+ python -m lidar_slam --result /working/result.json --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters Centerline goodness : 0.254987 with order 1 Centerline is valid? [0, False] SLAMing on 0.076875 meters Centerline goodness : 0.243210 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99996763 -0.00696132 0.00403559 0.00821158] [ 0.0069503 0.9999721 0.00273781 -0.00784084] [-0.00405454 -0.00270967 0.99998811 -0.00163144] [ 0. 0. 0. 1. ]] SLAMing on 0.136875 meters Centerline goodness : 0.303956 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99984144e-01 -1.30659211e-03 5.47765933e-03 4.48790774e-03] [ 1.25872186e-03 9.99961070e-01 8.73353786e-03 -6.76938658e-03] [-5.48885726e-03 -8.72650453e-03 9.99946859e-01 8.03140379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.196875 meters Centerline goodness : 0.274724 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99987157e-01 -5.56157117e-04 5.03760757e-03 6.96062344e-03] [ 5.32112607e-04 9.99988467e-01 4.77308504e-03 4.64394970e-03] [-5.04020406e-03 -4.77034316e-03 9.99975920e-01 -4.37206742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25687499999999996 meters Centerline goodness : 0.198872 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.01 [[ 0.99745997 -0.01790528 -0.06894212 0.1331885 ] [ 0.01617338 0.99954148 -0.02559788 0.03730571] [ 0.06936885 0.02441784 0.9972922 0.00753637] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters Centerline goodness : 0.196973 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:0.01 [[ 0.99791754 -0.03527666 -0.05400126 0.18575288] [ 0.03426408 0.99922131 -0.01956372 0.04865469] [ 0.05464935 0.01767267 0.9983492 0.01233729] [ 0. 0. 0. 1. ]] SLAMing on 0.37687499999999996 meters Centerline goodness : 0.272287 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.02 [[ 0.99782626 -0.04407921 -0.04898744 0.25847619] [ 0.04314049 0.99886765 -0.02005788 0.0495198 ] [ 0.0498161 0.01790094 0.99859797 0.01556815] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters Centerline goodness : 0.324279 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:0.05, Z:0.02 [[ 0.99676664 -0.06426458 -0.04823208 0.33291584] [ 0.06399345 0.99792473 -0.0071463 0.04585002] [ 0.04859124 0.00403665 0.99881059 0.02037665] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters Centerline goodness : 0.223225 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.03 [[ 0.9970848 -0.06360387 -0.04214801 0.43377252] [ 0.06361386 0.99797397 -0.0011054 0.05322983] [ 0.04213293 -0.00157902 0.99911077 0.02597956] [ 0. 0. 0. 1. ]] SLAMing on 0.556875 meters Centerline goodness : 0.229345 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.03 [[ 0.99918728 -0.00125538 -0.0402891 0.579355 ] [ 0.00148906 0.99998224 0.00577058 0.12407849] [ 0.04028114 -0.00582589 0.9991714 0.03368248] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters Centerline goodness : 0.240170 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.21, Z:0.04 [[ 0.99760797 0.05143227 -0.04618514 0.72808604] [-0.05062733 0.99854749 0.01843306 0.2056481 ] [ 0.04706611 -0.01605074 0.99876281 0.03712523] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters Centerline goodness : 0.190171 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:0.25, Z:0.06 [[ 0.99741418 0.03801532 -0.06099 0.85713358] [-0.03737862 0.99923446 0.01154693 0.24609451] [ 0.06138227 -0.00923735 0.99807158 0.05849752] [ 0. 0. 0. 1. ]] SLAMing on 0.736875 meters Centerline goodness : 0.155371 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:0.10 [[ 0.99269301 -0.01257028 -0.12001074 1.08211111] [ 0.02868656 0.99063016 0.13352517 0.21487679] [ 0.11720781 -0.1359922 0.98375223 0.10258032] [ 0. 0. 0. 1. ]] SLAMing on 0.796875 meters Centerline goodness : 0.142427 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.18, Z:0.15 [[ 0.98420592 -0.11222473 -0.13690991 1.1647019 ] [ 0.12562648 0.98766088 0.09350927 0.17964161] [ 0.1247265 -0.10923188 0.98616008 0.14997367] [ 0. 0. 0. 1. ]] SLAMing on 0.8568749999999999 meters Centerline goodness : 0.986851 with order 1 Centerline is valid? [False, True] Translation: X:1.14, Y:0.17, Z:0.16 [[ 0.97914675 -0.13545664 -0.15140393 1.14414461] [ 0.14450161 0.9882214 0.05037603 0.17036503] [ 0.14279684 -0.07120364 0.98718747 0.16378927] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters Centerline goodness : 0.141649 with order 1 Centerline is valid? [True, False] Translation: X:1.21, Y:0.21, Z:0.21 [[ 0.98222594 -0.09452319 -0.16216528 1.20667428] [ 0.10090754 0.99439458 0.0315768 0.20699762] [ 0.15827153 -0.04737925 0.98625825 0.20590558] [ 0. 0. 0. 1. ]] SLAMing on 0.9768749999999999 meters Centerline goodness : 0.987700 with order 1 Centerline is valid? [False, True] Translation: X:1.14, Y:0.32, Z:0.22 [[ 0.98909835 -0.10923753 -0.09875026 1.13837292] [ 0.05648148 0.90073995 -0.43067086 0.32395757] [ 0.13599372 0.42039828 0.89709029 0.22138672] [ 0. 0. 0. 1. ]] SLAMing on 1.036875 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:0.22, Z:0.28 [[ 0.98296684 -0.11342606 -0.14460539 1.19967549] [ 0.11300839 0.99353174 -0.01112608 0.21520303] [ 0.14493203 -0.00540505 0.98942685 0.27740026] [ 0. 0. 0. 1. ]] SLAMing on 1.096875 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:1.27, Y:0.15, Z:0.26 [[ 0.9793407 -0.14135453 -0.14460529 1.26675574] [ 0.14123749 0.9899132 -0.01112743 0.14550227] [ 0.1447196 -0.00952614 0.98942685 0.26340457] [ 0. 