e+01] [-3.76883421e-02 2.08211621e-04 9.99289520e-01 -5.41191977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810888479 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:132.59, Y:49.98, Z:-5.41 [[ 8.01057057e-01 -5.97824440e-01 3.02246471e-02 1.32594450e+02] [ 5.97400315e-01 8.01627057e-01 2.25149967e-02 4.99807878e+01] [-3.76889102e-02 2.04167337e-05 9.99289520e-01 -5.41338027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870888479 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:132.64, Y:50.02, Z:-5.42 [[ 8.02176270e-01 -5.96321948e-01 3.02219530e-02 1.32635669e+02] [ 5.95896620e-01 8.02745371e-01 2.25186125e-02 5.00212930e+01] [-3.76888757e-02 -5.47369960e-05 9.99289520e-01 -5.41618118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930888479 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:50.06, Z:-5.42 [[ 8.02754745e-01 -5.95543201e-01 3.02178172e-02 1.32679399e+02] [ 5.95117111e-01 8.03323277e-01 2.25241610e-02 5.00592687e+01] [-3.76887868e-02 -9.82370722e-05 9.99289520e-01 -5.41993344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990888479 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:50.10, Z:-5.42 [[ 8.03538562e-01 -5.94485534e-01 3.02114005e-02 1.32722782e+02] [ 5.94058373e-01 8.04106289e-01 2.25327643e-02 5.00987771e+01] [-3.76885796e-02 -1.58609615e-04 9.99289521e-01 -5.42298943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050888479 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:132.77, Y:50.14, Z:-5.42 [[ 8.03361222e-01 -5.94725486e-01 3.02050209e-02 1.32767680e+02] [ 5.94298173e-01 8.03928835e-01 2.25413129e-02 5.01358893e+01] [-3.76885805e-02 -1.58028004e-04 9.99289521e-01 -5.42472292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110888479 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:132.81, Y:50.17, Z:-5.43 [[ 8.01593889e-01 -5.97105751e-01 3.01986474e-02 1.32812364e+02] [ 5.96679802e-01 8.02162526e-01 2.25498482e-02 5.01731009e+01] [-3.76888674e-02 -5.68976188e-05 9.99289521e-01 -5.42749470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170888479 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:132.86, Y:50.21, Z:-5.43 [[ 7.98272879e-01 -6.01538722e-01 3.01923296e-02 1.32857783e+02] [ 6.01115611e-01 7.98843630e-01 2.25583040e-02 5.02089736e+01] [-3.76886436e-02 1.41398380e-04 9.99289521e-01 -5.43083432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:50.24, Z:-5.43 [[ 7.95296487e-01 -6.05468669e-01 3.01859049e-02 1.32904007e+02] [ 6.05048051e-01 7.95869079e-01 2.25668979e-02 5.02443631e+01] [-3.76875780e-02 3.16548282e-04 9.99289521e-01 -5.43153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:50.28, Z:-5.43 [[ 7.93670005e-01 -6.07599471e-01 3.01795723e-02 1.32949228e+02] [ 6.07180068e-01 7.94243488e-01 2.25753635e-02 5.02785738e+01] [-3.76867077e-02 4.07045899e-04 9.99289521e-01 -5.43304679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:50.31, Z:-5.44 [[ 7.89334739e-01 -6.13221026e-01 3.01768521e-02 1.32994124e+02] [ 6.12805569e-01 7.89911086e-01 2.25789991e-02 5.03146060e+01] [-3.76829470e-02 6.70154588e-04 9.99289521e-01 -5.43559231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:133.04, Y:50.35, Z:-5.44 [[ 7.87770997e-01 -6.15228899e-01 3.01704718e-02 1.33038590e+02] [ 6.14814584e-01 7.88348166e-01 2.25875213e-02 5.03506874e+01] [-3.76813320e-02 7.55451914e-04 9.99289521e-01 -5.43783285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:50.39, Z:-5.44 [[ 7.87229549e-01 -6.15921780e-01 3.01661791e-02 1.33082608e+02] [ 6.15507754e-01 7.87806925e-01 2.25932529e-02 5.03886440e+01] [-3.76808013e-02 7.81440872e-04 9.99289521e-01 -5.44082579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530888479 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:50.43, Z:-5.44 [[ 7.86910919e-01 -6.16329127e-01 3.01597824e-02 1.33127679e+02] [ 6.15915072e-01 7.87488275e-01 2.26017887e-02 5.04258844e+01] [-3.76806157e-02 7.90270210e-04 9.99289521e-01 -5.44394666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590888479 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:50.46, Z:-5.45 [[ 7.87005025e-01 -6.16209272e-01 3.01533293e-02 1.33172052e+02] [ 6.15794800e-01 7.87582081e-01 2.26103946e-02 5.04615662e+01] [-3.76809566e-02 7.73769228e-04 9.99289521e-01 -5.44510175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650888479 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:50.50, Z:-5.45 [[ 7.86909403e-01 -6.16331514e-01 3.01505609e-02 1.33217418e+02] [ 6.15916991e-01 7.87486421e-01 2.26140856e-02 5.04977643e+01] [-3.76809309e-02 7.75006139e-04 9.99289521e-01 -5.44827385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710888479 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:50.54, Z:-5.45 [[ 7.89127734e-01 -6.13489002e-01 3.01440511e-02 1.33260480e+02] [ 6.13072068e-01 7.89703014e-01 2.26227597e-02 5.05357813e+01] [-3.76836622e-02 6.28228638e-04 9.99289521e-01 -5.44949959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770888479 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:50.57, Z:-5.45 [[ 7.92148714e-01 -6.09583398e-01 3.01412512e-02 1.33305444e+02] [ 6.09163486e-01 7.92721824e-01 2.26264894e-02 5.05729773e+01] [-3.76863599e-02 4.37405192e-04 9.99289521e-01 -5.45464120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830888479 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:50.61, Z:-5.46 [[ 7.93999724e-01 -6.07170750e-01 3.01350009e-02 1.33350667e+02] [ 6.06748780e-01 7.94571320e-01 2.26348109e-02 5.06094483e+01] [-3.76876025e-02 3.12341425e-04 9.99289521e-01 -5.45780145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890888479 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:133.39, Y:50.65, Z:-5.46 [[ 7.97255323e-01 -6.02889880e-01 3.01287549e-02 1.33394514e+02] [ 6.02464527e-01 7.97824406e-01 2.26431217e-02 5.06483276e+01] [-3.76887649e-02 9.91567916e-05 9.99289521e-01 -5.45999375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:133.44, Y:50.68, Z:-5.46 [[ 8.00330298e-01 -5.98802189e-01 3.01223092e-02 1.33439214e+02] [ 5.98373607e-01 8.00896952e-01 2.26516932e-02 5.06843815e+01] [-3.76887491e-02 -1.04441558e-04 9.99289521e-01 -5.46140055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:50.72, Z:-5.46 [[ 8.02038321e-01 -5.96512652e-01 3.01195434e-02 1.33485365e+02] [ 5.96082314e-01 8.02603644e-01 2.26553702e-02 5.07197475e+01] [-3.76882703e-02 -2.16747962e-04 9.99289521e-01 -5.46393989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:50.75, Z:-5.47 [[ 8.03793065e-01 -5.94146349e-01 3.01135335e-02 1.33531942e+02] [ 5.93714047e-01 8.04356887e-01 2.26633558e-02 5.07547689e+01] [-3.76873782e-02 -3.37820298e-04 9.99289521e-01 -5.46694318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:133.58, Y:50.79, Z:-5.47 [[ 8.04232963e-01 -5.93551101e-01 3.01070046e-02 1.33578248e+02] [ 5.93118058e-01 8.04796216e-01 2.26720257e-02 5.07899344e+01] [-3.76870092e-02 -3.76582307e-04 9.99289521e-01 -5.46992018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:50.82, Z:-5.47 [[ 8.04755188e-01 -5.92843189e-01 3.01005001e-02 1.33625378e+02] [ 5.92409328e-01 8.05317811e-01 2.26806582e-02 5.08223991e+01] [-3.76865426e-02 -4.20560401e-04 9.99289521e-01 -5.47415618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250888479 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:50.85, Z:-5.48 [[ 8.05607690e-01 -5.91684438e-01 3.00961161e-02 1.33671757e+02] [ 5.91249550e-01 8.06169519e-01 2.26864741e-02 5.08548396e+01] [-3.76858051e-02 -4.82082919e-04 9.99289521e-01 -5.47656992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310888479 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:50.89, Z:-5.48 [[ 8.04642376e-01 -5.92996644e-01 3.00936452e-02 1.33719079e+02] [ 5.92562550e-01 8.05204819e-01 2.26897512e-02 5.08879130e+01] [-3.76864945e-02 -4.24768205e-04 9.99289521e-01 -5.47898505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370888479 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:50.92, Z:-5.48 [[ 8.04169662e-01 -5.93637855e-01 3.00874008e-02 1.33767593e+02] [ 5.93203900e-01 8.04732212e-01 2.26980286e-02 5.09204195e+01] [-3.76867096e-02 -4.05102474e-04 9.99289522e-01 -5.47874387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430888479 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:133.81, Y:50.95, Z:-5.48 [[ 8.02655890e-01 -5.95683360e-01 3.00808383e-02 1.33814732e+02] [ 5.95250513e-01 8.03219292e-01 2.27067223e-02 5.09522761e+01] [-3.76875262e-02 -3.20049974e-04 9.99289522e-01 -5.47997918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490888479 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:133.86, Y:50.99, Z:-5.49 [[ 8.00333858e-01 -5.98799669e-01 3.00777804e-02 1.33860655e+02] [ 5.98368863e-01 8.00898823e-01 2.27107721e-02 5.09880123e+01] [-3.76884617e-02 -1.78592570e-04 9.99289522e-01 -5.49072207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550888479 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:51.02, Z:-5.49 [[ 8.01768152e-01 -5.96878135e-01 3.00719714e-02 1.33910825e+02] [ 5.96445686e-01 8.02331861e-01 2.27184612e-02 5.10201190e+01] [-3.76878536e-02 -2.78641032e-04 9.99289522e-01 -5.48677068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610888479 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:51.05, Z:-5.49 [[ 7.99053814e-01 -6.00507335e-01 3.00656429e-02 1.33958483e+02] [ 6.00077132e-01 7.99619239e-01 2.27268333e-02 5.10545839e+01] [-3.76886966e-02 -1.18258076e-04 9.99289522e-01 -5.49486205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670888479 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:134.01, Y:51.09, Z:-5.49 [[ 7.98253193e-01 -6.01571486e-01 3.00597155e-02 1.34008370e+02] [ 6.01141742e-01 7.98818966e-01 2.27346705e-02 5.10869344e+01] [-3.76888004e-02 -7.78736231e-05 9.99289522e-01 -5.49416054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:134.06, Y:51.12, Z:-5.49 [[ 7.96493582e-01 -6.03899658e-01 3.00528974e-02 1.34055050e+02] [ 6.03471227e-01 7.97060351e-01 2.27436798e-02 5.11206104e+01] [-3.76888734e-02 2.08638814e-05 9.99289522e-01 -5.49303108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:51.15, Z:-5.50 [[ 7.95834933e-01 -6.04767500e-01 3.00504660e-02 1.34103129e+02] [ 6.04339566e-01 7.96402077e-01 2.27468920e-02 5.11533658e+01] [-3.76888345e-02 5.79143167e-05 9.99289522e-01 -5.49704374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:134.15, Y:51.19, Z:-5.51 [[ 7.90007692e-01 -6.12360397e-01 3.00431504e-02 1.34147635e+02] [ 6.11937546e-01 7.90578636e-01 2.27565500e-02 5.11917721e+01] [-3.76866828e-02 4.06682143e-04 9.99289522e-01 -5.50524828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:51.22, Z:-5.50 [[ 7.92342773e-01 -6.09336329e-01 3.00361148e-02 1.34196844e+02] [ 6.08910947e-01 7.92911833e-01 2.27658324e-02 5.12227862e+01] [-3.76880396e-02 2.50976310e-04 9.99289522e-01 -5.50047478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:51.26, Z:-5.50 [[ 7.93803348e-01 -6.07432695e-01 3.00294223e-02 1.34242715e+02] [ 6.07005615e-01 7.94371134e-01 2.27746567e-02 5.12576713e+01] [-3.76885774e-02 1.49429182e-04 9.99289522e-01 -5.50345129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030888479 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:134.29, Y:51.29, Z:-5.51 [[ 7.94780010e-01 -6.06154604e-01 3.00221958e-02 1.34290047e+02] [ 6.05726251e-01 7.95346836e-01 2.27841789e-02 5.12919774e+01] [-3.76887934e-02 7.68221658e-05 9.99289522e-01 -5.50574815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.34, Y:51.33, Z:-5.51 [[ 7.95587433e-01 -6.05094783e-01 3.00156696e-02 1.34335798e+02] [ 6.04665350e-01 7.96153442e-01 2.27927732e-02 5.13276183e+01] [-3.76888669e-02 1.57914766e-05 9.99289522e-01 -5.50818457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150888479 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:51.36, Z:-5.51 [[ 7.97361901e-01 -6.02754882e-01 3.00091765e-02 1.34382458e+02] [ 6.02323467e-01 7.97926400e-01 2.28013189e-02 5.13614668e+01] [-3.76887205e-02 -1.05671746e-04 9.99289522e-01 -5.51176894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210888479 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:134.43, Y:51.40, Z:-5.51 [[ 7.97990238e-01 -6.01923096e-01 3.00027651e-02 1.34427931e+02] [ 6.01490776e-01 7.98554045e-01 2.28097522e-02 5.13955714e+01] [-3.76885461e-02 -1.55573093e-04 9.99289522e-01 -5.51074799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270888479 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:51.43, Z:-5.51 [[ 7.99187184e-01 -6.00333123e-01 2.99997771e-02 1.34473832e+02] [ 5.99899533e-01 7.99750015e-01 2.28136814e-02 5.14311764e+01] [-3.76881308e-02 -2.35549495e-04 9.99289522e-01 -5.51294066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330888479 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:51.47, Z:-5.52 [[ 8.00980080e-01 -5.97939217e-01 2.99934125e-02 1.34519276e+02] [ 5.97503632e-01 8.01541368e-01 2.28220459e-02 5.14677240e+01] [-3.76871571e-02 -3.58831203e-04 9.99289522e-01 -5.51700071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390888479 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:51.50, Z:-5.52 [[ 8.02214258e-01 -5.96282710e-01 2.99869127e-02 1.34567012e+02] [ 5.95845647e-01 8.02774395e-01 2.28305831e-02 5.15023685e+01] [-3.76862077e-02 -4.47447906e-04 9.99289522e-01 -5.52442567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:51.53, Z:-5.52 [[ 8.03798989e-01 -5.94145043e-01 2.99808827e-02 1.34615510e+02] [ 5.93706195e-01 8.04357729e-01 2.28384989e-02 5.15344483e+01] [-3.76847356e-02 -5.57726499e-04 9.99289522e-01 -5.52343291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:51.57, Z:-5.53 [[ 8.03426860e-01 -5.94648261e-01 2.99787641e-02 1.34662180e+02] [ 5.94209659e-01 8.03985794e-01 2.28412796e-02 5.15689914e+01] [-3.76850276e-02 -5.37626331e-04 9.99289522e-01 -5.52638814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:134.71, Y:51.60, Z:-5.53 [[ 8.03500324e-01 -5.94549322e-01 2.99722175e-02 1.34711306e+02] [ 5.94110331e-01 8.04058952e-01 2.28498667e-02 5.16001471e+01] [-3.76848025e-02 -5.53071190e-04 9.99289522e-01 -5.53036869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:51.63, Z:-5.53 [[ 8.02835543e-01 -5.95447009e-01 2.99658322e-02 1.34760227e+02] [ 5.95008331e-01 8.03394416e-01 2.28582374e-02 5.16316551e+01] [-3.76852514e-02 -5.21485628e-04 9.99289523e-01 -5.53352055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:134.81, Y:51.66, Z:-5.53 [[ 8.02849105e-01 -5.95429066e-01 2.99589908e-02 1.34806708e+02] [ 5.94990041e-01 8.03407706e-01 2.28672006e-02 5.16640235e+01] [-3.76850800e-02 -5.33610372e-04 9.99289523e-01 -5.53455051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:51.69, Z:-5.53 [[ 8.02701129e-01 -5.95628678e-01 2.99562172e-02 1.34855762e+02] [ 5.95189656e-01 8.03259732e-01 2.28708335e-02 5.16948177e+01] [-3.76851473e-02 -5.28813276e-04 9.99289523e-01 -5.53496428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:51.73, Z:-5.54 [[ 8.02769626e-01 -5.95536688e-01 2.99496532e-02 1.34904331e+02] [ 5.95097281e-01 8.03327927e-01 2.28794259e-02 5.17268991e+01] [-3.76849303e-02 -5.43950994e-04 9.99289523e-01 -5.53709321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:134.95, Y:51.76, Z:-5.54 [[ 8.01807417e-01 -5.96831864e-01 2.99431442e-02 1.34952434e+02] [ 5.96393042e-01 8.02366177e-01 2.28879412e-02 5.17588735e+01] [-3.76856188e-02 -4.93838178e-04 9.99289523e-01 -5.54095622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:135.00, Y:51.79, Z:-5.54 [[ 7.99181699e-01 -6.00343577e-01 2.99366377e-02 1.35001735e+02] [ 5.99906891e-01 7.99742130e-01 2.28964484e-02 5.17895451e+01] [-3.76873261e-02 -3.39227259e-04 9.99289523e-01 -5.54304788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.05, Y:51.82, Z:-5.54 [[ 7.96983756e-01 -6.03258713e-01 2.99302198e-02 1.35050867e+02] [ 6.02823762e-01 7.97545535e-01 2.29048349e-02 5.18204238e+01] [-3.76882543e-02 -2.12133655e-04 9.99289523e-01 -5.54357246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.10, Y:51.85, Z:-5.55 [[ 7.93288404e-01 -6.08110253e-01 2.99237020e-02 1.35099840e+02] [ 6.07678417e-01 7.93852581e-01 2.29133468e-02 5.18507525e+01] [-3.76888491e-02 7.09553771e-06 9.99289523e-01 -5.54527684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:51.88, Z:-5.55 [[ 7.89459176e-01 -6.13073364e-01 2.99208991e-02 1.35147782e+02] [ 6.12644936e-01 7.90025944e-01 2.29170063e-02 5.18835633e+01] [-3.76880927e-02 2.38846384e-04 9.99289523e-01 -5.54854572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:51.92, Z:-5.55 [[ 7.87860477e-01 -6.15126812e-01 2.99144424e-02 1.35196228e+02] [ 6.14699541e-01 7.88428119e-01 2.29254314e-02 5.19164713e+01] [-3.76874350e-02 3.26352687e-04 9.99289523e-01 -5.55109320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:51.95, Z:-5.55 [[ 7.86893740e-01 -6.16363327e-01 2.99080451e-02 1.35246083e+02] [ 6.15936631e-01 7.87461814e-01 2.29337741e-02 5.19483227e+01] [-3.76869807e-02 3.75017268e-04 9.99289523e-01 -5.55311624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:135.29, Y:51.98, Z:-5.56 [[ 7.87089004e-01 -6.16114226e-01 2.99025027e-02 1.35292350e+02] [ 6.15687076e-01 7.87656737e-01 2.29409983e-02 5.19831973e+01] [-3.76871831e-02 3.53976970e-04 9.99289523e-01 -5.55705964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.34, Y:52.02, Z:-5.56 [[ 7.87861069e-01 -6.15126730e-01 2.99005497e-02 1.35338240e+02] [ 6.14698772e-01 7.88428192e-01 2.29435435e-02 5.20181341e+01] [-3.76876233e-02 3.03506492e-04 9.99289523e-01 -5.55918489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.39, Y:52.05, Z:-5.56 [[ 7.88473271e-01 -6.14342109e-01 2.98943825e-02 1.35386829e+02] [ 6.13913282e-01 7.89039737e-01 2.29515763e-02 5.20517749e+01] [-3.76879755e-02 2.55854084e-04 9.99289523e-01 -5.55673502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:52.09, Z:-5.56 [[ 7.88706807e-01 -6.14042535e-01 2.98887643e-02 1.35433046e+02] [ 6.13613216e-01 7.89272900e-01 2.29588903e-02 5.20870628e+01] [-3.76881269e-02 2.32307776e-04 9.99289523e-01 -5.55829242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530888479 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:135.48, Y:52.13, Z:-5.57 [[ 7.85899669e-01 -6.17631568e-01 2.98823732e-02 1.35475182e+02] [ 6.17204517e-01 7.86467477e-01 2.29672057e-02 5.21286397e+01] [-3.76867859e-02 3.93616336e-04 9.99289523e-01 -5.57230184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.53, Y:52.16, Z:-5.56 [[ 7.91754643e-01 -6.10108167e-01 2.98765624e-02 1.35526542e+02] [ 6.09675436e-01 7.92318133e-01 2.29747621e-02 5.21579246e+01] [-3.76888321e-02 2.46315960e-05 9.99289523e-01 -5.56183748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:52.19, Z:-5.57 [[ 7.93748912e-01 -6.07511462e-01 2.98745471e-02 1.35572938e+02] [ 6.07076788e-01 7.94310905e-01 2.29773824e-02 5.21930867e+01] [-3.76887017e-02 -1.02128213e-04 9.99289523e-01 -5.56517654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:52.23, Z:-5.57 [[ 7.95162884e-01 -6.05659656e-01 2.98725555e-02 1.35619705e+02] [ 6.05223576e-01 7.95723786e-01 2.29799713e-02 5.22281584e+01] [-3.76883445e-02 -1.93245369e-04 9.99289523e-01 -5.56851992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.66, Y:52.26, Z:-5.57 [[ 7.95525071e-01 -6.05184129e-01 2.98668849e-02 1.35664709e+02] [ 6.04747437e-01 7.96085497e-01 2.29873389e-02 5.22626842e+01] [-3.76881666e-02 -2.25082309e-04 9.99289523e-01 -5.57107589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:52.30, Z:-5.57 [[ 7.95406810e-01 -6.05339692e-01 2.98640928e-02 1.35711998e+02] [ 6.04902974e-01 7.95967215e-01 2.29909658e-02 5.22972187e+01] [-3.76881829e-02 -2.22292250e-04 9.99289523e-01 -5.57273776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.76, Y:52.33, Z:-5.57 [[ 7.93459286e-01 -6.07890513e-01 2.98577600e-02 1.35759379e+02] [ 6.07455287e-01 7.94020851e-01 2.29991871e-02 5.23319513e+01] [-3.76886716e-02 -1.11664402e-04 9.99289523e-01 -5.57465984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:52.37, Z:-5.57 [[ 7.92031932e-01 -6.09749326e-01 2.98526052e-02 1.35806783e+02] [ 6.09315166e-01 7.92594321e-01 2.30058760e-02 5.23675920e+01] [-3.76888227e-02 -3.17433449e-05 9.99289523e-01 -5.57398969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:52.40, Z:-5.58 [[ 7.91153485e-01 -6.10888967e-01 2.98468364e-02 1.35851876e+02] [ 6.10455334e-01 7.91716281e-01 2.30133578e-02 5.24025453e+01] [-3.76888327e-02 1.30622269e-05 9.99289523e-01 -5.57833538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:52.44, Z:-5.58 [[ 7.89517146e-01 -6.13002453e-01 2.98440837e-02 1.35898790e+02] [ 6.12570192e-01 7.90080996e-01 2.30169270e-02 5.24387480e+01] [-3.76886761e-02 1.09337547e-04 9.99289523e-01 -5.57965829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.95, Y:52.48, Z:-5.58 [[ 7.88827292e-01 -6.13890193e-01 2.98384843e-02 1.35945470e+02] [ 6.13458292e-01 7.89391418e-01 2.30241835e-02 5.24752123e+01] [-3.76885639e-02 1.42561287e-04 9.99289524e-01 -5.58262116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.99, Y:52.51, Z:-5.59 [[ 7.86959193e-01 -6.16283400e-01 2.98328484e-02 1.35990964e+02] [ 6.15852938e-01 7.87524418e-01 2.30314838e-02 5.25125814e+01] [-3.76880177e-02 2.47809380e-04 9.99289524e-01 -5.58768445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.04, Y:52.55, Z:-5.59 [[ 7.83905159e-01 -6.20163719e-01 2.98272068e-02 1.36036473e+02] [ 6.19735777e-01 7.84472294e-01 2.30387877e-02 5.25498100e+01] [-3.76864376e-02 4.24762678e-04 9.99289524e-01 -5.58952494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:52.59, Z:-5.59 [[ 7.81527142e-01 -6.23158083e-01 2.98216440e-02 1.36083394e+02] [ 6.22732039e-01 7.82095704e-01 2.30459860e-02 5.25855862e+01] [-3.76846721e-02 5.59829614e-04 9.99289524e-01 -5.58881486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:52.62, Z:-5.59 [[ 7.80356178e-01 -6.24624076e-01 2.98160770e-02 1.36127494e+02] [ 6.24198826e-01 7.80925334e-01 2.30531861e-02 5.26224864e+01] [-3.76837050e-02 6.21464037e-04 9.99289524e-01 -5.58901127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430888479 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:52.66, Z:-5.59 [[ 7.82180809e-01 -6.22337789e-01 2.98137288e-02 1.36170705e+02] [ 6.21910759e-01 7.82748631e-01 2.30562225e-02 5.26612615e+01] [-3.76854140e-02 5.07343919e-04 9.99289524e-01 -5.59238896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.21, Y:52.70, Z:-5.60 [[ 7.84399117e-01 -6.19539790e-01 2.98072763e-02 1.36214890e+02] [ 6.19110417e-01 7.84965169e-01 2.30645614e-02 5.26988953e+01] [-3.76870872e-02 3.62173694e-04 9.99289524e-01 -5.59547162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:136.26, Y:52.74, Z:-5.60 [[ 7.88227640e-01 -6.14661777e-01 2.98008058e-02 1.36257264e+02] [ 6.14228585e-01 7.88790775e-01 2.30729187e-02 5.27383666e+01] [-3.76886419e-02 1.17794528e-04 9.99289524e-01 -5.59737908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:52.78, Z:-5.60 [[ 7.90351345e-01 -6.11928960e-01 2.97942932e-02 1.36301283e+02] [ 6.11493504e-01 7.90912731e-01 2.30813253e-02 5.27762176e+01] [-3.76888172e-02 -2.33397560e-05 9.99289524e-01 -5.59881735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:52.82, Z:-5.60 [[ 7.91595564e-01 -6.10318897e-01 2.97877074e-02 1.36342498e+02] [ 6.09881979e-01 7.92155813e-01 2.30898216e-02 5.28155377e+01] [-3.76886600e-02 -1.10814450e-04 9.99289524e-01 -5.60171153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:52.85, Z:-5.61 [[ 7.90992584e-01 -6.11100314e-01 2.97848791e-02 1.36386047e+02] [ 6.10663812e-01 7.91553157e-01 2.30934694e-02 5.28543644e+01] [-3.76887415e-02 -7.82152176e-05 9.99289524e-01 -5.60573192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:136.43, Y:52.89, Z:-5.61 [[ 7.88765599e-01 -6.13972374e-01 2.97784232e-02 1.36428938e+02] [ 6.13537599e-01 7.89327512e-01 2.31017911e-02 5.28919612e+01] [-3.76887902e-02 4.82842068e-05 9.99289524e-01 -5.60827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:52.93, Z:-5.61 [[ 7.84757945e-01 -6.19086729e-01 2.97756491e-02 1.36473732e+02] [ 6.18655480e-01 7.85322570e-01 2.31053661e-02 5.29294984e+01] [-3.76877148e-02 2.88748882e-04 9.99289524e-01 -5.61105980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:52.97, Z:-5.62 [[ 7.81975856e-01 -6.22597417e-01 2.97694028e-02 1.36518545e+02] [ 6.22168397e-01 7.82542176e-01 2.31134112e-02 5.29659733e+01] [-3.76861633e-02 4.47452101e-04 9.99289524e-01 -5.61501664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:53.00, Z:-5.62 [[ 7.78665291e-01 -6.26733225e-01 2.97628820e-02 1.36563504e+02] [ 6.26306892e-01 7.79233636e-01 2.31218048e-02 5.30016871e+01] [-3.76834421e-02 6.36551246e-04 9.99289524e-01 -5.61768144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030888479 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:136.61, Y:53.04, Z:-5.62 [[ 7.75497197e-01 -6.30649217e-01 2.97600846e-02 1.36608007e+02] [ 6.30225616e-01 7.76067580e-01 2.31254048e-02 5.30385076e+01] [-3.76798553e-02 8.21881095e-04 9.99289524e-01 -5.62009784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090888479 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:53.07, Z:-5.62 [[ 7.73623968e-01 -6.32946042e-01 2.97534094e-02 1.36652197e+02] [ 6.32523803e-01 7.74195361e-01 2.31339900e-02 5.30741111e+01] [-3.76775189e-02 9.22730515e-04 9.99289524e-01 -5.62184239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:136.70, Y:53.11, Z:-5.62 [[ 7.71198963e-01 -6.35898628e-01 2.97505427e-02 1.36695726e+02] [ 6.35478434e-01 7.71771862e-01 2.31376760e-02 5.31107141e+01] [-3.76738482e-02 1.06207658e-03 9.99289524e-01 -5.62327142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210888479 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:136.74, Y:53.14, Z:-5.62 [[ 7.72926047e-01 -6.33798382e-01 2.97478840e-02 1.36744247e+02] [ 6.33376501e-01 7.73497704e-01 2.31410938e-02 5.31438333e+01] [-3.76767078e-02 9.55256558e-04 9.99289524e-01 -5.62058577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:53.18, Z:-5.62 [[ 7.72305984e-01 -6.34554128e-01 2.97409734e-02 1.36788666e+02] [ 6.34132464e-01 7.72877802e-01 2.31499719e-02 5.31810609e+01] [-3.76760484e-02 9.80854878e-04 9.99289524e-01 -5.62404750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330888479 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:53.22, Z:-5.63 [[ 7.71522548e-01 -6.35506787e-01 2.97335233e-02 1.36828097e+02] [ 6.35085461e-01 7.72094614e-01 2.31595367e-02 5.32245049e+01] [-3.76751360e-02 1.01522360e-03 9.99289524e-01 -5.62890115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:53.26, Z:-5.63 [[ 7.74246240e-01 -6.32185736e-01 2.97313780e-02 1.36871721e+02] [ 6.31761850e-01 7.74816412e-01 2.31622906e-02 5.32628633e+01] [-3.76792293e-02 8.49833966e-04 9.99289524e-01 -5.63225493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450888479 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:136.91, Y:53.30, Z:-5.64 [[ 7.79192348e-01 -6.26079641e-01 2.97248839e-02 1.36914186e+02] [ 6.25650968e-01 7.79758930e-01 2.31706215e-02 5.33027495e+01] [-3.76848981e-02 5.43031408e-04 9.99289524e-01 -5.63638901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:53.34, Z:-5.64 [[ 7.82001308e-01 -6.22567890e-01 2.97182905e-02 1.36958461e+02] [ 6.22136352e-01 7.82565710e-01 2.31790750e-02 5.33400031e+01] [-3.76870630e-02 3.62761864e-04 9.99289524e-01 -5.63903032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:137.01, Y:53.37, Z:-5.64 [[ 7.88808458e-01 -6.13920542e-01 2.97117143e-02 1.37009752e+02] [ 6.13482498e-01 7.89367826e-01 2.31875017e-02 5.33710773e+01] [-3.76887549e-02 -6.28807767e-05 9.99289525e-01 -5.63610101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:137.05, Y:53.42, Z:-5.64 [[ 7.88498416e-01 -6.14318969e-01 2.97060957e-02 1.37048380e+02] [ 6.13880937e-01 7.89057793e-01 2.31946975e-02 5.34160993e+01] [-3.76887690e-02 -5.29763850e-05 9.99289525e-01 -5.64169518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:137.09, Y:53.45, Z:-5.64 [[ 7.91010699e-01 -6.11080857e-01 2.97028706e-02 1.37092115e+02] [ 6.10640380e-01 7.91568153e-01 2.31988268e-02 5.34523894e+01] [-3.76882054e-02 -2.12748064e-04 9.99289525e-01 -5.64328955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750888479 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:53.49, Z:-5.65 [[ 7.93808209e-01 -6.07442541e-01 2.96999405e-02 1.37135874e+02] [ 6.06999369e-01 7.94363523e-01 2.32025775e-02 5.34887924e+01] [-3.76867820e-02 -3.90551371e-04 9.99289525e-01 -5.64737844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810888479 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:53.53, Z:-5.65 [[ 7.95053615e-01 -6.05811714e-01 2.96970587e-02 1.37181226e+02] [ 6.05367265e-01 7.95607908e-01 2.32062653e-02 5.35255294e+01] [-3.76858421e-02 -4.72597886e-04 9.99289525e-01 -5.65153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870888479 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:53.56, Z:-5.65 [[ 7.95196660e-01 -6.05624258e-01 2.96905713e-02 1.37227441e+02] [ 6.05179368e-01 7.95750600e-01 2.32145624e-02 5.35613936e+01] [-3.76855920e-02 -4.92021329e-04 9.99289525e-01 -5.65426328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930888479 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:53.60, Z:-5.66 [[ 7.92941947e-01 -6.08573690e-01 2.96838796e-02 1.37274348e+02] [ 6.08130541e-01 7.93497279e-01 2.32231158e-02 5.35951219e+01] [-3.76870550e-02 -3.62908950e-04 9.99289525e-01 -5.65702213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990888479 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:137.32, Y:53.63, Z:-5.66 [[ 7.89556453e-01 -6.12959922e-01 2.96772802e-02 1.37320967e+02] [ 6.12519541e-01 7.90113983e-01 2.32315462e-02 5.36289675e+01] [-3.76884409e-02 -1.64703190e-04 9.99289525e-01 -5.65936176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050888479 