0. 0. 1. ]] SLAMing on 1.1568749999999999 meters Centerline goodness : 0.996025 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:0.13, Z:0.34 [[ 0.98427255 -0.10147412 -0.14460479 1.31750246] [ 0.10092697 0.99483154 -0.01113382 0.13064959] [ 0.1449872 -0.00363581 0.98942685 0.33827876] [ 0. 0. 0. 1. ]] SLAMing on 1.216875 meters Centerline goodness : 0.997156 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:0.12, Z:0.28 [[ 0.98846115 -0.04510086 -0.14460453 1.38729897] [ 0.04395113 0.9989716 -0.01113726 0.11554944] [ 0.14495812 0.00465322 0.98942685 0.27920312] [ 0. 0. 0. 1. ]] SLAMing on 1.276875 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.10, Z:0.30 [[ 0.98905455 -0.02933663 -0.14460447 1.44539585] [ 0.02801937 0.99954533 -0.01113802 0.09954793] [ 0.14486548 0.00696438 0.98942685 0.30009682] [ 0. 0. 0. 1. ]] SLAMing on 1.3368749999999998 meters Centerline goodness : 0.996552 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:0.07, Z:0.34 [[ 9.86595053e-01 -7.56333566e-02 -1.44602205e-01 1.50359182e+00] [ 7.48046440e-02 9.97135675e-01 -1.11673708e-02 7.13462235e-02] [ 1.45032643e-01 2.00756342e-04 9.89426850e-01 3.36718963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3968749999999999 meters Centerline goodness : 0.993433 with order 1 Centerline is valid? [True, True] Translation: X:1.56, Y:0.05, Z:0.34 [[ 0.98460714 -0.09817836 -0.14460219 1.56372251] [ 0.09759091 0.99516396 -0.0111676 0.05205926] [ 0.1449993 -0.00311616 0.98942685 0.34281855] [ 0. 0. 0. 1. ]] SLAMing on 1.456875 meters Centerline goodness : 0.994809 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:0.05, Z:0.34 [[ 9.87202509e-01 -6.72471196e-02 -1.44599552e-01 1.62337392e+00] [ 6.63238536e-02 9.97735271e-01 -1.12016142e-02 4.62913217e-02] [ 1.45025349e-01 1.46786213e-03 9.89426851e-01 3.38896622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.516875 meters Centerline goodness : 0.996992 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:0.07, Z:0.35 [[ 0.98850748 -0.04409314 -0.14459863 1.67969455] [ 0.04292155 0.99901551 -0.01121352 0.07351922] [ 0.14495071 0.00487825 0.98942685 0.34732634] [ 0. 0. 0. 1. ]] SLAMing on 1.576875 meters Centerline goodness : 0.997007 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:0.09, Z:0.36 [[ 0.98831197 -0.04828346 -0.1445965 1.73679743] [ 0.04715242 0.99882445 -0.01124091 0.08702359] [ 0.14496927 0.00429146 0.98942685 0.35741823] [ 0. 0. 0. 1. ]] SLAMing on 1.6368749999999999 meters Centerline goodness : 0.996007 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:0.08, Z:0.36 [[ 0.98850016 -0.04427092 -0.14459434 1.79638005] [ 0.04309317 0.99900751 -0.01126861 0.08333193] [ 0.1449497 0.00490799 0.98942685 0.358564 ] [ 0. 0. 0. 1. ]] SLAMing on 1.696875 meters Centerline goodness : 0.993490 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:0.07, Z:0.36 [[ 0.98885779 -0.03540283 -0.1445922 1.85840926] [ 0.03412688 0.99935367 -0.01129605 0.06658017] [ 0.14489865 0.0062357 0.98942685 0.36074223] [ 0. 0. 0. 1. ]] SLAMing on 1.756875 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:0.05, Z:0.36 [[ 0.98804727 -0.05343885 -0.1445921 1.91947013] [ 0.05235442 0.99856466 -0.01129735 0.04610298] [ 0.14498827 0.00359228 0.98942685 0.35518343] [ 0. 0. 0. 1. ]] SLAMing on 1.8168749999999998 meters Centerline goodness : 0.986751 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:0.04, Z:0.38 [[ 0.98831516 -0.04824121 -0.1445888 1.9769902 ] [ 0.04709534 0.99882604 -0.01133931 0.03718294] [ 0.14496608 0.00439735 0.98942685 0.37760895] [ 0. 0. 0. 1. ]] SLAMing on 1.8768749999999998 meters Centerline goodness : 0.987465 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.03, Z:0.39 [[ 0.9883233 -0.04807496 -0.14458856 2.03447815] [ 0.04692687 0.99883393 -0.01134241 0.03448181] [ 0.14496525 0.00442488 0.98942685 0.38605833] [ 0. 0. 0. 1. ]] SLAMing on 1.936875 meters Centerline goodness : 0.988211 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.04, Z:0.40 [[ 0.98835386 -0.04745217 -0.14458537 2.09214741] [ 0.04629153 0.99886312 -0.01138294 0.03519643] [ 0.14496114 0.00455729 0.98942685 0.39571032] [ 0. 0. 0. 1. ]] SLAMing on 1.996875 meters Centerline goodness : 0.988150 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.02, Z:0.42 [[ 0.98862318 -0.04147516 -0.1445822 2.14783383] [ 0.04024514 0.99912454 -0.01142306 0.02369245] [ 0.1449294 0.00547437 0.98942685 0.42496244] [ 0. 0. 0. 1. ]] SLAMing on 2.0568750000000002 meters Centerline goodness : 0.983553 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.03, Z:0.41 [[ 0.98825653 -0.04944933 -0.14458142 2.20975562] [ 0.04830263 0.99876731 -0.01143292 0.03078411] [ 0.14496855 0.004315 0.98942685 0.41039371] [ 0. 0. 0. 1. ]] SLAMing on 2.1168750000000003 meters Centerline goodness : 0.991677 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.15, Z:0.42 [[ 0.98942885 -0.01126131 -0.1445812 2.28312613] [ 0.00970929 0.99988747 -0.01143567 -0.15120189] [ 0.14469372 0.009911 0.98942685 0.4244934 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1768750000000003 meters Centerline goodness : 0.997376 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.09, Z:0.44 [[ 0.98939051 -0.01423932 -0.14458099 2.33565382] [ 0.01271839 0.99985369 -0.01143842 -0.08556421] [ 0.14472271 0.00947823 0.98942685 0.44251497] [ 0. 0. 0. 1. ]] SLAMing on 2.236875 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.07, Z:0.44 [[ 0.98932068 -0.01846717 -0.14458059 2.39490313] [ 0.01699025 0.99979017 -0.01144337 -0.06683448] [ 0.14476158 0.0088647 0.98942685 0.43832605] [ 0. 0. 0. 1. ]] SLAMing on 2.296875 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.06, Z:0.44 [[ 0.98910897 -0.02757072 -0.14457973 2.45316181] [ 0.02618862 0.99959139 -0.0114543 -0.05907056] [ 0.14483646 0.00754321 0.98942685 0.44187311] [ 0. 0. 0. 1. ]] SLAMing on 2.356875 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.05, Z:0.45 [[ 0.98893067 -0.03337199 -0.14457678 2.51025203] [ 0.03204599 0.99942033 -0.01149134 -0.05243088] [ 0.14487647 0.00673104 0.98942686 0.44999506] [ 0. 0. 0. 1. ]] SLAMing on 2.416875 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.04, Z:0.46 [[ 0.98884226 -0.03590952 -0.14457347 2.5672859 ] [ 0.03460438 0.99933454 -0.01153285 -0.04378884] [ 0.14489141 0.00640129 0.98942686 0.46122148] [ 0. 0. 0. 1. ]] SLAMing on 2.476875 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.04, Z:0.48 [[ 0.98857997 -0.04253352 -0.14457018 2.62478802] [ 0.04129271 0.99908005 -0.01157396 -0.04109663] [ 0.14492947 0.00547209 0.98942686 0.47560267] [ 0. 0. 0. 1. ]] SLAMing on 2.536875 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:0.49 [[ 0.9880929 -0.05265672 -0.14456723 2.68252906] [ 0.05151814 0.99860456 -0.01161077 -0.04050202] [ 0.14497688 0.00402468 0.98942686 0.49334811] [ 0. 0. 0. 1. ]] SLAMing on 2.5968750000000003 meters Centerline goodness : 0.997180 with order 1 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:0.50 [[ 0.98794973 -0.05527906 -0.14456681 2.74058119] [ 0.05416762 0.99846429 -0.01161596 -0.0413496 ] [ 0.14498692 0.00364514 0.98942686 0.50357986] [ 0. 0. 0. 1. ]] SLAMing on 2.656875 meters Centerline goodness : 0.996714 with order 1 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.04, Z:0.50 [[ 0.98822355 -0.05014871 -0.14456597 2.80099985] [ 0.04898116 0.99873203 -0.0116264 -0.03853543] [ 0.14496571 0.00440847 0.98942686 0.50294489] [ 0. 0. 0. 1. ]] SLAMing on 2.716875 meters Centerline goodness : 0.997134 with order 1 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.03, Z:0.51 [[ 0.98832832 -0.04804096 -0.14456556 2.85922546] [ 0.04685026 0.9988342 -0.01163155 -0.03380002] [ 0.14495581 0.00472286 0.98942686 0.50616411] [ 0. 0. 0. 1. ]] SLAMing on 2.776875 meters Centerline goodness : 0.996996 with order 1 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 0.98788493 -0.05643106 -0.14456452 2.91799866] [ 0.05532772 0.99840035 -0.01164441 -0.02986832] [ 0.14499037 0.00350491 0.98942686 0.50989397] [ 0. 0. 0. 1. ]] SLAMing on 2.836875 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.03, Z:0.52 [[ 9.86274593e-01 -7.97769944e-02 -1.44561608e-01 2.97494101e+00] [ 7.89173528e-02 9.96812730e-01 -1.16804423e-02 -2.67408899e-02] [ 1.45032682e-01 1.11704059e-04 9.89426859e-01 5.18133491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters Centerline goodness : 0.996480 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:0.52 [[ 9.84598613e-01 -9.83284788e-02 -1.44558230e-01 3.03455916e+00] [ 9.76612450e-02 9.95150679e-01 -1.17221006e-02 -1.39275731e-02] [ 1.45009838e-01 -2.57617275e-03 9.89426860e-01 5.19457717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.956875 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.00, Z:0.55 [[ 9.86387828e-01 -7.83724509e-02 -1.44557293e-01 3.08839273e+00] [ 7.74900064e-02 9.96924080e-01 -1.17336473e-02 -2.92109010e-04] [ 1.45032241e-01 3.72181317e-04 9.89426860e-01 5.47508702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:0.02, Z:0.55 [[ 0.98819403 -0.05075476 -0.14455628 3.14481836] [ 0.04957616 0.99870127 -0.01174613 0.02126403] [ 0.14496471 0.00444091 0.98942686 0.55435624] [ 0. 0. 0. 1. ]] SLAMing on 3.0768750000000002 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:0.03, Z:0.56 [[ 0.98872002 -0.03919817 -0.14455524 3.20122336] [ 0.03789494 0.99921254 -0.01175895 0.0345021 ] [ 0.14490233 0.00614839 0.98942686 0.56283181] [ 0. 0. 0. 1. ]] SLAMing on 3.1368750000000003 meters Centerline goodness : 0.998019 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:0.04, Z:0.56 [[ 0.98879771 -0.03719108 -0.1445542 3.2609359 ] [ 0.0358647 0.99928732 -0.01177163 0.03737854] [ 0.14488898 0.00645536 0.98942686 0.56114027] [ 0. 0. 0. 1. ]] SLAMing on 3.196875 meters Centerline goodness : 0.998172 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:0.03, Z:0.56 [[ 0.98849874 -0.04444302 -0.14455122 3.31955512] [ 0.04318829 0.99899717 -0.01180811 0.02978231] [ 0.14493105 0.00542938 0.98942686 0.56454415] [ 0. 0. 0. 1. ]] SLAMing on 3.256875 meters Centerline goodness : 0.997579 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:0.02, Z:0.58 [[ 0.98816455 -0.05134418 -0.14454965 3.37792146] [ 0.05015998 0.99867116 -0.01182732 0.02072091] [ 0.14496483 0.00443673 0.98942686 0.57623812] [ 0. 0. 0. 1. ]] SLAMing on 3.316875 meters Centerline goodness : 0.997530 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:0.01, Z:0.58 [[ 0.98788919 -0.05640313 -0.14454633 3.43623698] [ 0.05526683 0.99840109 -0.01186781 0.01052853] [ 0.14498459 0.00373547 0.98942686 0.58406791] [ 0. 