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:137.37, Y:53.66, Z:-5.66 [[ 7.87441499e-01 -6.15674860e-01 2.96707366e-02 1.37367357e+02] [ 6.15236086e-01 7.88000295e-01 2.32399006e-02 5.36640017e+01] [-3.76887717e-02 -4.55543059e-05 9.99289525e-01 -5.66148552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110888479 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:137.42, Y:53.70, Z:-5.66 [[ 7.81420323e-01 -6.23299536e-01 2.96642555e-02 1.37416382e+02] [ 6.22865901e-01 7.81983115e-01 2.32481704e-02 5.36964095e+01] [-3.76875207e-02 3.10260433e-04 9.99289525e-01 -5.66251182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:53.73, Z:-5.66 [[ 7.77194913e-01 -6.28560646e-01 2.96577374e-02 1.37463559e+02] [ 6.28130503e-01 7.77760379e-01 2.32564825e-02 5.37301257e+01] [-3.76847228e-02 5.54109578e-04 9.99289525e-01 -5.66384042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:53.77, Z:-5.67 [[ 7.75533860e-01 -6.30609258e-01 2.96512289e-02 1.37509326e+02] [ 6.30180291e-01 7.76100219e-01 2.32647777e-02 5.37651973e+01] [-3.76833094e-02 6.42997183e-04 9.99289525e-01 -5.66740652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:53.80, Z:-5.67 [[ 7.75238516e-01 -6.30972610e-01 2.96447022e-02 1.37555554e+02] [ 6.30543591e-01 7.75804836e-01 2.32730912e-02 5.37997473e+01] [-3.76831864e-02 6.50080266e-04 9.99289525e-01 -5.67041007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:137.60, Y:53.84, Z:-5.67 [[ 7.75585631e-01 -6.30546195e-01 2.96382236e-02 1.37601060e+02] [ 6.30116550e-01 7.76151476e-01 2.32813387e-02 5.38352682e+01] [-3.76837106e-02 6.18863422e-04 9.99289525e-01 -5.67262634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:137.65, Y:53.87, Z:-5.67 [[ 7.76783123e-01 -6.29070704e-01 2.96315643e-02 1.37647713e+02] [ 6.28639661e-01 7.77347902e-01 2.32898115e-02 5.38698386e+01] [-3.76849724e-02 5.36444045e-04 9.99289525e-01 -5.67413180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:53.90, Z:-5.68 [[ 7.78261891e-01 -6.27240614e-01 2.96250098e-02 1.37693788e+02] [ 6.26807925e-01 7.78825411e-01 2.32981458e-02 5.39043223e+01] [-3.76862538e-02 4.37131875e-04 9.99289525e-01 -5.67580412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:53.94, Z:-5.68 [[ 7.79294209e-01 -6.25957677e-01 2.96229968e-02 1.37740194e+02] [ 6.25523964e-01 7.79856941e-01 2.33007051e-02 5.39399367e+01] [-3.76869549e-02 3.71789866e-04 9.99289525e-01 -5.67821603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590888479 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:137.79, Y:53.97, Z:-5.68 [[ 7.81266524e-01 -6.23494575e-01 2.96164279e-02 1.37787031e+02] [ 6.23058771e-01 7.81827638e-01 2.33090515e-02 5.39738959e+01] [-3.76880090e-02 2.42193543e-04 9.99289525e-01 -5.67888307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650888479 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:54.01, Z:-5.68 [[ 7.82930245e-01 -6.21404470e-01 2.96093858e-02 1.37833157e+02] [ 6.20966830e-01 7.83489928e-01 2.33179937e-02 5.40068095e+01] [-3.76885610e-02 1.30083914e-04 9.99289525e-01 -5.67967784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710888479 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:54.04, Z:-5.68 [[ 7.87455347e-01 -6.15660236e-01 2.96065893e-02 1.37879859e+02] [ 6.15218379e-01 7.88011708e-01 2.33215437e-02 5.40419972e+01] [-3.76884861e-02 -1.50156412e-04 9.99289525e-01 -5.68293626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770888479 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:54.08, Z:-5.69 [[ 7.92172636e-01 -6.09578828e-01 2.96001060e-02 1.37926102e+02] [ 6.09132394e-01 7.92725330e-01 2.33297696e-02 5.40772177e+01] [-3.76860874e-02 -4.50821701e-04 9.99289525e-01 -5.68844689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830888479 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:54.11, Z:-5.69 [[ 7.94959801e-01 -6.05939894e-01 2.95932469e-02 1.37971865e+02] [ 6.05490606e-01 7.95510177e-01 2.33384669e-02 5.41112518e+01] [-3.76834373e-02 -6.34710031e-04 9.99289525e-01 -5.69202012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890888479 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:54.15, Z:-5.69 [[ 7.98298293e-01 -6.01534968e-01 2.95891315e-02 1.38019436e+02] [ 6.01082451e-01 7.98846018e-01 2.33436834e-02 5.41453820e+01] [-3.76792017e-02 -8.49714981e-04 9.99289525e-01 -5.69371977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950888479 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:54.18, Z:-5.70 [[ 7.98195510e-01 -6.01671725e-01 2.95814639e-02 1.38065165e+02] [ 6.01218942e-01 7.98743014e-01 2.33533958e-02 5.41796402e+01] [-3.76790656e-02 -8.55639240e-04 9.99289526e-01 -5.69679170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:54.21, Z:-5.70 [[ 7.98034254e-01 -6.01885801e-01 2.95772119e-02 1.38114371e+02] [ 6.01432965e-01 7.98581715e-01 2.33587798e-02 5.42112893e+01] [-3.76791385e-02 -8.52396231e-04 9.99289526e-01 -5.69728506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.16, Y:54.25, Z:-5.70 [[ 7.97290044e-01 -6.02871654e-01 2.95694932e-02 1.38162258e+02] [ 6.02419133e-01 7.97837765e-01 2.33685467e-02 5.42451681e+01] [-3.76798928e-02 -8.18281178e-04 9.99289526e-01 -5.69781327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:54.28, Z:-5.70 [[ 7.95550696e-01 -6.05165398e-01 2.95623174e-02 1.38209928e+02] [ 6.04714119e-01 7.96099441e-01 2.33776209e-02 5.42790069e+01] [-3.76818716e-02 -7.21331895e-04 9.99289526e-01 -5.70239730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:54.31, Z:-5.71 [[ 7.93502013e-01 -6.07849499e-01 2.95557342e-02 1.38257209e+02] [ 6.07399767e-01 7.94052027e-01 2.33859409e-02 5.43124261e+01] [-3.76839231e-02 -6.04645074e-04 9.99289526e-01 -5.70772312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:54.35, Z:-5.71 [[ 7.91563954e-01 -6.10371484e-01 2.95492513e-02 1.38304947e+02] [ 6.09923199e-01 7.92115147e-01 2.33941295e-02 5.43457610e+01] [-3.76855191e-02 -4.95175723e-04 9.99289526e-01 -5.70969120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:54.38, Z:-5.71 [[ 7.88189366e-01 -6.14723332e-01 2.95423117e-02 1.38352241e+02] [ 6.14277762e-01 7.88742756e-01 2.34028896e-02 5.43781102e+01] [-3.76875866e-02 -2.98723594e-04 9.99289526e-01 -5.71104544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.40, Y:54.41, Z:-5.71 [[ 7.85594300e-01 -6.18036415e-01 2.95395626e-02 1.38399007e+02] [ 6.17593049e-01 7.86149457e-01 2.34063590e-02 5.44128270e+01] [-3.76884933e-02 -1.44473669e-04 9.99289526e-01 -5.71260102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:54.45, Z:-5.71 [[ 7.82802039e-01 -6.21569596e-01 2.95331001e-02 1.38446671e+02] [ 6.21128428e-01 7.83358945e-01 2.34145104e-02 5.44468947e+01] [-3.76887659e-02 1.49215658e-05 9.99289526e-01 -5.71434739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.49, Y:54.48, Z:-5.72 [[ 7.80661912e-01 -6.24255689e-01 2.95264739e-02 1.38492175e+02] [ 6.23816121e-01 7.81220082e-01 2.34228632e-02 5.44832179e+01] [-3.76885300e-02 1.33753265e-04 9.99289526e-01 -5.71560696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550888479 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:54.52, Z:-5.72 [[ 7.78430531e-01 -6.27036297e-01 2.95193187e-02 1.38536808e+02] [ 6.26598381e-01 7.78989997e-01 2.34318773e-02 5.45201492e+01] [-3.76878916e-02 2.56668567e-04 9.99289526e-01 -5.71888245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.58, Y:54.56, Z:-5.72 [[ 7.77558672e-01 -6.28117449e-01 2.95123985e-02 1.38581863e+02] [ 6.27679980e-01 7.78118488e-01 2.34405900e-02 5.45572008e+01] [-3.76875865e-02 2.97907705e-04 9.99289526e-01 -5.72109586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:54.59, Z:-5.72 [[ 7.77547464e-01 -6.28131688e-01 2.95046316e-02 1.38625008e+02] [ 6.27693859e-01 7.78106998e-01 2.34503621e-02 5.45949802e+01] [-3.76876759e-02 2.86106485e-04 9.99289526e-01 -5.72359936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:54.63, Z:-5.72 [[ 7.77438369e-01 -6.28267040e-01 2.94976012e-02 1.38669476e+02] [ 6.27828973e-01 7.77997717e-01 2.34592022e-02 5.46327837e+01] [-3.76877099e-02 2.81364761e-04 9.99289526e-01 -5.72488936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:54.67, Z:-5.73 [[ 7.76795574e-01 -6.29061955e-01 2.94905626e-02 1.38712837e+02] [ 6.28624124e-01 7.77355106e-01 2.34680471e-02 5.46723192e+01] [-3.76874950e-02 3.08603962e-04 9.99289526e-01 -5.72742398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:54.71, Z:-5.73 [[ 7.76737741e-01 -6.29133689e-01 2.94836177e-02 1.38756439e+02] [ 6.28695579e-01 7.77297054e-01 2.34767689e-02 5.47097057e+01] [-3.76875554e-02 3.00927623e-04 9.99289526e-01 -5.72944042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:54.75, Z:-5.73 [[ 7.75697789e-01 -6.30415658e-01 2.94794593e-02 1.38800946e+02] [ 6.29978274e-01 7.76257670e-01 2.34819894e-02 5.47464592e+01] [-3.76870702e-02 3.56491574e-04 9.99289526e-01 -5.73044845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:138.84, Y:54.79, Z:-5.75 [[ 7.72339427e-01 -6.34525937e-01 2.94727914e-02 1.38839560e+02] [ 6.34091213e-01 7.72901376e-01 2.34903555e-02 5.47918733e+01] [-3.76848008e-02 5.45910320e-04 9.99289526e-01 -5.74608851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030888479 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:54.82, Z:-5.73 [[ 7.79300494e-01 -6.25957204e-01 2.94672491e-02 1.38889687e+02] [ 6.25516037e-01 7.79857400e-01 2.34973059e-02 5.48248355e+01] [-3.76885602e-02 1.20774756e-04 9.99289527e-01 -5.73463265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:138.93, Y:54.87, Z:-5.76 [[ 7.76212488e-01 -6.29782648e-01 2.94616614e-02 1.38928272e+02] [ 6.29343960e-01 7.76771348e-01 2.35043098e-02 5.48708052e+01] [-3.76875809e-02 2.97179846e-04 9.99289527e-01 -5.75558319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:54.90, Z:-5.74 [[ 7.82768137e-01 -6.21615958e-01 2.94558007e-02 1.38980386e+02] [ 6.21171162e-01 7.83322149e-01 2.35116522e-02 5.49011593e+01] [-3.76885993e-02 -1.07078273e-04 9.99289527e-01 -5.74196413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:54.94, Z:-5.74 [[ 7.82523318e-01 -6.21924240e-01 2.94532996e-02 1.39025912e+02] [ 6.21479544e-01 7.83077411e-01 2.35147849e-02 5.49378688e+01] [-3.76886283e-02 -9.62442708e-05 9.99289527e-01 -5.74403449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:139.07, Y:54.97, Z:-5.74 [[ 7.80629345e-01 -6.24300201e-01 2.94463006e-02 1.39070836e+02] [ 6.23856861e-01 7.81184523e-01 2.35235462e-02 5.49732587e+01] [-3.76887489e-02 7.10622064e-06 9.99289527e-01 -5.74440740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:55.01, Z:-5.75 [[ 7.78792339e-01 -6.26590456e-01 2.94430403e-02 1.39116937e+02] [ 6.26148595e-01 7.79348695e-01 2.35276262e-02 5.50090836e+01] [-3.76885810e-02 1.12583288e-04 9.99289527e-01 -5.74633701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:55.05, Z:-5.75 [[ 7.77143236e-01 -6.28634946e-01 2.94362845e-02 1.39162595e+02] [ 6.28194229e-01 7.77700498e-01 2.35360755e-02 5.50450834e+01] [-3.76882127e-02 2.00802168e-04 9.99289527e-01 -5.74803328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:139.21, Y:55.08, Z:-5.75 [[ 7.75373457e-01 -6.30816863e-01 2.94293590e-02 1.39207699e+02] [ 6.30377386e-01 7.75931696e-01 2.35447320e-02 5.50805098e+01] [-3.76875864e-02 2.95642198e-04 9.99289527e-01 -5.75211261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:139.25, Y:55.12, Z:-5.76 [[ 7.75332670e-01 -6.30867127e-01 2.94265017e-02 1.39252802e+02] [ 6.30427550e-01 7.75890831e-01 2.35483025e-02 5.51169558e+01] [-3.76876028e-02 2.93509090e-04 9.99289527e-01 -5.75548787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:55.15, Z:-5.76 [[ 7.76266322e-01 -6.29718249e-01 2.94198076e-02 1.39297646e+02] [ 6.29277529e-01 7.76823581e-01 2.35566628e-02 5.51530094e+01] [-3.76880607e-02 2.26979821e-04 9.99289527e-01 -5.75802134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:55.19, Z:-5.76 [[ 7.77003727e-01 -6.28808290e-01 2.94167024e-02 1.39342510e+02] [ 6.28366771e-01 7.77560353e-01 2.35605398e-02 5.51900044e+01] [-3.76883243e-02 1.77851016e-04 9.99289527e-01 -5.76069262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:139.39, Y:55.23, Z:-5.76 [[ 7.77886667e-01 -6.27715884e-01 2.94126391e-02 1.39387796e+02] [ 6.27273391e-01 7.78442519e-01 2.35656113e-02 5.52264722e+01] [-3.76885574e-02 1.18390992e-04 9.99289527e-01 -5.76140071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:55.27, Z:-5.77 [[ 7.75741159e-01 -6.30365717e-01 2.94060584e-02 1.39429722e+02] [ 6.29924812e-01 7.76298272e-01 2.35738200e-02 5.52658245e+01] [-3.76880003e-02 2.36423336e-04 9.99289527e-01 -5.77052773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:55.31, Z:-5.77 [[ 7.74696263e-01 -6.31649746e-01 2.93989624e-02 1.39473485e+02] [ 6.31209428e-01 7.75253840e-01 2.35826662e-02 5.53059852e+01] [-3.76876436e-02 2.87498912e-04 9.99289527e-01 -5.77444681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:139.52, Y:55.34, Z:-5.77 [[ 7.79737790e-01 -6.25415875e-01 2.93932211e-02 1.39521941e+02] [ 6.24970830e-01 7.80291601e-01 2.35898199e-02 5.53392059e+01] [-3.76887314e-02 -2.39682345e-05 9.99289527e-01 -5.76642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:55.38, Z:-5.77 [[ 7.80682790e-01 -6.24235970e-01 2.93910632e-02 1.39566954e+02] [ 6.23789987e-01 7.81235845e-01 2.35925083e-02 5.53759950e+01] [-3.76886444e-02 -8.44142911e-05 9.99289527e-01 -5.76654470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:139.61, Y:55.41, Z:-5.77 [[ 7.81037319e-01 -6.23792648e-01 2.93843315e-02 1.39610572e+02] [ 6.23346035e-01 7.81589866e-01 2.36008895e-02 5.54142801e+01] [-3.76885571e-02 -1.16568946e-04 9.99289527e-01 -5.76988241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.65, Y:55.45, Z:-5.77 [[ 7.81170402e-01 -6.23626299e-01 2.93775883e-02 1.39654183e+02] [ 6.23179253e-01 7.81722598e-01 2.36092803e-02 5.54533207e+01] [-3.76884927e-02 -1.35367423e-04 9.99289527e-01 -5.77422865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110888479 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:139.70, Y:55.49, Z:-5.78 [[ 7.79687161e-01 -6.25480004e-01 2.93716857e-02 1.39698440e+02] [ 6.25033994e-01 7.80240195e-01 2.36166212e-02 5.54890238e+01] [-3.76886941e-02 -5.52742923e-05 9.99289527e-01 -5.77684558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:55.53, Z:-5.78 [[ 7.77756465e-01 -6.27879252e-01 2.93687968e-02 1.39743116e+02] [ 6.27434812e-01 7.78310762e-01 2.36202132e-02 5.55258632e+01] [-3.76886924e-02 5.62319931e-05 9.99289527e-01 -5.77856055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:55.57, Z:-5.79 [[ 7.72756919e-01 -6.34022538e-01 2.93626589e-02 1.39786355e+02] [ 6.33582214e-01 7.73314492e-01 2.36278408e-02 5.55657435e+01] [-3.76871533e-02 3.45080971e-04 9.99289527e-01 -5.78559220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:139.83, Y:55.60, Z:-5.78 [[ 7.73517952e-01 -6.33094129e-01 2.93564483e-02 1.39833724e+02] [ 6.32652844e-01 7.74074763e-01 2.36355547e-02 5.55990779e+01] [-3.76876167e-02 2.89914624e-04 9.99289527e-01 -5.78030719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:55.64, Z:-5.78 [[ 7.70893843e-01 -6.36286941e-01 2.93532169e-02 1.39879138e+02] [ 6.35847809e-01 7.71452354e-01 2.36395672e-02 5.56356515e+01] [-3.76861562e-02 4.40581834e-04 9.99289527e-01 -5.78188327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:139.92, Y:55.67, Z:-5.79 [[ 7.69453330e-01 -6.38028488e-01 2.93465762e-02 1.39922626e+02] [ 6.37590306e-01 7.70012586e-01 2.36478081e-02 5.56736070e+01] [-3.76852083e-02 5.15207812e-04 9.99289527e-01 -5.78504281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:139.97, Y:55.71, Z:-5.79 [[ 7.69953150e-01 -6.37425537e-01 2.93399389e-02 1.39966715e+02] [ 6.36986603e-01 7.70511816e-01 2.36560402e-02 5.57116557e+01] [-3.76857338e-02 4.75105339e-04 9.99289527e-01 -5.78740448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530888479 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:140.01, Y:55.75, Z:-5.79 [[ 7.71053853e-01 -6.36093952e-01 2.93332668e-02 1.40010710e+02] [ 6.35653739e-01 7.71611512e-01 2.36643107e-02 5.57494019e+01] [-3.76866112e-02 3.99342786e-04 9.99289528e-01 -5.78938799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:55.79, Z:-5.79 [[ 7.73585733e-01 -6.33012688e-01 2.93266054e-02 1.40053132e+02] [ 6.32569941e-01 7.74141382e-01 2.36725632e-02 5.57883132e+01] [-3.76879717e-02 2.38371895e-04 9.99289528e-01 -5.79134780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650888479 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:55.83, Z:-5.79 [[ 7.75915730e-01 -6.30154625e-01 2.93245582e-02 1.40097643e+02] [ 6.29709735e-01 7.76469665e-01 2.36750989e-02 5.58252277e+01] [-3.76886029e-02 9.60781035e-05 9.99289528e-01 -5.79240041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710888479 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:55.86, Z:-5.79 [[ 7.80179314e-01 -6.24868538e-01 2.93180595e-02 1.40142256e+02] [ 6.24419592e-01 7.80729967e-01 2.36831437e-02 5.58621204e+01] [-3.76883391e-02 -1.70328037e-04 9.99289528e-01 -5.79354862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770888479 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:55.90, Z:-5.80 [[ 7.82275907e-01 -6.22242114e-01 2.93113782e-02 1.40185607e+02] [ 6.21791010e-01 7.82824793e-01 2.36914100e-02 5.58991845e+01] [-3.76874666e-02 -3.07667844e-04 9.99289528e-01 -5.79753534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:55.94, Z:-5.80 [[ 7.84532764e-01 -6.19394345e-01 2.93085044e-02 1.40232036e+02] [ 6.18941116e-01 7.85079896e-01 2.36949646e-02 5.59361072e+01] [-3.76860447e-02 -4.49237617e-04 9.99289528e-01 -5.80026489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:140.28, Y:55.97, Z:-5.80 [[ 7.84965480e-01 -6.18846127e-01 2.93030193e-02 1.40277065e+02] [ 6.18392263e-01 7.85512085e-01 2.37017459e-02 5.59713393e+01] [-3.76856095e-02 -4.84291915e-04 9.99289528e-01 -5.80317139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:140.33, Y:56.00, Z:-5.80 [[ 7.86446367e-01 -6.16963298e-01 2.92984658e-02 1.40325690e+02] [ 6.16507916e-01 7.86991709e-01 2.37073733e-02 5.60036274e+01] [-3.76842289e-02 -5.81841527e-04 9.99289528e-01 -5.80414912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:56.04, Z:-5.81 [[ 7.85006389e-01 -6.18794768e-01 2.92917260e-02 1.40369605e+02] [ 6.18340347e-01 7.85552532e-01 2.37156978e-02 5.60402741e+01] [-3.76853393e-02 -5.04718250e-04 9.99289528e-01 -5.80577771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:56.07, Z:-5.81 [[ 7.84021143e-01 -6.20042758e-01 2.92886788e-02 1.40416389e+02] [ 6.19589066e-01 7.84567892e-01 2.37194605e-02 5.60746090e+01] [-3.76860367e-02 -4.49613403e-04 9.99289528e-01 -5.80692180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:140.46, Y:56.11, Z:-5.81 [[ 7.82260954e-01 -6.22262295e-01 2.92820214e-02 1.40463359e+02] [ 6.21809847e-01 7.82808732e-01 2.37276764e-02 5.61093805e+01] [-3.76870604e-02 -3.53385497e-04 9.99289528e-01 -5.80955255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:140.51, Y:56.14, Z:-5.81 [[ 7.81304780e-01 -6.23462740e-01 2.92754426e-02 1.40509903e+02] [ 6.23010830e-01 7.81853003e-01 2.37357906e-02 5.61448620e+01] [-3.76874737e-02 -3.05968888e-04 9.99289528e-01 -5.81214858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:56.18, Z:-5.82 [[ 7.77780914e-01 -6.27853595e-01 2.92696684e-02 1.40556385e+02] [ 6.27404512e-01 7.78331454e-01 2.37429088e-02 5.61803102e+01] [-3.76885742e-02 -1.02859264e-04 9.99289528e-01 -5.82067683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:140.60, Y:56.21, Z:-5.82 [[ 7.78267076e-01 -6.27251155e-01 2.92634052e-02 1.40604437e+02] [ 6.26801356e-01 7.78817031e-01 2.37506258e-02 5.62128035e+01] [-3.76884458e-02 -1.41988104e-04 9.99289528e-01 -5.81628364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:56.25, Z:-5.82 [[ 7.76940491e-01 -6.28893675e-01 2.92612245e-02 1.40651546e+02] [ 6.28444937e-01 7.77491312e-01 2.37533122e-02 5.62474562e+01] [-3.76886556e-02 -6.58416134e-05 9.99289528e-01 -5.81956116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.70, Y:56.28, Z:-5.82 [[ 7.76458255e-01 -6.29489274e-01 2.92546139e-02 1.40697903e+02] [ 6.29040652e-01 7.77009171e-01 2.37614509e-02 5.62809782e+01] [-3.76886818e-02 -4.74333127e-05 9.99289528e-01 -5.82207890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:56.32, Z:-5.82 [[ 7.76436846e-01 -6.29515812e-01 2.92517718e-02 1.40745186e+02] [ 6.29067077e-01 7.76987670e-01 2.37649493e-02 5.63152781e+01] [-3.76886774e-02 -5.06557155e-05 9.99289528e-01 -5.82311795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:56.35, Z:-5.82 [[ 7.77150175e-01 -6.28635289e-01 2.92451460e-02 1.40792807e+02] [ 6.28185623e-01 7.77700239e-01 2.37731002e-02 5.63497336e+01] [-3.76885668e-02 -1.03888749e-04 9.99289528e-01 -5.82329164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:56.38, Z:-5.82 [[ 7.78145897e-01 -6.27402609e-01 2.92391862e-02 1.40840236e+02] [ 6.26951796e-01 7.78695022e-01 2.37804280e-02 5.63844231e+01] [-3.76883113e-02 -1.73082188e-04 9.99289528e-01 -5.82386755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:56.42, Z:-5.83 [[ 7.78433902e-01 -6.27045515e-01 2.92332382e-02 1.40887075e+02] [ 6.26594176e-01 7.78982595e-01 2.37877377e-02 5.64194228e+01] [-3.76881780e-02 -1.99804686e-04 9.99289528e-01 -5.82541191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:56.45, Z:-5.83 [[ 7.78253526e-01 -6.27269691e-01 2.92264264e-02 1.40932784e+02] [ 6.26818195e-01 7.78802090e-01 2.37961039e-02 5.64535678e+01] [-3.76881767e-02 -1.99745879e-04 9.99289528e-01 -5.83015557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:56.49, Z:-5.83 [[ 7.77611317e-01 -6.28065775e-01 2.92236548e-02 1.40979546e+02] [ 6.27614714e-01 7.78160237e-01 2.37995073e-02 5.64875686e+01] [-3.76883421e-02 -1.65570436e-04 9.99289528e-01 -5.83241503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:56.52, Z:-5.83 [[ 7.76205403e-01 -6.29802778e-01 2.92170143e-02 1.41025438e+02] [ 6.29352638e-01 7.76755079e-01 2.38076565e-02 5.65214176e+01] [-3.76885925e-02 -9.18265161e-05 9.99289528e-01 -5.83445807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.07, Y:56.56, Z:-5.84 [[ 7.74529803e-01 -6.31862419e-01 2.92141792e-02 1.41071869e+02] [ 6.31413610e-01 7.75080566e-01 2.38111350e-02 5.65572806e+01] [-3.76887039e-02 3.79666198e-06 9.99289528e-01 -5.83525631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.12, Y:56.59, Z:-5.84 [[ 7.71761501e-01 -6.35240953e-01 2.92081702e-02 1.41117022e+02] [ 6.34794275e-01 7.72313995e-01 2.38185037e-02 5.65913762e+01] [-3.76883676e-02 1.58975060e-04 9.99289528e-01 -5.83846061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.16, Y:56.63, Z:-5.84 [[ 7.69938646e-01 -6.37449319e-01 2.92035381e-02 1.41163050e+02] [ 6.37004011e-01 7.70492244e-01 2.38241817e-02 5.66275818e+01] [-3.76878080e-02 2.59612741e-04 9.99289528e-01 -5.83883220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:56.66, Z:-5.84 [[ 7.68720814e-01 -6.38917723e-01 2.91968046e-02 1.41207071e+02] [ 6.38473159e-01 7.69275010e-01 2.38324308e-02 5.66644817e+01] [-3.76873346e-02 3.20890399e-04 9.99289529e-01 -5.84302187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:56.70, Z:-5.85 [[ 7.68693513e-01 -6.38950664e-01 2.91947353e-02 1.41251246e+02] [ 6.38506027e-01 7.69247650e-01 2.38349654e-02 5.67022893e+01] [-3.76873485e-02 3.19231185e-04 9.99289529e-01 -5.84651065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:56.74, Z:-5.85 [[ 7.70069709e-01 -6.37291692e-01 2.91880634e-02 1.41295558e+02] [ 6.36845552e-01 7.70622637e-01 2.38431330e-02 5.67387677e+01] [-3.76880129e-02 2.27413839e-04 9.99289529e-01 -5.84798689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:56.78, Z:-5.85 [[ 7.72025918e-01 -6.34920642e-01 2.91849512e-02 1.41338648e+02] [ 6.34472660e-01 7.72577354e-01 2.38469418e-02 5.67782576e+01] [-3.76885480e-02 1.06596454e-04 9.99289529e-01 -5.84923246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.38, Y:56.82, Z:-5.85 [[ 7.73724148e-01 -6.32850143e-01 2.91828613e-02 1.41381846e+02] [ 6.32400589e-01 7.74274303e-01 2.38494991e-02 5.68164132e+01] [-3.76886985e-02 2.32531494e-06 9.99289529e-01 -5.85188896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.43, Y:56.85, Z:-5.85 [[ 7.75185641e-01 -6.31059223e-01 2.91801111e-02 1.41425736e+02] [ 6.30608271e-01 7.75734651e-01 2.38528635e-02 5.68548435e+01] [-3.76885928e-02 -8.91778391e-05 9.99289529e-01 -5.85349307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:56.89, Z:-5.85 [[ 7.74951616e-01 -6.31346729e-01 2.91770676e-02 1.41468696e+02] [ 6.30895840e-01 7.75500678e-01 2.38565857e-02 5.68923330e+01] [-3.76886131e-02 -8.00090392e-05 9.99289529e-01 -5.85447195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:56.93, Z:-5.86 [[ 7.74532616e-01 -6.31860855e-01 2.91734000e-02 1.41512595e+02] [ 6.31410162e-01 7.75081838e-01 2.38610699e-02 5.69303778e+01] [-3.76886485e-02 -6.07957031e-05 9.99289529e-01 -5.85578437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:56.97, Z:-5.86 [[ 7.73299477e-01 -6.33369749e-01 2.91664047e-02 1.41555980e+02] [ 6.32919806e-01 7.73849314e-01 2.38696174e-02 5.69670394e+01] [-3.76886959e-02 1.63255656e-06 9.99289529e-01 -5.85754275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:57.01, Z:-5.86 [[ 7.71199857e-01 -6.35924741e-01 2.91634049e-02 1.41599376e+02] [ 6.35476481e-01 7.71751067e-01 2.38732821e-02 5.70057786e+01] [-3.76884995e-02 1.21586163e-04 9.99289529e-01 -5.86156406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.64, Y:57.04, Z:-5.86 [[ 7.69579467e-01 -6.37885052e-01 2.91565721e-02 1.41643826e+02] [ 6.37437879e-01 7.70131559e-01 2.38816241e-02 5.70434283e+01] [-3.76881273e-02 2.06695920e-04 9.99289529e-01 -5.86336655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:57.08, Z:-5.87 [[ 7.68482705e-01 -6.39206244e-01 2.91497874e-02 1.41688534e+02] [ 6.38759707e-01 7.69035311e-01 2.38899026e-02 5.70807948e+01] [-3.76877907e-02 2.60732680e-04 9.99289529e-01 -5.86511231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:57.12, Z:-5.87 [[ 7.64982043e-01 -6.43391914e-01 2.91430764e-02 1.41732208e+02] [ 6.42948088e-01 7.65536830e-01 2.38980864e-02 5.71194210e+01] [-3.76859339e-02 4.55878331e-04 9.99289529e-01 -5.86735059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:57.16, Z:-5.87 [[ 7.61456778e-01 -6.47560534e-01 2.91363974e-02 1.41775055e+02] [ 6.47119434e-01 7.62013734e-01 2.39062267e-02 5.71571407e+01] [-3.76830639e-02 6.51170636e-04 9.99289529e-01 -5.87050200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:57.19, Z:-5.87 [[ 7.59831685e-01 -6.49466742e-01 2.91335154e-02 1.41819405e+02] [ 6.49026904e-01 7.60389638e-01 2.39097384e-02 5.71941668e+01] [-3.76814031e-02 7.41058496e-04 9.99289529e-01 -5.87179271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:57.23, Z:-5.88 [[ 7.59363418e-01 -6.50014476e-01 2.91269781e-02 1.41860676e+02] [ 6.49574736e-01 7.59921448e-01 2.39176995e-02 5.72331554e+01] [-3.76810662e-02 7.57923041e-04 9.99289529e-01 -5.87501545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:141.90, Y:57.27, Z:-5.88 [[ 7.60136356e-01 -6.49110548e-01 2.91241732e-02 1.41904501e+02] [ 6.48670013e-01 7.60693759e-01 2.39211144e-02 5.72717380e+01] [-3.76820245e-02 7.08669106e-04 9.99289529e-01 -5.87664813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:141.95, Y:57.31, Z:-5.88 [[ 7.61265178e-01 -6.47786610e-01 2.91176375e-02 1.41948347e+02] [ 6.47344802e-01 7.61821572e-01 2.39290673e-02 5.73108468e+01] [-3.76833737e-02 6.32785584e-04 9.99289529e-01 -5.87540476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:57.35, Z:-5.88 [[ 7.63133681e-01 -6.45584625e-01 2.91114555e-02 1.41989487e+02] [ 6.45140925e-01 7.63688567e-01 2.39365857e-02 5.73503485e+01] [-3.76851775e-02 5.14176544e-04 9.99289529e-01 -5.87832961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:57.39, Z:-5.88 [[ 7.64799081e-01 -6.43610954e-01 2.91085290e-02 1.42032876e+02] [ 6.43165686e-01 7.65352710e-01 2.39401441e-02 5.73890699e+01] [-3.76864305e-02 4.12206818e-04 9.99289529e-01 -5.88018098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:142.08, Y:57.43, Z:-5.88 [[ 7.68188966e-01 -6.39561417e-01 2.91016643e-02 1.42075190e+02] [ 6.39112914e-01 7.68739978e-01 2.39484860e-02 5.74290509e+01] [-3.76881403e-02 2.02286764e-04 9.99289529e-01 -5.88249271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:57.47, Z:-5.89 [[ 7.71952612e-01 -6.35013899e-01 2.90948956e-02 1.42117510e+02] [ 6.34561840e-01 7.72500710e-01 2.39567064e-02 5.74686091e+01] [-3.76886690e-02 -3.09315381e-05 9.99289529e-01 -5.88625318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:57.51, Z:-5.89 [[ 7.74294170e-01 -6.32156955e-01 2.90881806e-02 1.42160597e+02] [ 6.31702568e-01 7.74840339e-01 2.39648569e-02 5.75073617e+01] [-3.76882467e-02 -1.80770594e-04 9.99289529e-01 -5.88959205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:57.54, Z:-5.89 [[ 7.74305282e-01 -6.32143663e-01 2.90812502e-02 1.42204020e+02] [ 6.31688950e-01 7.74851181e-01 2.39732640e-02 5.75438443e+01] [-3.76881880e-02 -1.92320575e-04 9.99289529e-01 -5.89238663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:142.25, Y:57.58, Z:-5.89 [[ 7.74059211e-01 -6.32445090e-01 2.90782715e-02 1.42249117e+02] [ 6.31990454e-01 7.74605174e-01 2.39768765e-02 5.75814135e+01] [-3.76882373e-02 -1.82332074e-04 9.99289529e-01 -5.89317607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:142.29, Y:57.62, Z:-5.90 [[ 7.72749436e-01 -6.34045034e-01 2.90723936e-02 1.42293071e+02] [ 6.33591261e-01 7.73296115e-01 2.39840014e-02 5.76188265e+01] [-3.76885060e-02 -1.13609093e-04 9.99289529e-01 -5.89522841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:142.34, Y:57.66, Z:-5.90 [[ 7.73280078e-01 -6.33398089e-01 2.90651410e-02 1.42337141e+02] [ 