0. 0. 1. ]] SLAMing on 3.376875 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:0.00, Z:0.59 [[ 9.88367207e-01 -4.73031394e-02 -1.44542996e-01 3.49464766e+00] [ 4.60641687e-02 9.98867502e-01 -1.19082554e-02 3.14311275e-03] [ 1.44942599e-01 5.11147616e-03 9.89426862e-01 5.92542280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.436875 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:0.00, Z:0.60 [[ 9.88842588e-01 -3.60364097e-02 -1.44539657e-01 3.55231791e+00] [ 3.46719651e-02 9.99327316e-01 -1.19486436e-02 1.36084371e-03] [ 1.44873014e-01 6.80385370e-03 9.89426863e-01 6.04156628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.496875 meters Centerline goodness : 0.997434 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.00, Z:0.62 [[ 9.88682835e-01 -4.01937124e-02 -1.44536214e-01 3.60882330e+00] [ 3.88673071e-02 9.99172442e-01 -1.19901467e-02 -2.62134199e-03] [ 1.44898531e-01 6.23671882e-03 9.89426864e-01 6.18399992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters Centerline goodness : 0.997109 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.00, Z:0.62 [[ 0.98807532 -0.05307304 -0.14453515 3.66810747] [ 0.05188156 0.99858111 -0.0120029 -0.00424196] [ 0.14496711 0.00436106 0.98942686 0.62041326] [ 0. 0. 0. 1. ]] SLAMing on 3.616875 meters Centerline goodness : 0.997134 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.00, Z:0.63 [[ 0.9880243 -0.05402249 -0.14453216 3.72595332] [ 0.05283585 0.99853064 -0.01203888 -0.00459696] [ 0.14497016 0.00425823 0.98942686 0.62971943] [ 0. 0. 0. 1. ]] SLAMing on 3.676875 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.01, Z:0.63 [[ 0.9883595 -0.04750756 -0.14452867 3.78554361] [ 0.04624559 0.99885705 -0.01208056 -0.00505964] [ 0.1449374 0.00525612 0.98942687 0.63386123] [ 0. 0. 0. 1. ]] SLAMing on 3.736875 meters Centerline goodness : 0.996597 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.01, Z:0.64 [[ 0.98859988 -0.04222091 -0.14452565 3.843874 ] [ 0.04089756 0.99908987 -0.01211662 -0.00700502] [ 0.14490569 0.00606774 0.98942687 0.63808841] [ 0. 0. 0. 1. ]] SLAMing on 3.796875 meters Centerline goodness : 0.996892 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.01, Z:0.65 [[ 0.98899362 -0.03169019 -0.14452459 3.90146697] [ 0.03025335 0.99946867 -0.01212929 -0.00766838] [ 0.14483218 0.00762344 0.98942687 0.64890024] [ 0. 0. 0. 1. ]] SLAMing on 3.856875 meters Centerline goodness : 0.997282 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.00, Z:0.66 [[ 9.89235124e-01 -2.29675243e-02 -1.44521148e-01 3.95862336e+00] [ 2.14324222e-02 9.99696223e-01 -1.21701390e-02 -3.24180821e-03] [ 1.44756764e-01 8.94169069e-03 9.89426867e-01 6.57284768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.916875 meters Centerline goodness : 0.997549 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.00, Z:0.67 [[ 9.88968531e-01 -3.24949154e-02 -1.44517558e-01 4.01475600e+00] [ 3.10544555e-02 9.99443081e-01 -1.22126272e-02 -1.61698237e-03] [ 1.44833922e-01 7.58998993e-03 9.89426868e-01 6.70791736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.976875 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.00, Z:0.68 [[ 9.88136941e-01 -5.19651853e-02 -1.44516453e-01 4.07068823e+00] [ 5.07293802e-02 9.98637603e-01 -1.22256915e-02 -9.36684012e-04] [ 1.44954874e-01 4.74942730e-03 9.89426868e-01 6.81009925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.00, Z:0.68 [[ 9.87441437e-01 -6.38344299e-02 -1.44514964e-01 4.12970286e+00] [ 6.27223137e-02 9.97955918e-01 -1.22432686e-02 -2.74987417e-03] [ 1.45001105e-01 3.02519789e-03 9.89426868e-01 6.83473578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters Centerline goodness : 0.997358 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.00, Z:0.69 [[ 0.98807447 -0.05314682 -0.1445139 4.18840318] [ 0.05191916 0.99857608 -0.01225583 -0.00438944] [ 0.14495948 0.00460664 0.98942687 0.68528828] [ 0. 0. 0. 1. ]] SLAMing on 4.156874999999999 meters Centerline goodness : 0.997179 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:0.00, Z:0.69 [[ 9.88814201e-01 -3.69213731e-02 -1.44510513e-01 4.24616240e+00] [ 3.55157121e-02 9.99293476e-01 -1.22956229e-02 4.15833851e-03] [ 1.44862384e-01 7.02569276e-03 9.89426869e-01 6.90374021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.216875 meters Centerline goodness : 0.997667 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:0.01, Z:0.70 [[ 0.98938307 -0.01545617 -0.14450688 4.30200601] [ 0.01381727 0.99982841 -0.01233813 0.00614655] [ 0.14467279 0.01021045 0.98942687 0.70240727] [ 0. 0. 0. 1. ]] SLAMing on 4.2768749999999995 meters Centerline goodness : 0.997458 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:0.00, Z:0.71 [[ 9.89182344e-01 -2.52290841e-02 -1.44505309e-01 4.35961449e+00] [ 2.36907692e-02 9.99642968e-01 -1.23565418e-02 4.13010956e-03] [ 1.44765460e-01 8.79943108e-03 9.89426870e-01 7.13668911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.336875 meters Centerline goodness : 0.997411 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.00, Z:0.72 [[ 9.88664754e-01 -4.07578409e-02 -1.44501912e-01 4.41775660e+00] [ 3.93781890e-02 9.99147484e-01 -1.23961449e-02 -3.78844920e-03] [ 1.44883962e-01 6.56540790e-03 9.89426871e-01 7.21980952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters Centerline goodness : 0.998122 with order 1 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.01, Z:0.73 [[ 0.98845294 -0.04561795 -0.14449839 4.4757582 ] [ 0.04428387 0.99894157 -0.01243712 -0.00962026] [ 0.1449128 0.00589456 0.98942687 0.7344378 ] [ 0. 0. 0. 1. ]] SLAMing on 4.456874999999999 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.02, Z:0.74 [[ 0.98879482 -0.03749684 -0.14449494 4.53408066] [ 0.03607083 0.99927134 -0.01247699 -0.01648889] [ 0.1448575 0.00712514 0.98942687 0.7409254 ] [ 0. 0. 0. 1. ]] SLAMing on 4.516875 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.02, Z:0.75 [[ 0.98903282 -0.03059783 -0.1444917 4.59190136] [ 0.02909332 0.99949836 -0.01251446 -0.01588266] [ 0.14480213 0.00817347 0.98942687 0.74826307] [ 0. 0. 0. 1. ]] SLAMing on 4.576874999999999 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.02, Z:0.76 [[ 0.98859543 -0.04245283 -0.14448814 4.65033098] [ 0.04106792 0.99907747 -0.01255538 -0.02113441] [ 0.14488786 0.00647836 0.98942687 0.75507157] [ 0. 0. 0. 1. ]] SLAMing on 4.636875 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.02, Z:0.76 [[ 0.98836039 -0.04762309 -0.14448456 4.7076147 ] [ 0.04628703 0.99884876 -0.01259648 -0.01843215] [ 0.14491811 0.0057621 0.98942687 0.76428562] [ 0. 0. 0. 1. ]] SLAMing on 4.6968749999999995 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.02, Z:0.78 [[ 9.87555923e-01 -6.21171214e-02 -1.44481013e-01 4.76521092e+00] [ 6.09291415e-02 9.98062095e-01 -1.26370217e-02 -2.04108248e-02] [ 1.44985998e-01 3.67666157e-03 9.89426876e-01 7.83147563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.02, Z:0.79 [[ 9.87999169e-01 -5.46240750e-02 -1.44477862e-01 4.82227767e+00] [ 5.33511858e-02 9.98495392e-01 -1.26729448e-02 -1.51724758e-02] [ 1.44952727e-01 4.81279364e-03 9.89426876e-01 7.91707868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.01, Z:0.79 [[ 0.98866787 -0.04078015 -0.14447431 4.88101175] [ 0.03935448 0.99914443 -0.01271333 -0.00529189] [ 0.14486915 0.00688355 0.98942688 0.79417054] [ 0. 0. 0. 1. ]] SLAMing on 4.876874999999999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:4.94, Y:0.00, Z:0.80 [[ 9.88879397e-01 -3.52933770e-02 -1.44471161e-01 4.93840281e+00] [ 3.38043993e-02 9.99347150e-01 -1.27489922e-02 4.73230359e-03] [ 1.44826798e-01 7.72345488e-03 9.89426878e-01 7.98334966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.936875 meters Centerline goodness : 0.998500 with order 1 Centerline is valid? [True, True] Translation: X:5.00, Y:0.02, Z:0.80 [[ 0.98872052 -0.03950759 -0.14446756 4.99714838] [ 0.03805731 0.99919371 -0.01278967 0.01504944] [ 0.14485637 0.00714736 0.98942688 0.80206962] [ 0. 0. 0. 1. ]] SLAMing on 4.996874999999999 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.03, Z:0.81 [[ 0.98857227 -0.04306837 -0.14446444 5.05426217] [ 0.0416507 0.99904992 -0.01282482 0.02568458] [ 0.14487953 0.00666122 0.98942688 0.81044062] [ 0. 0. 0. 1. ]] SLAMing on 5.056875 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.03, Z:0.82 [[ 0.98859133 -0.04264087 -0.14446086 5.11117864] [ 0.0412128 0.99906756 -0.01286507 0.03449584] [ 0.14487473 0.00676466 0.98942688 0.8231395 ] [ 0. 0. 0. 1. ]] SLAMing on 5.116874999999999 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.04, Z:0.83 [[ 0.98846683 -0.0454454 -0.14445772 5.16796247] [ 0.04404193 0.99894639 -0.01290018 0.04247375] [ 0.14489177 0.0063892 0.98942688 0.83255438] [ 0. 0. 0. 1. ]] SLAMing on 5.176875 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.05, Z:0.84 [[ 0.98813426 -0.05218905 -0.14445413 5.22596543] [ 0.05085127 0.9986224 -0.01294028 0.04938323] [ 0.14493047 0.00544106 0.98942688 0.83804576] [ 0. 0. 0. 1. ]] SLAMing on 5.2368749999999995 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.06, Z:0.85 [[ 9.87969737e-01 -5.52253794e-02 -1.44450532e-01 5.28259056e+00] [ 5.39139873e-02 9.98461213e-01 -1.29803016e-02 5.59337509e-02] [ 1.44945096e-01 5.03624106e-03 9.89426882e-01 8.49913223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters Centerline goodness : 0.998416 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.06, Z:0.86 [[ 0.98809139 -0.05301417 -0.14444691 5.33965468] [ 0.05167344 0.99857915 -0.01302049 0.06429919] [ 0.14493194 0.00540137 0.98942688 0.85637084] [ 0. 0. 0. 1. ]] SLAMing on 5.356875 meters Centerline goodness : 0.998196 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.07, Z:0.86 [[ 0.98822525 -0.05046758 -0.14444333 5.39544845] [ 0.04909404 0.99870877 -0.01306009 0.07365758] [ 0.14491593 0.005815 0.98942688 0.86245391] [ 0. 0. 0. 1. ]] SLAMing on 5.416874999999999 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:0.08, Z:0.87 [[ 0.98846666 -0.04549979 -0.1444418 5.45402502] [ 0.04407111 0.99894281 -0.01307703 0.08088849] [ 0.14488409 0.0065605 0.98942688 0.86811031] [ 0. 0. 0. 1. ]] SLAMing on 5.476875 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:0.09, Z:0.88 [[ 0.98856916 -0.04322592 -0.14443868 5.51115398] [ 0.04176814 0.9990413 -0.01311138 0.08694729] [ 0.14486696 0.00692858 0.98942688 0.87518632] [ 0. 0. 0. 1. ]] SLAMing on 5.536874999999999 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:0.09, Z:0.89 [[ 0.98834298 -0.04813165 -0.14443508 5.56880207] [ 0.04672008 0.99882145 -0.01315093 0.08929273] [ 0.14489783 0.00624961 0.98942689 0.88777248] [ 0. 0. 0. 