6.32943528e-01 7.73826102e-01 2.39927873e-02 5.76561032e+01] [-3.76883504e-02 -1.56551548e-04 9.99289529e-01 -5.89811822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710888479 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:57.69, Z:-5.90 [[ 7.74341415e-01 -6.32100447e-01 2.90585063e-02 1.42381959e+02] [ 6.31644670e-01 7.74886425e-01 2.40008202e-02 5.76933140e+01] [-3.76879712e-02 -2.30178444e-04 9.99289530e-01 -5.90150522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:57.73, Z:-5.90 [[ 7.73674701e-01 -6.32916619e-01 2.90518673e-02 1.42428118e+02] [ 6.32461115e-01 7.74219939e-01 2.40088536e-02 5.77286834e+01] [-3.76881374e-02 -2.00866302e-04 9.99289530e-01 -5.90272944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:142.47, Y:57.77, Z:-5.90 [[ 7.71317926e-01 -6.35786971e-01 2.90445097e-02 1.42473514e+02] [ 6.35333161e-01 7.71864575e-01 2.40177511e-02 5.77651837e+01] [-3.76886014e-02 -7.23818043e-05 9.99289530e-01 -5.90369916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:142.52, Y:57.80, Z:-5.91 [[ 7.70804175e-01 -6.36410066e-01 2.90370693e-02 1.42519365e+02] [ 6.35956359e-01 7.71350909e-01 2.40267431e-02 5.78011602e+01] [-3.76886310e-02 -5.36050385e-05 9.99289530e-01 -5.90530767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950888479 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:57.84, Z:-5.91 [[ 7.70680666e-01 -6.36559934e-01 2.90303526e-02 1.42563772e+02] [ 6.36106028e-01 7.71227234e-01 2.40348558e-02 5.78373526e+01] [-3.76886248e-02 -5.68163292e-05 9.99289530e-01 -5.90807577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:57.87, Z:-5.91 [[ 7.69881984e-01 -6.37525794e-01 2.90274642e-02 1.42610559e+02] [ 6.37072442e-01 7.70429012e-01 2.40383437e-02 5.78726441e+01] [-3.76886647e-02 -1.40903008e-05 9.99289530e-01 -5.91049704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:57.91, Z:-5.91 [[ 7.67498724e-01 -6.40393259e-01 2.90203845e-02 1.42654271e+02] [ 6.39941628e-01 7.68047173e-01 2.40468877e-02 5.79089391e+01] [-3.76884890e-02 1.15396440e-04 9.99289530e-01 -5.91252220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:142.70, Y:57.94, Z:-5.91 [[ 7.65351191e-01 -6.42958440e-01 2.90172161e-02 1.42700331e+02] [ 6.42508502e-01 7.65901030e-01 2.40507104e-02 5.79446219e+01] [-3.76879229e-02 2.36568179e-04 9.99289530e-01 -5.91405944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.75, Y:57.98, Z:-5.92 [[ 7.64583677e-01 -6.43871258e-01 2.90104110e-02 1.42745506e+02] [ 6.43421664e-01 7.65133799e-01 2.40589159e-02 5.79812080e+01] [-3.76876905e-02 2.70872542e-04 9.99289530e-01 -5.91659811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:142.79, Y:58.02, Z:-5.92 [[ 7.64636485e-01 -6.43808846e-01 2.90037017e-02 1.42790462e+02] [ 6.43358902e-01 7.65186319e-01 2.40670015e-02 5.80167416e+01] [-3.76877842e-02 2.57282186e-04 9.99289530e-01 -5.92040114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:58.05, Z:-5.92 [[ 7.65282414e-01 -6.43041038e-01 2.90008553e-02 1.42837161e+02] [ 6.42590412e-01 7.65831690e-01 2.40704310e-02 5.80522482e+01] [-3.76880489e-02 2.14994038e-04 9.99289530e-01 -5.92244304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:142.88, Y:58.09, Z:-5.92 [[ 7.65871882e-01 -6.42339110e-01 2.89953146e-02 1.42883485e+02] [ 6.41887728e-01 7.66420536e-01 2.40771034e-02 5.80869962e+01] [-3.76882698e-02 1.71760121e-04 9.99289530e-01 -5.92332422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430888479 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:58.12, Z:-5.93 [[ 7.67627205e-01 -6.40240700e-01 2.89882660e-02 1.42929353e+02] [ 6.39787497e-01 7.68174357e-01 2.40855868e-02 5.81206499e+01] [-3.76886156e-02 5.75784339e-05 9.99289530e-01 -5.92552632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490888479 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:142.98, Y:58.16, Z:-5.93 [[ 7.69845163e-01 -6.37572249e-01 2.89836499e-02 1.42976009e+02] [ 6.37116941e-01 7.70390564e-01 2.40911403e-02 5.81553177e+01] [-3.76885729e-02 -8.04734420e-05 9.99289530e-01 -5.92746994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550888479 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:143.02, Y:58.20, Z:-5.94 [[ 7.67894946e-01 -6.39920060e-01 2.89770474e-02 1.43016323e+02] [ 6.39466120e-01 7.68441485e-01 2.40990793e-02 5.81968239e+01] [-3.76886496e-02 2.42789212e-05 9.99289530e-01 -5.94179796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610888479 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:58.23, Z:-5.93 [[ 7.74217353e-01 -6.32256229e-01 2.89750186e-02 1.43069346e+02] [ 6.31796788e-01 7.74759276e-01 2.41015184e-02 5.82265147e+01] [-3.76869995e-02 -3.53490091e-04 9.99289530e-01 -5.93228737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670888479 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:58.27, Z:-5.94 [[ 7.68983462e-01 -6.38611812e-01 2.89722114e-02 1.43110151e+02] [ 6.38156723e-01 7.69529045e-01 2.41048924e-02 5.82681838e+01] [-3.76886272e-02 -4.74521185e-05 9.99289530e-01 -5.94444171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:143.16, Y:58.30, Z:-5.94 [[ 7.70084333e-01 -6.37283972e-01 2.89699497e-02 1.43159170e+02] [ 6.36827840e-01 7.70629045e-01 2.41076103e-02 5.83015220e+01] [-3.76884783e-02 -1.16022510e-04 9.99289530e-01 -5.94288668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:58.34, Z:-5.96 [[ 7.61836431e-01 -6.47121591e-01 2.89637609e-02 1.43202094e+02] [ 6.46672209e-01 7.62386725e-01 2.41150434e-02 5.83424175e+01] [-3.76869521e-02 3.58340608e-04 9.99289530e-01 -5.95771620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:58.37, Z:-5.96 [[ 7.62427313e-01 -6.46425427e-01 2.89613470e-02 1.43250696e+02] [ 6.45975433e-01 7.62977107e-01 2.41179421e-02 5.83749759e+01] [-3.76872957e-02 3.20140900e-04 9.99289530e-01 -5.95669747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:58.40, Z:-5.94 [[ 7.70436831e-01 -6.36858271e-01 2.89591407e-02 1.43307173e+02] [ 6.36401350e-01 7.70980881e-01 2.41205909e-02 5.83996516e+01] [-3.76883417e-02 -1.53755398e-04 9.99289530e-01 -5.94032291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:58.43, Z:-5.94 [[ 7.68057691e-01 -6.39725647e-01 2.89565083e-02 1.43353705e+02] [ 6.39270638e-01 7.68603341e-01 2.41237508e-02 5.84340962e+01] [-3.76886511e-02 -1.73867788e-05 9.99289530e-01 -5.94320398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:58.47, Z:-5.94 [[ 7.66152518e-01 -6.42006199e-01 2.89544303e-02 1.43399503e+02] [ 6.41552720e-01 7.66699440e-01 2.41262446e-02 5.84695815e+01] [-3.76885441e-02 9.14104366e-05 9.99289530e-01 -5.94314705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:58.51, Z:-5.94 [[ 7.63480838e-01 -6.45181403e-01 2.89476571e-02 1.43444267e+02] [ 6.44729890e-01 7.64029385e-01 2.41343686e-02 5.85060649e+01] [-3.76879064e-02 2.37291786e-04 9.99289530e-01 -5.94448888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.49, Y:58.54, Z:-5.95 [[ 7.61688230e-01 -6.47297049e-01 2.89408225e-02 1.43489466e+02] [ 6.46846748e-01 7.62237772e-01 2.41425615e-02 5.85432796e+01] [-3.76871969e-02 3.31172027e-04 9.99289530e-01 -5.94617795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:58.58, Z:-5.95 [[ 7.61205988e-01 -6.47864390e-01 2.89339899e-02 1.43535034e+02] [ 6.47414188e-01 7.61755611e-01 2.41507474e-02 5.85813547e+01] [-3.76870384e-02 3.48581994e-04 9.99289530e-01 -5.94795729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:58.62, Z:-5.95 [[ 7.61910781e-01 -6.47035647e-01 2.89280638e-02 1.43580512e+02] [ 6.46584578e-01 7.62459692e-01 2.41578437e-02 5.86195038e+01] [-3.76874686e-02 2.98318311e-04 9.99289530e-01 -5.94868461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.62, Y:58.66, Z:-5.95 [[ 7.63737663e-01 -6.44878516e-01 2.89219896e-02 1.43624168e+02] [ 6.44425621e-01 7.64285069e-01 2.41651135e-02 5.86574189e+01] [-3.76882074e-02 1.82263762e-04 9.99289531e-01 -5.94996126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:58.70, Z:-5.95 [[ 7.65517991e-01 -6.42764224e-01 2.89198556e-02 1.43668418e+02] [ 6.42309721e-01 7.66064062e-01 2.41676672e-02 5.86954264e+01] [-3.76885739e-02 7.47203442e-05 9.99289531e-01 -5.95124014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:58.74, Z:-5.95 [[ 7.67884041e-01 -6.39936037e-01 2.89130955e-02 1.43711421e+02] [ 6.39479218e-01 7.68428177e-01 2.41757519e-02 5.87351929e+01] [-3.76885722e-02 -7.48503598e-05 9.99289531e-01 -5.95412071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:58.77, Z:-5.96 [[ 7.69371998e-01 -6.38146651e-01 2.89064102e-02 1.43755332e+02] [ 6.37688266e-01 7.69914815e-01 2.41837427e-02 5.87724216e+01] [-3.76882479e-02 -1.73015825e-04 9.99289531e-01 -5.95690946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:58.81, Z:-5.96 [[ 7.71505007e-01 -6.35566548e-01 2.88996259e-02 1.43798452e+02] [ 6.35106044e-01 7.72046027e-01 2.41918473e-02 5.88093037e+01] [-3.76873702e-02 -3.09804229e-04 9.99289531e-01 -5.96145899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:58.85, Z:-5.97 [[ 7.70842575e-01 -6.36370152e-01 2.88921134e-02 1.43842715e+02] [ 6.35909876e-01 7.71383789e-01 2.42008161e-02 5.88461160e+01] [-3.76875849e-02 -2.82239090e-04 9.99289531e-01 -5.96507685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:58.88, Z:-5.96 [[ 7.69188335e-01 -6.38369005e-01 2.88845738e-02 1.43887626e+02] [ 6.37909798e-01 7.69730456e-01 2.42098116e-02 5.88824222e+01] [-3.76881295e-02 -1.96152017e-04 9.99289531e-01 -5.96465629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750888479 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:143.93, Y:58.92, Z:-5.97 [[ 7.67419025e-01 -6.40495225e-01 2.88774547e-02 1.43932489e+02] [ 6.40037200e-01 7.67962145e-01 2.42183003e-02 5.89189577e+01] [-3.76884977e-02 -1.02939182e-04 9.99289531e-01 -5.96693799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:143.98, Y:58.96, Z:-5.97 [[ 7.65846046e-01 -6.42375534e-01 2.88705292e-02 1.43976357e+02] [ 6.41918532e-01 7.66390027e-01 2.42265534e-02 5.89557311e+01] [-3.76886308e-02 -2.12824111e-05 9.99289531e-01 -5.96939842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870888479 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:144.02, Y:58.99, Z:-5.97 [[ 7.62939265e-01 -6.45825319e-01 2.88675418e-02 1.44021586e+02] [ 6.45370642e-01 7.63485191e-01 2.42301125e-02 5.89920484e+01] [-3.76883608e-02 1.44159697e-04 9.99289531e-01 -5.97056771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930888479 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:59.03, Z:-5.97 [[ 7.61004078e-01 -6.48104812e-01 2.88607953e-02 1.44065572e+02] [ 6.47651466e-01 7.61551109e-01 2.42381457e-02 5.90292544e+01] [-3.76878295e-02 2.46408686e-04 9.99289531e-01 -5.97325422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990888479 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:59.07, Z:-5.98 [[ 7.58846269e-01 -6.50630304e-01 2.88539221e-02 1.44110113e+02] [ 6.50178466e-01 7.59394547e-01 2.42463250e-02 5.90668335e+01] [-3.76869049e-02 3.60965587e-04 9.99289531e-01 -5.97569808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050888479 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:59.11, Z:-5.98 [[ 7.57372342e-01 -6.52345753e-01 2.88470911e-02 1.44153239e+02] [ 6.51894848e-01 7.57921387e-01 2.42544494e-02 5.91056099e+01] [-3.76861144e-02 4.35620933e-04 9.99289531e-01 -5.97763266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110888479 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:59.14, Z:-5.98 [[ 7.56355495e-01 -6.53524756e-01 2.88402268e-02 1.44196461e+02] [ 6.53074396e-01 7.56904987e-01 2.42626089e-02 5.91431507e+01] [-3.76855270e-02 4.83656173e-04 9.99289531e-01 -5.98011854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170888479 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:144.24, Y:59.18, Z:-5.98 [[ 7.54269257e-01 -6.55931627e-01 2.88372734e-02 1.44240287e+02] [ 6.55482886e-01 7.54820073e-01 2.42661186e-02 5.91805998e+01] [-3.76838675e-02 5.99151988e-04 9.99289531e-01 -5.98262127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:144.28, Y:59.22, Z:-5.98 [[ 7.53226622e-01 -6.57128948e-01 2.88305720e-02 1.44283482e+02] [ 6.56680778e-01 7.53777902e-01 2.42740779e-02 5.92196381e+01] [-3.76830474e-02 6.48600764e-04 9.99289531e-01 -5.98492830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:144.33, Y:59.26, Z:-5.99 [[ 7.53174064e-01 -6.57189491e-01 2.88236477e-02 1.44325287e+02] [ 6.56741051e-01 7.53725124e-01 2.42822972e-02 5.92589197e+01] [-3.76831780e-02 6.40876267e-04 9.99289531e-01 -5.98664289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:59.30, Z:-5.99 [[ 7.53718721e-01 -6.56564893e-01 2.88206826e-02 1.44369119e+02] [ 6.56115861e-01 7.54269299e-01 2.42858160e-02 5.92976216e+01] [-3.76837702e-02 6.05032821e-04 9.99289531e-01 -5.98784203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:59.34, Z:-5.99 [[ 7.55761898e-01 -6.54212285e-01 2.88138788e-02 1.44411768e+02] [ 6.53761232e-01 7.56310821e-01 2.42938857e-02 5.93370774e+01] [-3.76856068e-02 4.77003708e-04 9.99289531e-01 -5.98803212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:59.38, Z:-5.99 [[ 7.57508114e-01 -6.52189862e-01 2.88069787e-02 1.44452993e+02] [ 6.51737032e-01 7.58055572e-01 2.43020648e-02 5.93765406e+01] [-3.76868511e-02 3.65563533e-04 9.99289531e-01 -5.99021405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530888479 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:59.42, Z:-6.00 [[ 7.57289279e-01 -6.52444080e-01 2.88040008e-02 1.44494852e+02] [ 6.51991300e-01 7.57836778e-01 2.43055939e-02 5.94164921e+01] [-3.76867720e-02 3.73592264e-04 9.99289531e-01 -5.99588417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:59.45, Z:-6.00 [[ 7.59273375e-01 -6.50134445e-01 2.87949030e-02 1.44537332e+02] [ 6.49679590e-01 7.59819152e-01 2.43163674e-02 5.94541919e+01] [-3.76878268e-02 2.44690426e-04 9.99289532e-01 -5.99571907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650888479 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:59.49, Z:-6.00 [[ 7.59944612e-01 -6.49350101e-01 2.87859985e-02 1.44579389e+02] [ 6.48894284e-01 7.60489586e-01 2.43269040e-02 5.94929018e+01] [-3.76881297e-02 1.91970282e-04 9.99289532e-01 -5.99767854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710888479 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:59.53, Z:-6.00 [[ 7.61153592e-01 -6.47932670e-01 2.87830593e-02 1.44622089e+02] [ 6.47475707e-01 7.61697605e-01 2.43303812e-02 5.95339411e+01] [-3.76884361e-02 1.17174624e-04 9.99289532e-01 -5.99953444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770888479 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:59.57, Z:-6.00 [[ 7.62270917e-01 -6.46618067e-01 2.87771627e-02 1.44664511e+02] [ 6.46159902e-01 7.62813918e-01 2.43373534e-02 5.95743022e+01] [-3.76885927e-02 4.29919596e-05 9.99289532e-01 -6.00213636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830888479 