1. ]] SLAMing on 5.596875 meters Centerline goodness : 0.998294 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:0.09, Z:0.90 [[ 0.98830899 -0.04883398 -0.14443195 5.62593378] [ 0.04742486 0.99878778 -0.01318522 0.09465691] [ 0.14490075 0.00618141 0.98942689 0.89761817] [ 0. 0. 0. 1. ]] SLAMing on 5.656874999999999 meters Centerline goodness : 0.998045 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.10, Z:0.90 [[ 0.9886279 -0.04189664 -0.14442832 5.68394284] [ 0.04040824 0.99909573 -0.01322479 0.10155689] [ 0.1448518 0.00723831 0.98942689 0.90324859] [ 0. 0. 0. 1. ]] SLAMing on 5.716875 meters Centerline goodness : 0.998122 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:0.11, Z:0.91 [[ 0.98880761 -0.03742823 -0.14442519 5.74235721] [ 0.03588757 0.99926787 -0.01325896 0.10709439] [ 0.14481571 0.00792749 0.98942689 0.90868586] [ 0. 0. 0. 1. ]] SLAMing on 5.7768749999999995 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:0.11, Z:0.92 [[ 0.98862576 -0.04196916 -0.14442196 5.79858298] [ 0.04047144 0.99909225 -0.01329406 0.10883807] [ 0.1448488 0.00729789 0.98942689 0.92145941] [ 0. 0. 0. 1. ]] SLAMing on 5.836874999999999 meters Centerline goodness : 0.998601 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:0.11, Z:0.94 [[ 0.98819611 -0.0511012 -0.14441996 5.85651572] [ 0.04969708 0.99867557 -0.01331572 0.10807947] [ 0.14490913 0.0059813 0.98942689 0.93699199] [ 0. 0. 0. 1. ]] SLAMing on 5.896875 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:0.11, Z:0.95 [[ 9.87527283e-01 -6.27193132e-02 -1.44416593e-01 5.91407910e+00] [ 6.14332184e-02 9.98021884e-01 -1.33521213e-02 1.06064491e-01] [ 1.44968356e-01 4.31360795e-03 9.89426889e-01 9.45961064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:0.11, Z:0.96 [[ 9.87196770e-01 -6.77253632e-02 -1.44415416e-01 5.97198756e+00] [ 6.64906341e-02 9.97697538e-01 -1.33648395e-02 1.05242128e-01] [ 1.44988044e-01 3.59145377e-03 9.89426889e-01 9.57059228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:0.11, Z:0.96 [[ 9.87757315e-01 -5.89977592e-02 -1.44411741e-01 6.03107338e+00] [ 5.76644887e-02 9.98246026e-01 -1.34044366e-02 1.12772908e-01] [ 1.44949278e-01 4.91290109e-03 9.89426890e-01 9.59602592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:0.12, Z:0.97 [[ 0.98831127 -0.048857 -0.14440851 6.08758083] [ 0.0474111 0.99878505 -0.01343911 0.12155892] [ 0.14488966 0.00643546 0.98942689 0.96632048] [ 0. 0. 0. 1. ]] SLAMing on 6.136875 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:0.13, Z:0.98 [[ 0.98842959 -0.04640704 -0.1444068 6.14485989] [ 0.0449325 0.99889938 -0.01345748 0.1303736 ] [ 0.14487239 0.00681321 0.98942689 0.98026624] [ 0. 0. 0. 1. ]] SLAMing on 6.1968749999999995 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:0.14, Z:0.99 [[ 9.87948677e-01 -5.57227464e-02 -1.44403556e-01 6.20177785e+00] [ 5.43418967e-02 9.98431229e-01 -1.34922243e-02 1.38564049e-01] [ 1.44928843e-01 5.48246200e-03 9.89426891e-01 9.90053924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters Centerline goodness : 0.998314 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:0.15, Z:1.00 [[ 9.87469893e-01 -6.36486866e-02 -1.44402410e-01 6.25879667e+00] [ 6.23502074e-02 9.97962966e-01 -1.35044794e-02 1.46689125e-01] [ 1.44967799e-01 4.33174663e-03 9.89426891e-01 9.98449132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:0.16, Z:1.00 [[ 9.87835743e-01 -5.77022040e-02 -1.44398758e-01 6.31635838e+00] [ 5.63348876e-02 9.98320067e-01 -1.35434172e-02 1.62317192e-01] [ 1.44937663e-01 5.24398382e-03 9.89426892e-01 1.00193560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:0.18, Z:1.01 [[ 0.98846301 -0.0457255 -0.14439549 6.37327069] [ 0.04422615 0.99892927 -0.01357815 0.18027444] [ 0.14486175 0.00703544 0.98942689 1.01015513] [ 0. 0. 0. 1. ]] SLAMing on 6.436875 meters Centerline goodness : 0.997624 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:0.19, Z:1.02 [[ 0.98861946 -0.04221922 -0.14439218 6.42998821] [ 0.04067765 0.99907958 -0.01361325 0.19492247] [ 0.14483402 0.00758479 0.98942689 1.01681877] [ 0. 0. 0. 1. ]] SLAMing on 6.496874999999999 meters Centerline goodness : 0.997879 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:0.20, Z:1.03 [[ 0.98840474 -0.04698979 -0.14438844 6.48679682] [ 0.04549295 0.99887136 -0.01365285 0.20338884] [ 0.14486702 0.00692588 0.98942689 1.03013999] [ 0. 0. 0. 1. ]] SLAMing on 6.556875 meters Centerline goodness : 0.997522 with order 1 Centerline is valid? [True, True] Translation: X:6.54, Y:0.21, Z:1.04 [[ 0.98826705 -0.0498114 -0.14438511 6.54455179] [ 0.04833933 0.99873718 -0.01368794 0.2098928 ] [ 0.14488459 0.00654786 0.98942689 1.04155784] [ 0. 0. 0. 1. ]] SLAMing on 6.616874999999999 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:6.60, Y:0.22, Z:1.05 [[ 0.98835173 -0.04811175 -0.14438181 6.60145383] [ 0.04661662 0.99881859 -0.01372263 0.21596564] [ 0.14487146 0.0068322 0.9894269 1.04977693] [ 0. 0. 0. 1. ]] SLAMing on 6.676875 meters Centerline goodness : 0.997811 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:0.22, Z:1.05 [[ 0.98865647 -0.04139306 -0.14437798 6.65911639] [ 0.03982096 0.99911204 -0.01376288 0.22346915] [ 0.14481946 0.00785749 0.9894269 1.05390984] [ 0. 0. 0. 1. ]] SLAMing on 6.7368749999999995 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:0.23, Z:1.06 [[ 0.98881728 -0.03736971 -0.14437417 6.71687532] [ 0.03574928 0.99926547 -0.0138027 0.23051999] [ 0.14478393 0.00848708 0.9894269 1.05907928] [ 0. 0. 0. 1. ]] SLAMing on 6.796874999999999 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:6.77, Y:0.24, Z:1.07 [[ 0.98891044 -0.03482202 -0.144373 6.77420042] [ 0.0331729 0.99935414 -0.01381494 0.23699298] [ 0.14476082 0.00887247 0.9894269 1.0681684 ] [ 0. 0. 0. 1. ]] SLAMing on 6.856875 meters Centerline goodness : 0.997582 with order 1 Centerline is valid? [True, True] Translation: X:6.83, Y:0.24, Z:1.08 [[ 0.98887637 -0.0357921 -0.14436915 6.83212799] [ 0.03414739 0.99932077 -0.01385504 0.24155987] [ 0.14476699 0.00877109 0.9894269 1.07727796] [ 0. 0. 0. 1. ]] SLAMing on 6.916874999999999 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:0.24, Z:1.09 [[ 0.98870524 -0.04025505 -0.1443658 6.88919671] [ 0.03865243 0.99915617 -0.01388988 0.24158641] [ 0.14480312 0.00815291 0.9894269 1.0873099 ] [ 0. 0. 0. 1. ]] SLAMing on 6.976875 meters Centerline goodness : 0.997850 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:0.24, Z:1.10 [[ 0.98836948 -0.04780581 -0.14436197 6.94708287] [ 0.04627728 0.99883151 -0.01392955 0.24192411] [ 0.1448592 0.00708686 0.9894269 1.09748826] [ 0. 0. 0. 1. ]] SLAMing on 7.036874999999999 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:7.00, Y:0.24, Z:1.10 [[ 9.88008618e-01 -5.47683502e-02 -1.44358579e-01 7.00483846e+00] [ 5.33084543e-02 9.98480444e-01 -1.39646319e-02 2.40488206e-01] [ 1.44904038e-01 6.10164399e-03 9.89426900e-01 1.10494246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:0.23, Z:1.11 [[ 9.87539135e-01 -6.26751270e-02 -1.44354720e-01 7.06343397e+00] [ 6.12932919e-02 9.98021547e-01 -1.40044101e-02 2.34739353e-01] [ 1.44946849e-01 4.98192702e-03 9.89426900e-01 1.11344933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:0.23, Z:1.12 [[ 9.87625565e-01 -6.13071468e-02 -1.44350882e-01 7.12194459e+00] [ 5.99050345e-02 9.98105283e-01 -1.40438602e-02 2.27900626e-01] [ 1.44938367e-01 5.22273078e-03 9.89426901e-01 1.12163568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:0.22, Z:1.13 [[ 9.87989045e-01 -5.51505085e-02 -1.44347041e-01 7.18060226e+00] [ 5.36773668e-02 9.98459014e-01 -1.40832262e-02 2.20302997e-01] [ 1.44901301e-01 6.16590414e-03 9.89426902e-01 1.13097094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:0.22, Z:1.14 [[ 0.98841834 -0.04684182 -0.14434341 7.23856597] [ 0.0452753 0.99887475 -0.0141203 0.21550876] [ 0.14484241 0.00742158 0.9894269 1.13847761] [ 0. 0. 0. 1. ]] SLAMing on 7.336874999999999 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:0.22, Z:1.14 [[ 0.98840109 -0.04721671 -0.14433945 7.29801608] [ 0.04564827 0.9988572 -0.0141607 0.21511938] [ 0.14484312 0.0074076 0.9894269 1.14192839] [ 0. 0. 0. 1. ]] SLAMing on 7.396875 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:7.36, Y:0.22, Z:1.15 [[ 9.87819109e-01 -5.81426990e-02 -1.44335840e-01 7.35575122e+00] [ 5.66846170e-02 9.98291184e-01 -1.41974159e-02 2.15327517e-01] [ 1.44914672e-01 5.84285693e-03 9.89426904e-01 1.14609197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:0.22, Z:1.16 [[ 9.87693589e-01 -6.02418648e-02 -1.44333959e-01 7.41291985e+00] [ 5.88032554e-02 9.98168357e-01 -1.42165081e-02 2.18334847e-01] [ 1.44926020e-01 5.55424729e-03 9.89426904e-01 1.15704815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:7.47, Y:0.22, Z:1.17 [[ 9.87729953e-01 -5.96471522e-02 -1.44332110e-01 7.46948825e+00] [ 5.81995011e-02 9.98203474e-01 -1.42352526e-02 2.24063255e-01] [ 1.44921906e-01 5.66052851e-03 9.89426905e-01 1.17396410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:7.53, Y:0.23, Z:1.18 [[ 9.87890133e-01 -5.69414131e-02 -1.44328658e-01 7.52678963e+00] [ 5.54599869e-02 9.98358930e-01 -1.42701696e-02 2.33006098e-01] [ 1.44904368e-01 6.09289426e-03 9.89426905e-01 1.18477143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:0.24, Z:1.19 [[ 9.87748693e-01 -5.93527312e-02 -1.44325233e-01 7.58436458e+00] [ 5.78918232e-02 9.98220372e-01 -1.43047247e-02 2.39129517e-01] [ 1.44917413e-01 5.77422226e-03 9.89426906e-01 1.19356535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:0.25, Z:1.20 [[ 9.87664049e-01 -6.07547750e-02 -1.44321114e-01 7.64245690e+00] [ 5.93026864e-02 9.98136954e-01 -1.43461661e-02 2.46575309e-01] [ 1.44923835e-01 5.61056274e-03 9.89426907e-01 1.19660415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:7.70, Y:0.25, Z:1.20 [[ 9.87648132e-01 -6.10225720e-02 -1.44317055e-01 7.70041307e+00] [ 5.95673817e-02 9.98120606e-01 -1.43868881e-02 2.53688793e-01] [ 1.44923751e-01 5.61259412e-03 9.89426907e-01 1.20188170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:7.76, Y:0.26, Z:1.21 [[ 9.87535344e-01 -6.28295701e-02 -1.44313509e-01 7.75698773e+00] [ 6.13883664e-02 9.98009751e-01 -1.44223653e-02 2.58957047e-01] [ 1.44932440e-01 5.38342492e-03 9.89426908e-01 1.21214726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:0.26, Z:1.22 [[ 9.87325740e-01 -6.60443276e-02 -1.44312263e-01 7.81498841e+00] [ 6.46354134e-02 9.97804540e-01 -1.44348268e-02 2.61452042e-01] [ 1.44948769e-01 4.92419329e-03 9.89426908e-01 1.22457632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:0.26, Z:1.23 [[ 9.87395865e-01 -6.49954745e-02 -1.44308675e-01 7.87328340e+00] [ 6.35702074e-02 9.97872452e-01 -1.44706037e-02 2.64456194e-01] [ 