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:144.71, Y:59.61, Z:-6.00 [[ 7.65104705e-01 -6.43262818e-01 2.87704344e-02 1.44706116e+02] [ 6.42801973e-01 7.65645433e-01 2.43453047e-02 5.96130911e+01] [-3.76883810e-02 -1.33015171e-04 9.99289532e-01 -6.00432399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890888479 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:59.65, Z:-6.01 [[ 7.66739109e-01 -6.41314012e-01 2.87658949e-02 1.44749385e+02] [ 6.40851592e-01 7.67278490e-01 2.43506674e-02 5.96521833e+01] [-3.76878766e-02 -2.35939455e-04 9.99289532e-01 -6.00725792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950888479 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:59.69, Z:-6.01 [[ 7.68050927e-01 -6.39742660e-01 2.87593679e-02 1.44791698e+02] [ 6.39278848e-01 7.68589113e-01 2.43583736e-02 5.96918484e+01] [-3.76872278e-02 -3.23215806e-04 9.99289532e-01 -6.01014843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:59.73, Z:-6.01 [[ 7.66383488e-01 -6.41739539e-01 2.87526354e-02 1.44834735e+02] [ 6.41276831e-01 7.66922622e-01 2.43663180e-02 5.97311914e+01] [-3.76878762e-02 -2.35544878e-04 9.99289532e-01 -6.01256461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:59.77, Z:-6.02 [[ 7.64253044e-01 -6.44275528e-01 2.87459224e-02 1.44877875e+02] [ 6.43814312e-01 7.64793455e-01 2.43742351e-02 5.97677619e+01] [-3.76884165e-02 -1.21047097e-04 9.99289532e-01 -6.01528941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:144.92, Y:59.80, Z:-6.02 [[ 7.60564460e-01 -6.48625886e-01 2.87430382e-02 1.44922607e+02] [ 6.48167631e-01 7.61107386e-01 2.43776357e-02 5.98046331e+01] [-3.76885042e-02 8.95436623e-05 9.99289532e-01 -6.01759426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:59.84, Z:-6.02 [[ 7.57289350e-01 -6.52446972e-01 2.87365590e-02 1.44964646e+02] [ 6.51991167e-01 7.57834333e-01 2.43852711e-02 5.98427236e+01] [-3.76876473e-02 2.69276596e-04 9.99289532e-01 -6.02131945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250888479 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:59.88, Z:-6.02 [[ 7.55337460e-01 -6.54705840e-01 2.87329843e-02 1.45008925e+02] [ 6.54251505e-01 7.55883669e-01 2.43894825e-02 5.98800529e+01] [-3.76867302e-02 3.76308472e-04 9.99289532e-01 -6.02282679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310888479 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:59.92, Z:-6.02 [[ 7.52278584e-01 -6.58218596e-01 2.87264952e-02 1.45052688e+02] [ 6.57766520e-01 7.52826664e-01 2.43971230e-02 5.99178588e+01] [-3.76847116e-02 5.41893614e-04 9.99289532e-01 -6.02420328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:145.10, Y:59.95, Z:-6.03 [[ 7.52917627e-01 -6.57487815e-01 2.87197006e-02 1.45100288e+02] [ 6.57034901e-01 7.53465015e-01 2.44051188e-02 5.99512885e+01] [-3.76853579e-02 4.94801512e-04 9.99289532e-01 -6.02759114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430888479 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:59.99, Z:-6.03 [[ 7.49504944e-01 -6.61375805e-01 2.87120696e-02 1.45138979e+02] [ 6.60925387e-01 7.50054388e-01 2.44140933e-02 5.99937595e+01] [-3.76825044e-02 6.78052039e-04 9.99289532e-01 -6.03331067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490888479 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:60.03, Z:-6.03 [[ 7.50900274e-01 -6.59791403e-01 2.87068405e-02 1.45182234e+02] [ 6.59339591e-01 7.51448571e-01 2.44202403e-02 6.00331380e+01] [-3.76839789e-02 5.90391321e-04 9.99289532e-01 -6.03416827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550888479 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:60.07, Z:-6.04 [[ 7.52066700e-01 -6.58461839e-01 2.86999307e-02 1.45223975e+02] [ 6.58008747e-01 7.52613941e-01 2.44283583e-02 6.00724002e+01] [-3.76851097e-02 5.13050621e-04 9.99289532e-01 -6.03720197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:60.11, Z:-6.04 [[ 7.55134678e-01 -6.54941516e-01 2.86919672e-02 1.45266487e+02] [ 6.54485518e-01 7.55679499e-01 2.44377081e-02 6.01101013e+01] [-3.76872010e-02 3.24716167e-04 9.99289532e-01 -6.04445941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670888479 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:145.31, Y:60.15, Z:-6.05 [[ 7.57447924e-01 -6.52265032e-01 2.86874529e-02 1.45308473e+02] [ 6.51806908e-01 7.57990959e-01 2.44430064e-02 6.01485320e+01] [-3.76881483e-02 1.84375550e-04 9.99289532e-01 -6.04869399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:145.35, Y:60.19, Z:-6.05 [[ 7.60183532e-01 -6.49074875e-01 2.86845731e-02 1.45349921e+02] [ 6.48614345e-01 7.60724527e-01 2.44463854e-02 6.01898954e+01] [-3.76885929e-02 2.14860711e-05 9.99289532e-01 -6.04566828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:60.23, Z:-6.05 [[ 7.63780334e-01 -6.44838891e-01 2.86776375e-02 1.45394961e+02] [ 6.44375055e-01 7.64318497e-01 2.44545187e-02 6.02261585e+01] [-3.76880735e-02 -1.98726235e-04 9.99289532e-01 -6.05144973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:60.27, Z:-6.06 [[ 7.63056247e-01 -6.45695867e-01 2.86707352e-02 1.45437041e+02] [ 6.45232331e-01 7.63594670e-01 2.44626084e-02 6.02668911e+01] [-3.76882257e-02 -1.67060810e-04 9.99289532e-01 -6.05733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:60.31, Z:-6.05 [[ 7.63474702e-01 -6.45201317e-01 2.86642604e-02 1.45480775e+02] [ 6.44737147e-01 7.64012579e-01 2.44701929e-02 6.03053258e+01] [-3.76880562e-02 -2.01459752e-04 9.99289533e-01 -6.05385887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:60.35, Z:-6.07 [[ 7.58227679e-01 -6.51359561e-01 2.86619988e-02 1.45523203e+02] [ 6.50899660e-01 7.58769209e-01 2.44728416e-02 6.03465349e+01] [-3.76884616e-02 1.00099395e-04 9.99289533e-01 -6.06865644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030888479 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:60.38, Z:-6.06 [[ 7.59981110e-01 -6.49313123e-01 2.86562702e-02 1.45572119e+02] [ 6.48851511e-01 7.60521182e-01 2.44795477e-02 6.03794747e+01] [-3.76885920e-02 -1.03296061e-05 9.99289533e-01 -6.05904481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090888479 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:145.62, Y:60.42, Z:-6.06 [[ 7.58001320e-01 -6.51623308e-01 2.86542110e-02 1.45616731e+02] [ 6.51163251e-01 7.58542718e-01 2.44819578e-02 6.04169346e+01] [-3.76884574e-02 1.01212852e-04 9.99289533e-01 -6.06345891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:145.66, Y:60.46, Z:-6.08 [[ 7.51415973e-01 -6.59206612e-01 2.86474766e-02 1.45656047e+02] [ 6.58751718e-01 7.51961716e-01 2.44898355e-02 6.04605647e+01] [-3.76856672e-02 4.69520881e-04 9.99289533e-01 -6.08288051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210888479 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:60.49, Z:-6.07 [[ 7.58072083e-01 -6.51541534e-01 2.86416996e-02 1.45708783e+02] [ 6.51080866e-01 7.58612960e-01 2.44965901e-02 6.04887530e+01] [-3.76885104e-02 7.78814427e-05 9.99289533e-01 -6.06622730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270888479 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:145.75, Y:60.53, Z:-6.07 [[ 7.55595865e-01 -6.54411861e-01 2.86357203e-02 1.45753842e+02] [ 6.53952982e-01 7.56138262e-01 2.45035777e-02 6.05251651e+01] [-3.76879957e-02 2.11612753e-04 9.99289533e-01 -6.07155043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330888479 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:60.56, Z:-6.07 [[ 7.55710735e-01 -6.54279524e-01 2.86284801e-02 1.45798249e+02] [ 6.53820230e-01 7.56252780e-01 2.45120338e-02 6.05613119e+01] [-3.76880895e-02 1.93872383e-04 9.99289533e-01 -6.07322223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:60.60, Z:-6.08 [[ 7.56248160e-01 -6.53658456e-01 2.86241608e-02 1.45845223e+02] [ 6.53198526e-01 7.56789666e-01 2.45170767e-02 6.05963130e+01] [-3.76882636e-02 1.56265487e-04 9.99289533e-01 -6.07572990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:145.89, Y:60.63, Z:-6.08 [[ 7.56610092e-01 -6.53239790e-01 2.86172051e-02 1.45890550e+02] [ 6.52779254e-01 7.57151082e-01 2.45251929e-02 6.06313368e+01] [-3.76883797e-02 1.24709297e-04 9.99289533e-01 -6.07904387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:145.94, Y:60.67, Z:-6.08 [[ 7.56519225e-01 -6.53345153e-01 2.86142106e-02 1.45935462e+02] [ 6.52884560e-01 7.57060166e-01 2.45286862e-02 6.06683466e+01] [-3.76883773e-02 1.25353638e-04 9.99289533e-01 -6.08185235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:60.71, Z:-6.10 [[ 7.49660219e-01 -6.61204338e-01 2.86073354e-02 1.45974736e+02] [ 6.60749109e-01 7.50205682e-01 2.45367020e-02 6.07104688e+01] [-3.76851593e-02 5.08081967e-04 9.99289533e-01 -6.09963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:60.74, Z:-6.09 [[ 7.54598120e-01 -6.55563436e-01 2.86052237e-02 1.46028604e+02] [ 6.55104035e-01 7.55140075e-01 2.45391635e-02 6.07383825e+01] [-3.76879291e-02 2.22190845e-04 9.99289533e-01 -6.08644843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:146.07, Y:60.77, Z:-6.09 [[ 7.53900862e-01 -6.56365424e-01 2.85992993e-02 1.46073912e+02] [ 6.55906338e-01 7.54443083e-01 2.45460663e-02 6.07735613e+01] [-3.76877327e-02 2.53161163e-04 9.99289533e-01 -6.09193538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.12, Y:60.81, Z:-6.09 [[ 7.54587855e-01 -6.55575672e-01 2.85955855e-02 1.46119693e+02] [ 6.55115854e-01 7.55129456e-01 2.45503920e-02 6.08092959e+01] [-3.76880086e-02 2.07993771e-04 9.99289533e-01 -6.09223465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:60.84, Z:-6.09 [[ 7.54350709e-01 -6.55848875e-01 2.85877723e-02 1.46165936e+02] [ 6.55388909e-01 7.54892184e-01 2.45594868e-02 6.08440860e+01] [-3.76879976e-02 2.09642607e-04 9.99289533e-01 -6.09444950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:60.88, Z:-6.10 [[ 7.53893596e-01 -6.56374569e-01 2.85809663e-02 1.46210665e+02] [ 6.55914680e-01 7.54435136e-01 2.45674047e-02 6.08794587e+01] [-3.76879048e-02 2.25466279e-04 9.99289533e-01 -6.09718845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:60.92, Z:-6.10 [[ 7.53936900e-01 -6.56324987e-01 2.85773005e-02 1.46255526e+02] [ 6.55864902e-01 7.54478273e-01 2.45716681e-02 6.09157583e+01] [-3.76879520e-02 2.17361121e-04 9.99289533e-01 -6.10288834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990888479 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:146.30, Y:60.96, Z:-6.11 [[ 7.51031500e-01 -6.59647909e-01 2.85713455e-02 1.46298463e+02] [ 6.59189955e-01 7.51574677e-01 2.45785904e-02 6.09565332e+01] [-3.76867155e-02 3.74648330e-04 9.99289533e-01 -6.10852546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.35, Y:60.99, Z:-6.10 [[ 7.52921316e-01 -6.57490351e-01 2.85645043e-02 1.46347090e+02] [ 6.57030539e-01 7.53462921e-01 2.45865385e-02 6.09892841e+01] [-3.76877066e-02 2.56022743e-04 9.99289533e-01 -6.10306164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110888479 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:146.39, Y:61.03, Z:-6.11 [[ 7.52424831e-01 -6.58058560e-01 2.85623064e-02 1.46391674e+02] [ 6.57599061e-01 7.52966701e-01 2.45890915e-02 6.10261949e+01] [-3.76875278e-02 2.81102806e-04 9.99289533e-01 -6.10676827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:61.06, Z:-6.11 [[ 7.50957126e-01 -6.59733250e-01 2.85558037e-02 1.46435822e+02] [ 6.59274672e-01 7.51499775e-01 2.45966410e-02 6.10632318e+01] [-3.76869019e-02 3.55095305e-04 9.99289533e-01 -6.10792770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23088847900001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.48, Y:61.10, Z:-6.11 [[ 7.49405805e-01 -6.61495222e-01 2.85484067e-02 1.46479763e+02] [ 6.61037592e-01 7.49949255e-01 2.46052234e-02 6.11000661e+01] [-3.76860940e-02 4.32272823e-04 9.99289533e-01 -6.10958833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:146.53, Y:61.14, Z:-6.11 [[ 7.47374252e-01 -6.63789827e-01 2.85445758e-02 1.46525208e+02] [ 6.63333696e-01 7.47918961e-01 2.46096668e-02 6.11381234e+01] [-3.76846759e-02 5.41947636e-04 9.99289533e-01 -6.11128551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:61.18, Z:-6.12 [[ 7.43087832e-01 -6.68585075e-01 2.85389482e-02 1.46566479e+02] [ 6.68132208e-01 7.43635257e-01 2.46161912e-02 6.11795213e+01] [-3.76805861e-02 7.75798355e-04 9.99289533e-01 -6.12034899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:61.22, Z:-6.13 [[ 7.37212976e-01 -6.75057759e-01 2.85315771e-02 1.46604445e+02] [ 6.74609366e-01 7.37764072e-01 2.46247317e-02 6.12232480e+01] [-3.76726887e-02 1.09399738e-03 9.99289533e-01 -6.13292556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.66, Y:61.25, Z:-6.12 [[ 7.44554488e-01 -6.66951850e-01 2.85279509e-02 1.46656114e+02] [ 6.66497294e-01 7.45100512e-01 2.46289320e-02 6.12534519e+01] [-3.76825026e-02 6.76220205e-04 9.99289533e-01 -6.11814835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530888479 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:61.29, Z:-6.12 [[ 7.45406687e-01 -6.65999401e-01 2.85248871e-02 1.46698763e+02] [ 6.65544012e-01 7.45952016e-01 2.46324799e-02 6.12924023e+01] [-3.76834139e-02 6.23352554e-04 9.99289533e-01 -6.11967639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:61.33, Z:-6.12 [[ 7.46894089e-01 -6.64331201e-01 2.85179660e-02 1.46741384e+02] [ 6.63874288e-01 7.47438142e-01 2.46404901e-02 6.13318347e+01] [-3.76848620e-02 5.28507938e-04 9.99289534e-01 -6.12137793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.78, Y:61.37, Z:-6.12 [[ 7.50701005e-01 -6.60026606e-01 2.85110519e-02 1.46782544e+02] [ 6.59566270e-01 7.51242163e-01 2.46484877e-02 6.13727384e+01] [-3.76873620e-02 3.01283676e-04 9.99289534e-01 -6.12417400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:61.41, Z:-6.13 [[ 7.54627254e-01 -6.55534306e-01 2.85040590e-02 1.46823421e+02] [ 6.55070443e-01 7.55165392e-01 2.46565719e-02 6.14121439e+01] [-3.76885076e-02 6.56454370e-05 9.99289534e-01 -6.12639284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:61.45, Z:-6.13 [[ 7.56278252e-01 -6.53629020e-01 2.85010497e-02 1.46866400e+02] [ 6.53163669e-01 7.56815105e-01 2.46600499e-02 6.14514579e+01] [-3.76885492e-02 -3.40092106e-05 9.99289534e-01 -6.12818894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:146.91, Y:61.49, Z:-6.13 [[ 7.56899325e-01 -6.52910022e-01 2.84941318e-02 1.46908379e+02] [ 6.52443861e-01 7.57435474e-01 2.46680407e-02 6.14912228e+01] [-3.76884773e-02 -8.04019896e-05 9.99289534e-01 -6.12976397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:61.53, Z:-6.13 [[ 7.56353692e-01 -6.53542329e-01 2.84871256e-02 1.46951297e+02] [ 6.53076311e-01 7.56889966e-01 2.46761290e-02 6.15289903e+01] [-3.76885144e-02 -5.96143874e-05 9.99289534e-01 -6.13038389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:61.57, Z:-6.13 [[ 7.53370302e-01 -6.56979407e-01 2.84824021e-02 1.46993813e+02] [ 6.56515629e-01 7.53908515e-01 2.46815799e-02 6.15679444e+01] [-3.76884152e-02 1.04772879e-04 9.99289534e-01 -6.13213958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:61.61, Z:-6.14 [[ 7.50757199e-01 -6.59964225e-01 2.84754410e-02 1.47037270e+02] [ 6.59502282e-01 7.51296987e-01 2.46896084e-02 6.16067056e+01] [-3.76877713e-02 2.43717022e-04 9.99289534e-01 -6.13552755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:61.65, Z:-6.14 [[ 7.46276481e-01 -6.65027036e-01 2.84684869e-02 1.47080430e+02] [ 6.64568450e-01 7.46819123e-01 2.46976243e-02 6.16455251e+01] [-3.76853983e-02 4.88002049e-04 9.99289534e-01 -6.13876543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:61.68, Z:-6.14 [[ 7.42867552e-01 -6.68833117e-01 2.84615694e-02 1.47124950e+02] [ 6.68377006e-01 7.43412276e-01 2.47055934e-02 6.16829873e+01] [-3.76825992e-02 6.70074854e-04 9.99289534e-01 -6.13894086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:61.72, Z:-6.14 [[ 7.38408796e-01 -6.73752774e-01 2.84543475e-02 1.47166271e+02] [ 6.73299970e-01 7.38956273e-01 2.47139084e-02 6.17237915e+01] [-3.76775829e-02 9.09343944e-04 9.99289534e-01 -6.14088210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:147.21, Y:61.76, Z:-6.14 [[ 7.37945910e-01 -6.74259832e-01 2.84519447e-02 1.47213426e+02] [ 6.73807298e-01 7.38493609e-01 2.47166743e-02 6.17604492e+01] [-3.76770400e-02 9.31559238e-04 9.99289534e-01 -6.13685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:147.25, Y:61.80, Z:-6.14 [[ 7.34182536e-01 -6.78355922e-01 2.84472848e-02 1.47253340e+02] [ 6.77906235e-01 7.34732575e-01 2.47220364e-02 6.18028509e+01] [-3.76714866e-02 1.13410434e-03 9.99289534e-01 -6.14310021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370888479 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:61.84, Z:-6.14 [[ 7.34019415e-01 -6.78532524e-01 2.84449070e-02 1.47296917e+02] [ 6.78082864e-01 7.34569476e-01 2.47247720e-02 6.18415564e+01] [-3.76713223e-02 1.13954133e-03 9.99289534e-01 -6.14476575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430888479 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:147.34, Y:61.88, Z:-6.15 [[ 7.34790470e-01 -6.77697754e-01 2.84379861e-02 1.47339236e+02] [ 6.77247162e-01 7.35339768e-01 2.47327297e-02 6.18810965e+01] [-3.76728975e-02 1.08617130e-03 9.99289534e-01 -6.14666939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490888479 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:61.92, Z:-6.15 [[ 7.38970182e-01 -6.73137988e-01 2.84309520e-02 1.47379577e+02] [ 6.72683694e-01 7.39516423e-01 2.47408130e-02 6.19217178e+01] [-3.76791370e-02 8.42314730e-04 9.99289534e-01 -6.14932504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550888479 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:61.96, Z:-6.15 [[ 7.42831045e-01 -6.68875094e-01 2.84279312e-02 1.47420888e+02] [ 6.68417533e-01 7.43374551e-01 2.47442835e-02 6.19630551e+01] [-3.76834355e-02 6.20905648e-04 9.99289534e-01 -6.15151229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:62.00, Z:-6.15 [[ 7.52927991e-01 -6.57488924e-01 2.84210325e-02 1.47468951e+02] [ 6.57022842e-01 7.53464208e-01 2.47522047e-02 6.19983114e+01] [-3.76885312e-02 3.66397436e-05 9.99289534e-01 -6.14715056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670888479 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:62.04, Z:-6.15 [[ 7.53514352e-01 -6.56817085e-01 2.84154577e-02 1.47507769e+02] [ 6.56350283e-01 7.54049943e-01 2.47586029e-02 6.20420608e+01] [-3.76885476e-02 -5.46893241e-06 9.99289534e-01 -6.15420604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73088847900001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.55, Y:62.08, Z:-6.15 [[ 7.56790145e-01 -6.53040093e-01 2.84132458e-02 1.47553250e+02] [ 6.52570524e-01 7.57323311e-01 2.47611410e-02 6.20798105e+01] [-3.76880312e-02 -1.97340857e-04 9.99289534e-01 -6.15290696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:62.12, Z:-6.16 [[ 7.57238895e-01 -6.52520000e-01 2.84060706e-02 1.47594750e+02] [ 6.52049756e-01 7.57771466e-01 2.47693697e-02 6.21215486e+01] [-3.76878189e-02 -2.34158710e-04 9.99289534e-01 -6.16097533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:147.64, Y:62.16, Z:-6.16 [[ 7.58186768e-01 -6.51418705e-01 2.83988455e-02 1.47638098e+02] [ 6.50947377e-01 7.58718380e-01 2.47776507e-02 6.21594464e+01] [-3.76873512e-02 -2.99932896e-04 9.99289534e-01 -6.16420532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:147.68, Y:62.20, Z:-6.17 [[ 7.57594010e-01 -6.52108342e-01 2.83905992e-02 1.47677201e+02] [ 6.51637144e-01 7.58125736e-01 2.47870959e-02 6.22008400e+01] [-3.76875159e-02 -2.78186406e-04 9.99289534e-01 -6.16553323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:62.24, Z:-6.17 [[ 7.57229215e-01 -6.52532112e-01 2.83858968e-02 1.47721125e+02] [ 6.52061009e-01 7.57761027e-01 2.47924799e-02 6.22394559e+01] [-3.76876155e-02 -2.64253555e-04 9.99289535e-01 -6.16775186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:62.28, Z:-6.17 [[ 7.55574917e-01 -6.54447237e-01 2.83788422e-02 1.47766320e+02] [ 6.53977179e-01 7.56107652e-01 2.48005523e-02 6.22763323e+01] [-3.76881127e-02 -1.79560145e-04 9.99289535e-01 -6.16923866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090888479 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:147.81, Y:62.31, Z:-6.17 [[ 7.53482344e-01 -6.56855693e-01 2.83717370e-02 1.47811001e+02] [ 6.56387032e-01 7.54016308e-01 2.48086780e-02 6.23142733e+01] [-3.76884738e-02 -7.00605553e-05 9.99289535e-01 -6.17242509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150888479 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:147.86, Y:62.35, Z:-6.18 [[ 7.49582059e-01 -6.61303358e-01 2.83655906e-02 1.47856784e+02] [ 6.60837599e-01 7.50118556e-01 2.48157036e-02 6.23514092e+01] [-3.76882640e-02 1.43642615e-04 9.99289535e-01 -6.17635600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210888479 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:147.90, Y:62.39, Z:-6.18 [[ 7.46787165e-01 -6.64458176e-01 2.83595014e-02 1.47901801e+02] [ 6.63994420e-01 7.47325395e-01 2.48226604e-02 6.23878554e+01] [-3.76873953e-02 2.93306522e-04 9.99289535e-01 -6.17721330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270888479 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:147.94, Y:62.44, Z:-6.20 [[ 7.33996352e-01 -6.78561337e-01 2.83525473e-02 1.47936992e+02] [ 6.78107610e-01 7.34543063e-01 2.48306009e-02 6.24364665e+01] [-3.76752527e-02 1.00050757e-03 9.99289535e-01 -6.20212608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330888479 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:62.46, Z:-6.18 [[ 7.41560724e-01 -6.70286634e-01 2.83464364e-02 1.47991386e+02] [ 6.69826537e-01 7.42102085e-01 2.48375751e-02 6.24634007e+01] [-3.76842442e-02 5.68625105e-04 9.99289535e-01 -6.18101666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:62.50, Z:-6.18 [[ 7.39722562e-01 -6.72314805e-01 2.83431547e-02 1.48035892e+02] [ 6.71856048e-01 7.40265060e-01 2.48413195e-02 6.25006475e+01] [-3.76826339e-02 6.66835409e-04 9.99289535e-01 -6.18197610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:62.54, Z:-6.18 [[ 7.39747004e-01 -6.72288209e-01 2.83360957e-02 1.48079732e+02] [ 6.71829125e-01 7.40289224e-01 2.48493689e-02 6.25391160e+01] [-3.76828440e-02 6.54768226e-04 9.99289535e-01 -6.18482583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:148.12, Y:62.58, Z:-6.20 [[ 7.36535607e-01 -6.75805269e-01 2.83291103e-02 1.48118735e+02] [ 6.75348468e-01 7.37079752e-01 2.48573299e-02 6.25826355e+01] [-3.76795281e-02 8.23712633e-04 9.99289535e-01 -6.19850045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.17, Y:62.62, Z:-6.19 [[ 7.41940547e-01 -6.69867226e-01 2.83218009e-02 1.48165746e+02] [ 6.69405751e-01 7.42480734e-01 2.48656553e-02 6.26169033e+01] [-3.76850790e-02 5.09938455e-04 9.99289535e-01 -6.18886801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:62.66, Z:-6.19 [[ 7.42650096e-01 -6.69080630e-01 2.83186398e-02 1.48207940e+02] [ 6.68618446e-01 7.43189676e-01 2.48692548e-02 6.26563711e+01] [-3.76856574e-02 4.65210461e-04 9.99289535e-01 -6.19129942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:62.69, Z:-6.19 [[ 7.43119760e-01 -6.68559253e-01 2.83116334e-02 1.48251123e+02] [ 6.68096386e-01 7.43658754e-01 2.48772285e-02 6.26945475e+01] [-3.76860953e-02 4.28139962e-04 9.99289535e-01 -6.19323018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750888479 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:62.73, Z:-6.20 [[ 7.43056077e-01 -6.68630327e-01 2.83046265e-02 1.48293555e+02] [ 6.68167209e-01 7.43594855e-01 2.48851982e-02 6.27335664e+01] [-3.76861729e-02 4.21125594e-04 9.99289535e-01 -6.19541622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810888479 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:62.77, Z:-6.20 [[ 7.42210026e-01 -6.69569657e-01 2.82975569e-02 1.48337614e+02] [ 6.69106914e-01 7.42749126e-01 2.48932346e-02 6.27720247e+01] [-3.76857402e-02 4.58082693e-04 9.99289535e-01 -6.19798252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:62.81, Z:-6.20 [[ 7.40981196e-01 -6.70929585e-01 2.82906184e-02 1.48381901e+02] [ 6.70467530e-01 7.41520886e-01 2.49011176e-02 6.28097922e+01] [-3.76849809e-02 5.16681161e-04 9.99289535e-01 -6.19979074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930888479 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:148.43, Y:62.85, Z:-6.20 [[ 7.40119177e-01 -6.71880675e-01 2.82835876e-02 1.48426095e+02] [ 6.71419009e-01 7.40659200e-01 2.49091009e-02 6.28493475e+01] [-3.76844429e-02 5.54435139e-04 9.99289535e-01 -6.20355758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.47, Y:62.89, Z:-6.21 [[ 7.39966567e-01 -6.72048987e-01 2.82778836e-02 1.48469675e+02] [ 6.71587197e-01 7.40506483e-01 2.49155746e-02 6.28881102e+01] [-3.76844428e-02 5.54372429e-04 9.99289535e-01 -6.20501145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050888479 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:148.51, Y:62.93, Z:-6.22 [[ 7.37565578e-01 -6.74683471e-01 2.82706920e-02 1.48508926e+02] [ 6.74223296e-01 7.38106872e-01 2.49237320e-02 6.29313672e+01] [-3.76824220e-02 6.77872352e-04 9.99289535e-01 -6.21638762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:148.55, Y:62.97, Z:-6.23 [[ 7.36030055e-01 -6.76358396e-01 2.82679757e-02 1.48550406e+02] [ 6.75899335e-01 7.36572293e-01 2.49268124e-02 6.29732570e+01] [-3.76808665e-02 7.59422847e-04 9.99289535e-01 -6.22655628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170888479 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:148.60, Y:63.01, Z:-6.22 [[ 7.39555206e-01 -6.72502385e-01 2.82601996e-02 1.48596285e+02] [ 6.72040159e-01 7.40094750e-01 2.49356252e-02 6.30106381e+01] [-3.76844928e-02 5.50717567e-04 9.99289535e-01 -6.22463477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23088847900001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:63.04, Z:-6.21 [[ 7.43531188e-01 -6.68104107e-01 2.82537653e-02 1.48643461e+02] [ 6.67638412e-01 7.44067740e-01 2.49429136e-02 6.30441607e+01] [-3.76871783e-02 3.17464796e-04 9.99289536e-01 -6.21361155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:63.09, Z:-6.23 [[ 7.35710763e-01 -6.76706596e-01 2.82463532e-02 1.48679553e+02] [ 6.76246851e-01 7.36252422e-01 2.49513045e-02 6.30912627e+01] [-3.76811583e-02 7.44564168e-04 9.99289536e-01 -6.23493138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:63.12, Z:-6.22 [[ 7.44236389e-01 -6.67319045e-01 2.82398418e-02 1.48730776e+02] [ 6.66852186e-01 7.44771929e-01 2.49586719e-02 6.31224895e+01] [-3.76876386e-02 2.56648364e-04 9.99289536e-01 -6.21591012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:148.77, Y:63.16, Z:-6.22 [[ 7.45003000e-01 -6.66463175e-01 2.82376708e-02 1.48773905e+02] [ 6.65995608e-01 7.45537921e-01 2.49611280e-02 6.31612830e+01] [-3.76879270e-02 2.10049509e-04 9.99289536e-01 -6.21835823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:63.20, Z:-6.22 [[ 7.45603026e-01 -6.65792122e-01 2.82307792e-02 1.48817717e+02] [ 6.65323779e-01 7.46137268e-01 2.49689198e-02 6.31993009e+01] [-3.76881466e-02 1.65706483e-04 9.99289536e-01 -6.22067835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:63.24, Z:-6.22 [[ 7.46036871e-01 -6.65306251e-01 2.82237482e-02 1.48863457e+02] [ 6.64837259e-01 7.46570543e-01 2.49768648e-02 6.32370037e+01] [-3.76882833e-02 1.30537315e-04 9.99289536e-01 -6.22418997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:63.28, Z:-6.24 [[ 7.43855645e-01 -6.67744374e-01 2.82175616e-02 1.48907626e+02] [ 6.67276866e-01 7.44390617e-01 2.49838522e-02 6.32757925e+01] [-3.76877148e-02 2.44546534e-04 9.99289536e-01 -6.23576929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:63.31, Z:-6.23 [[ 7.43149790e-01 -6.68530010e-01 2.82137607e-02 1.48953059e+02] [ 6.68062904e-01 7.43685114e-01 2.49881437e-02 6.33114648e+01] [-3.76874778e-02 2.78633183e-04 9.99289536e-01 -6.22853921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:63.35, Z:-6.23 [[ 7.38283750e-01 -6.73900130e-01 2.82085011e-02 1.48999725e+02] [ 6.73436691e-01 7.38822252e-01 2.49940797e-02 6.33467367e+01] [-3.76845819e-02 5.43916742e-04 9.99289536e-01 -6.22896805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770888479 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:149.04, Y:63.38, Z:-6.23 [[ 7.35142462e-01 -6.77325805e-01 2.82013147e-02 1.49043644e+02] [ 6.76864564e-01 7.35682848e-01 2.50021857e-02 6.33829092e+01] [-3.76818490e-02 7.08302223e-04 9.99289536e-01 -6.23142826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830888479 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:149.09, Y:63.42, Z:-6.23 [[ 7.31142985e-01 -6.81641251e-01 2.81982412e-02 1.49088551e+02] [ 6.81183066e-01 7.31685963e-01 2.50056516e-02 6.34192019e+01] [-3.76771409e-02 9.25457667e-04 9.99289536e-01 -6.23339894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890888479 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:149.13, Y:63.46, Z:-6.24 [[ 7.29586796e-01 -6.83306930e-01 2.81912435e-02 1.49133063e+02] [ 6.82849680e-01 7.30130562e-01 2.50135383e-02 6.34568156e+01] [-3.76752125e-02 1.00083428e-03 9.99289536e-01 -6.23518703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:63.49, Z:-6.24 [[ 7.29572074e-01 -6.83322936e-01 2.81842991e-02 1.49177434e+02] [ 6.82865395e-01 7.30115596e-01 2.50213605e-02 6.34945585e+01] [-3.76754659e-02 9.91196724e-04 9.99289536e-01 -6.23927766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:149.22, Y:63.53, Z:-6.24 [[ 7.31389214e-01 -6.81377907e-01 2.81773926e-02 1.49221609e+02] [ 6.80918622e-01 7.31931262e-01 2.50291357e-02 6.35315046e+01] [-3.76782147e-02 8.80471434e-04 9.99289536e-01 -6.24317146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:63.57, Z:-6.25 [[ 7.32564218e-01 -6.80114767e-01 2.81703806e-02 1.49265370e+02] [ 6.79654244e-01 7.33105215e-01 2.50370253e-02 6.35701370e+01] [-3.76799035e-02 8.04889939e-04 9.99289536e-01 -6.24682712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.31, Y:63.61, Z:-6.25 [[ 7.34232972e-01 -6.78313177e-01 2.81634096e-02 1.49310042e+02] [ 6.77851026e-01 7.34772578e-01 2.50448643e-02 6.36069537e+01] [-3.76819626e-02 7.01830992e-04 9.99289536e-01 -6.24866059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.36, Y:63.64, Z:-6.25 [[ 7.35159664e-01 -6.77308998e-01 2.81565131e-02 1.49355048e+02] [ 6.76845813e-01 7.35698384e-01 2.50526152e-02 6.36442433e+01] [-3.76830629e-02 6.39945803e-04 9.99289536e-01 -6.24884074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:149.40, Y:63.68, Z:-6.25 [[ 7.37988205e-01 -6.74226230e-01 2.81496128e-02 1.49398680e+02] [ 6.73760499e-01 7.38524724e-01 2.50603662e-02 6.36812537e+01] [-3.76855412e-02 4.71842509e-04 9.99289536e-01 -6.24975748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:63.72, Z:-6.25 [[ 7.39630624e-01 -6.72424226e-01 2.81460462e-02 1.49442310e+02] [ 6.71957035e-01 7.40165873e-01 2.50643713e-02 6.37200209e+01] [-3.76866333e-02 3.74557107e-04 9.99289536e-01 -6.25350972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370888479 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:63.76, Z:-6.26 [[ 7.40550090e-01 -6.71411766e-01 2.81390132e-02 1.49486171e+02] [ 6.70943544e-01 7.41084437e-01 2.50722645e-02 6.37574558e+01] [-3.76871982e-02 3.12421475e-04 9.99289536e-01 -6.25831333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:149.53, Y:63.79, Z:-6.26 [[ 7.38809453e-01 -6.73326948e-01 2.81320676e-02 1.49528679e+02] [ 6.72859814e-01 7.39344752e-01 2.50800553e-02 6.37947145e+01] [-3.76863737e-02 3.99555805e-04 9.99289536e-01 -6.26051331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:63.83, Z:-6.26 [[ 7.37014855e-01 -6.75290977e-01 2.81282767e-02 1.49571288e+02] [ 6.74825107e-01 7.37551254e-01 2.50843063e-02 6.38339025e+01] [-3.76852515e-02 4.94160877e-04 9.99289536e-01 -6.26375919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550888479 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:149.61, Y:63.87, Z:-6.27 [[ 7.34470086e-01 -6.78058160e-01 2.81215943e-02 1.49614507e+02] [ 6.77594025e-01 7.35007986e-01 2.50917955e-02 6.38724166e+01] [-3.76832931e-02 6.25851055e-04 9.99289536e-01 -6.26709047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610888479 meters Centerline goodness : 0.996165 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:63.91, Z:-6.27 [[ 7.32395614e-01 -6.80298627e-01 2.81148168e-02 1.49657107e+02] [ 6.79835845e-01 7.32934679e-01 2.50993873e-02 6.39111425e+01] [-3.76814030e-02 7.30779119e-04 9.99289537e-01 -6.27098612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:63.95, Z:-6.28 [[ 7.30647799e-01 -6.82175792e-01 2.81066221e-02 1.49698690e+02] [ 6.81714042e-01 7.31187749e-01 2.51085605e-02 6.39504394e+01] [-3.76796699e-02 8.15164507e-04 9.99289537e-01 -6.27525156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73088847900001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:63.99, Z:-6.28 [[ 7.30703257e-01 -6.82116716e-01 2.80986801e-02 1.49740486e+02] [ 6.81654581e-01 7.31242878e-01 2.51174452e-02 6.39913429e+01] [-3.76799889e-02 8.00194956e-04 9.99289537e-01 -6.27936158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.78, Y:64.03, Z:-6.28 [[ 7.31649441e-01 -6.81102048e-01 2.80908476e-02 1.49781895e+02] [ 6.80638829e-01 7.32188131e-01 2.51262018e-02 6.40315322e+01] [-3.76812927e-02 7.36150155e-04 9.99289537e-01 -6.28297611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:64.07, Z:-6.28 [[ 7.33438599e-01 -6.79175330e-01 2.80836804e-02 1.49824658e+02] [ 6.78710390e-01 7.33975802e-01 2.51342101e-02 6.40712707e+01] [-3.76832773e-02 6.26285897e-04 9.99289537e-01 -6.28444020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters Centerline goodness : 0.995841 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:64.11, Z:-6.29 [[ 7.33969708e-01 -6.78601632e-01 2.80765551e-02 1.49865823e+02] [ 6.78135967e-01 7.34506284e-01 2.51421670e-02 6.41121043e+01] [-3.76839217e-02 5.86132851e-04 9.99289537e-01 -6.28643203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:64.15, Z:-6.29 [[ 7.34914249e-01 -6.77578958e-01 2.80678298e-02 1.49908832e+02] [ 6.77112174e-01 7.35449852e-01 2.51519039e-02 6.41512808e+01] [-3.76848821e-02 5.20576678e-04 9.99289537e-01 -6.28626649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030888479 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:64.19, Z:-6.29 [[ 7.37653247e-01 -6.74596456e-01 2.80590162e-02 1.49950030e+02] [ 6.74127133e-01 7.38186626e-01 2.51617323e-02 6.41913789e+01] [-3.76868060e-02 3.54710581e-04 9.99289537e-01 -6.28724815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.99, Y:64.23, Z:-6.29 [[ 7.39144935e-01 -6.72961878e-01 2.80548737e-02 1.49992466e+02] [ 6.72491200e-01 7.39677119e-01 2.51663503e-02 6.42312847e+01] [-3.76875425e-02 2.65075326e-04 9.99289537e-01 -6.29039561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150888479 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:150.04, Y:64.27, Z:-6.29 [[ 7.43497414e-01 -6.68150370e-01 2.80478009e-02 1.50040636e+02] [ 6.67675951e-01 7.44026265e-01 2.51742304e-02 6.42661519e+01] [-3.76884719e-02 9.86695311e-06 9.99289537e-01 -6.28883801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210888479 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:150.08, Y:64.31, Z:-6.30 [[ 7.41747961e-01 -6.70092276e-01 2.80410989e-02 1.50079613e+02] [ 6.69618959e-01 7.42277800e-01 2.51816934e-02 6.43095414e+01] [-3.76883435e-02 9.83817439e-05 9.99289537e-01 -6.29542088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270888479 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:64.35, Z:-6.29 [[ 7.45437143e-01 -6.65985966e-01 2.80385233e-02 1.50127368e+02] [ 6.65509623e-01 7.45964262e-01 2.51845609e-02 6.43457700e+01] [-3.76883005e-02 -1.13600043e-04 9.99289537e-01 -6.28962727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:64.39, Z:-6.29 [[ 7.45263611e-01 -6.66180407e-01 2.80324010e-02 1.50170459e+02] [ 6.65703944e-01 7.45790623e-01 2.51913737e-02 6.43854956e+01] [-3.76883014e-02 -1.12934204e-04 9.99289537e-01 -6.29237476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:64.43, Z:-6.30 [[ 7.43351830e-01 -6.68313257e-01 2.80258345e-02 1.50210569e+02] [ 6.67838032e-01 7.43879957e-01 2.51986769e-02 6.44269122e+01] [-3.76884664e-02 -1.47643779e-05 9.99289537e-01 -6.29710965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.25, Y:64.46, Z:-6.30 [[ 7.43372298e-01 -6.68290636e-01 2.80223603e-02 1.50254372e+02] [ 6.67815249e-01 7.43900280e-01 2.52025398e-02 6.44648787e+01] [-3.76884630e-02 -2.11103900e-05 9.99289537e-01 -6.29905509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.30, Y:64.50, Z:-6.30 [[ 7.42237763e-01 -6.69550782e-01 2.80152349e-02 1.50297070e+02] [ 6.69075992e-01 7.42766282e-01 2.52104580e-02 6.45028604e+01] [-3.76884537e-02 3.21671367e-05 9.99289537e-01 -6.30122596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:64.54, Z:-6.31 [[ 7.40573123e-01 -6.71391738e-01 2.80104266e-02 1.50341323e+02] [ 6.70918060e-01 7.41102638e-01 2.52157992e-02 6.45417604e+01] [-3.76882803e-02 1.18557955e-04 9.99289537e-01 -6.30539131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:64.58, Z:-6.31 [[ 7.37561338e-01 -6.74699216e-01 2.80042845e-02 1.50385722e+02] [ 6.74227654e-01 7.38092738e-01 2.52226187e-02 6.45784747e+01] [-3.76874401e-02 2.78034650e-04 9.99289537e-01 -6.30898977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:64.61, Z:-6.31 [[ 7.34230987e-01 -6.78322002e-01 2.80021317e-02 1.50429740e+02] [ 6.77852970e-01 7.34764622e-01 2.52250085e-02 6.46143759e+01] [-3.76856540e-02 4.60345249e-04 9.99289537e-01 -6.31081423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750888479 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:64.65, Z:-6.31 [[ 7.32612802e-01 -6.80069664e-01 2.79952439e-02 1.50473807e+02] [ 6.79601614e-01 7.33147298e-01 2.52326503e-02 6.46529783e+01] [-3.76845975e-02 5.39850295e-04 9.99289537e-01 -6.31199471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810888479 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:150.52, Y:64.69, Z:-6.31 [[ 7.32165220e-01 -6.80551760e-01 2.79891436e-02 1.50517786e+02] [ 6.80083803e-01 7.32699798e-01 2.52394152e-02 6.46909300e+01] [-3.76843683e-02 5.55541228e-04 9.99289538e-01 -6.31203950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870888479 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:64.73, Z:-6.33 [[ 7.28808486e-01 -6.84145394e-01 2.79869866e-02 1.50557110e+02] [ 6.83679980e-01 7.29345279e-01 2.52418069e-02 6.47338591e+01] [-3.76812424e-02 7.37699374e-04 9.99289538e-01 -6.33014240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930888479 meters Centerline goodness : 0.997038 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:64.77, Z:-6.32 [[ 7.32600786e-01 -6.80083228e-01 2.79801882e-02 1.50601694e+02] [ 6.79614550e-01 7.33134732e-01 2.52493405e-02 6.47716548e+01] [-3.76849008e-02 5.18056284e-04 9.99289538e-01 -6.31745870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990888479 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:64.81, Z:-6.32 [[ 7.33732774e-01 -6.78861901e-01 2.79774223e-02 1.50642709e+02] [ 6.78392217e-01 7.34265835e-01 2.52524049e-02 6.48131666e+01] [-3.76857609e-02 4.51148484e-04 9.99289538e-01 -6.32081813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050888479 meters Centerline goodness : 0.994249 with order 1 Centerline is valid? [True, True] Translation: X:150.68, Y:64.86, Z:-6.32 [[ 7.35089934e-01 -6.77392415e-01 2.79696973e-02 1.50683450e+02] [ 6.76921340e-01 7.35621766e-01 2.52609583e-02 6.48554796e+01] [-3.76866997e-02 3.64208811e-04 9.99289538e-01 -6.32285067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110888479 meters Centerline goodness : 0.992372 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:64.90, Z:-6.33 [[ 7.37344598e-01 -6.74937785e-01 2.79630187e-02 1.50721921e+02] [ 6.74464659e-01 7.37874606e-01 2.52683491e-02 6.49008609e+01] [-3.76877650e-02 2.28587148e-04 9.99289538e-01 -6.32544443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170888479 meters Centerline goodness : 0.991252 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:64.94, Z:-6.33 [[ 7.39271236e-01 -6.72827234e-01 2.79562723e-02 1.50761248e+02] [ 6.72352313e-01 7.39799636e-01 2.52758109e-02 6.49440300e+01] [-3.76882940e-02 1.10784361e-04 9.99289538e-01 -6.32671061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23088847900001 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:150.80, Y:64.99, Z:-6.33 [[ 7.41014083e-01 -6.70907377e-01 2.79538834e-02 1.50797024e+02] [ 6.70430988e-01 7.41541159e-01 2.52784527e-02 6.49925536e+01] [-3.76884555e-02 9.46018778e-06 9.99289538e-01 -6.33100503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters Centerline goodness : 0.989340 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:65.04, Z:-6.34 [[ 7.40723587e-01 -6.71228370e-01 2.79471425e-02 1.50833913e+02] [ 6.70751927e-01 7.41250616e-01 2.52859030e-02 6.50392902e+01] [-3.76884521e-02 1.57348866e-05 9.99289538e-01 -6.33680641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters Centerline goodness : 0.988649 with order 1 Centerline is valid? [True, True] Translation: X:150.87, Y:65.09, Z:-6.34 [[ 7.37063557e-01 -6.75245624e-01 2.79403018e-02 1.50867483e+02] [ 6.74771767e-01 7.37592911e-01 2.52934596e-02 6.50886415e+01] [-3.76878665e-02 2.10439555e-04 9.99289538e-01 -6.34193101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters Centerline goodness : 0.985528 with order 1 Centerline is valid? [True, True] Translation: X:150.91, Y:65.13, Z:-6.37 [[ 7.32704395e-01 -6.79973341e-01 2.79378765e-02 1.50908823e+02] [ 6.79502797e-01 7.33236697e-01 2.52961382e-02 6.51284157e+01] [-3.76857759e-02 4.49273560e-04 9.99289538e-01 -6.37406738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470888479 meters Centerline goodness : 0.978973 with order 1 Centerline is valid? [True, True] Translation: X:150.96, Y:65.16, Z:-6.37 [[ 7.37807898e-01 -6.74432485e-01 2.79343593e-02 1.50955548e+02] [ 6.73957796e-01 7.38336507e-01 2.53000216e-02 6.51645383e+01] [-3.76881137e-02 1.60023474e-04 9.99289538e-01 -6.36559639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530888479 meters Centerline goodness : 0.971139 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:65.26, Z:-6.40 [[ 6.88675413e-01 -7.24531619e-01 2.79304189e-02 1.50951236e+02] [ 7.24095010e-01 6.89235885e-01 2.53043709e-02 6.52557324e+01] [-3.75844638e-02 2.79777892e-03 9.99289538e-01 -6.40198029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590888479 meters Centerline goodness : 0.961976 with order 1 Centerline is valid? [True, True] Translation: X:151.03, Y:65.26, Z:-6.36 [[ 7.28233094e-01 -6.84760276e-01 2.79271433e-02 1.51027935e+02] [ 6.84292776e-01 7.28768072e-01 2.53079855e-02 6.52603834e+01] [-3.76823135e-02 6.80229813e-04 9.99289538e-01 -6.36378804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650888479 meters Centerline goodness : 0.948158 with order 1 Centerline is valid? [True, False] Translation: X:151.08, Y:65.32, Z:-6.36 [[ 7.30243088e-01 -6.82898723e-01 1.98586669e-02 1.51078019e+02] [ 6.82567209e-01 7.30510174e-01 2.13749987e-02 6.53177878e+01] [-2.91039175e-02 -2.05407019e-03 9.99574281e-01 -6.36304619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710888479 meters Centerline goodness : 0.915832 with order 1 Centerline is valid? [False, False] Translation: X:151.11, Y:65.37, Z:-6.37 [[ 7.33341283e-01 -6.79681083e-01 1.56265577e-02 1.51113189e+02] [ 6.79375312e-01 7.33492502e-01 2.09268958e-02 6.53709683e+01] [-2.56855781e-02 -4.73025910e-03 9.99658880e-01 -6.36663496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770888479 meters Centerline goodness : 0.905922 with order 1 Centerline is valid? [False, False] Translation: X:151.18, Y:65.43, Z:-6.36 [[ 7.38740796e-01 -6.73989599e-01 2.40258874e-04 1.51181669e+02] [ 6.73917746e-01 7.38667153e-01 1.43425535e-02 6.54281773e+01] [-9.84420324e-03 -1.04335147e-02 9.99897111e-01 -6.35845913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830888479 meters Centerline goodness : 0.766102 with order 1 Centerline is valid? [False, False] Translation: X:151.21, Y:65.48, Z:-6.36 [[ 7.39880805e-01 -6.72735577e-01 -1.79923491e-03 1.51208493e+02] [ 6.72663583e-01 7.39756559e-01 1.68504607e-02 6.54752012e+01] [-1.00049086e-02 -1.36776122e-02 9.99856402e-01 -6.35880286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890888479 meters Centerline goodness : 0.575134 with order 1 Centerline is valid? [False, False] Translation: X:151.23, Y:65.52, Z:-6.36 [[ 7.41573838e-01 -6.70860163e-01 -3.85795879e-03 1.51230410e+02] [ 6.70780509e-01 7.41366684e-01 2.07110491e-02 6.55174318e+01] [-1.10340557e-02 -1.79466157e-02 9.99778060e-01 -6.35778371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1652.06 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%| | 0/5798 [00:00