1.44942175e-01 5.11448188e-03 9.89426909e-01 1.22889765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:0.27, Z:1.24 [[ 9.87302294e-01 -6.64105572e-02 -1.44304603e-01 7.93031237e+00] [ 6.49943937e-02 9.97780114e-01 -1.45111063e-02 2.66954550e-01] [ 1.44947953e-01 4.94785837e-03 9.89426910e-01 1.23970071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:0.27, Z:1.25 [[ 9.87308264e-01 -6.63308615e-02 -1.44300408e-01 7.98705431e+00] [ 6.49077801e-02 9.97785147e-01 -1.45527006e-02 2.71716851e-01] [ 1.44946097e-01 5.00178247e-03 9.89426910e-01 1.24520748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:0.28, Z:1.25 [[ 9.87390084e-01 -6.51055730e-02 -1.44298599e-01 8.04455681e+00] [ 6.36668769e-02 9.97864834e-01 -1.45706116e-02 2.76192916e-01] [ 1.44939126e-01 5.19983629e-03 9.89426911e-01 1.25322993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:0.28, Z:1.27 [[ 9.86791974e-01 -7.36255693e-02 -1.44294404e-01 8.10235981e+00] [ 7.22712829e-02 9.97277970e-01 -1.46120453e-02 2.82720526e-01] [ 1.44977450e-01 3.99070740e-03 9.89426912e-01 1.26502121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:0.29, Z:1.27 [[ 9.86474340e-01 -7.77724807e-02 -1.44290743e-01 8.15867441e+00] [ 7.64570078e-02 9.96965275e-01 -1.46481075e-02 2.91742818e-01] [ 1.44992080e-01 3.41794370e-03 9.89426912e-01 1.27252176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:0.30, Z:1.28 [[ 9.86678746e-01 -7.51401463e-02 -1.44287940e-01 8.21574983e+00] [ 7.37926598e-02 9.97165617e-01 -1.46756632e-02 3.01358489e-01] [ 1.44981704e-01 3.83277411e-03 9.89426913e-01 1.28272506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:0.31, Z:1.29 [[ 9.87110167e-01 -6.92511068e-02 -1.44283760e-01 8.27164132e+00] [ 6.78350828e-02 9.97588002e-01 -1.47166490e-02 3.13383411e-01] [ 1.44954892e-01 4.73945310e-03 9.89426913e-01 1.29294121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:0.32, Z:1.31 [[ 9.86950752e-01 -7.14956741e-02 -1.44279526e-01 8.32769568e+00] [ 7.00974353e-02 9.97430975e-01 -1.47580429e-02 3.22385684e-01] [ 1.44964004e-01 4.45183682e-03 9.89426914e-01 1.30620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:0.33, Z:1.32 [[ 9.86824963e-01 -7.32139739e-02 -1.44278223e-01 8.38472818e+00] [ 7.18321260e-02 9.97307360e-01 -1.47707660e-02 3.29079310e-01] [ 1.44971160e-01 4.21234907e-03 9.89426914e-01 1.31554492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:0.34, Z:1.32 [[ 9.87068855e-01 -6.98576716e-02 -1.44273982e-01 8.44214684e+00] [ 6.84341520e-02 9.97545673e-01 -1.48120817e-02 3.37979960e-01] [ 1.44954624e-01 4.74727694e-03 9.89426915e-01 1.31586544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:0.34, Z:1.32 [[ 9.87337772e-01 -6.59508695e-02 -1.44272683e-01 8.50036793e+00] [ 6.44840555e-02 9.97808616e-01 -1.48247200e-02 3.44476565e-01] [ 1.44934229e-01 5.33371834e-03 9.89426915e-01 1.32020248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:0.35, Z:1.33 [[ 9.87585188e-01 -6.21459692e-02 -1.44268410e-01 8.55685201e+00] [ 6.06327716e-02 9.98049429e-01 -1.48661922e-02 3.54667064e-01] [ 1.44910878e-01 5.93423771e-03 9.89426916e-01 1.32621885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:0.36, Z:1.33 [[ 9.87665676e-01 -6.08581145e-02 -1.44266428e-01 8.61238496e+00] [ 5.93284729e-02 9.98127526e-01 -1.48853964e-02 3.63759109e-01] [ 1.44902190e-01 6.14268828e-03 9.89426916e-01 1.33397887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:0.37, Z:1.34 [[ 9.87735391e-01 -5.97226509e-02 -1.44263653e-01 8.66939579e+00] [ 5.81770698e-02 9.98194898e-01 -1.49122429e-02 3.73263682e-01] [ 1.44893841e-01 6.33651345e-03 9.89426917e-01 1.34458481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:0.38, Z:1.36 [[ 9.87898117e-01 -5.69770824e-02 -1.44259916e-01 8.72481299e+00] [ 5.53971801e-02 9.98352493e-01 -1.49483134e-02 3.82567385e-01] [ 1.44873958e-01 6.77581819e-03 9.89426917e-01 1.35769761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:0.39, Z:1.36 [[ 9.87835218e-01 -5.80606424e-02 -1.44258599e-01 8.78166390e+00] [ 5.64903582e-02 9.98291044e-01 -1.49610074e-02 3.91006886e-01] [ 1.44880713e-01 6.62979008e-03 9.89426917e-01 1.36404783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:0.39, Z:1.37 [[ 9.86738223e-01 -7.44203467e-02 -1.44254260e-01 8.83872914e+00] [ 7.30174283e-02 9.97217816e-01 -1.50027334e-02 3.93176842e-01] [ 1.44969426e-01 4.27069541e-03 9.89426918e-01 1.37355325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:0.39, Z:1.39 [[ 9.85479125e-01 -8.95703368e-02 -1.44249952e-01 8.89669122e+00] [ 8.83225313e-02 9.95978317e-01 -1.50440422e-02 3.93679577e-01] [ 1.45017324e-01 2.08506870e-03 9.89426919e-01 1.38540969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:8.95, Y:0.40, Z:1.39 [[ 9.86169147e-01 -8.16298425e-02 -1.44246257e-01 8.95483071e+00] [ 8.02923442e-02 9.96657289e-01 -1.50793857e-02 4.03821760e-01] [ 1.44995011e-01 3.28895484e-03 9.89426920e-01 1.38943386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:0.42, Z:1.39 [[ 9.87403587e-01 -6.50247211e-02 -1.44242648e-01 9.01240291e+00] [ 6.35059116e-02 9.97867011e-01 -1.51138320e-02 4.18642665e-01] [ 1.44917752e-01 5.76319111e-03 9.89426920e-01 1.39040588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:0.44, Z:1.39 [[ 9.87992310e-01 -5.53761293e-02 -1.44238277e-01 9.06997648e+00] [ 5.37491222e-02 9.98439455e-01 -1.51554292e-02 4.35203672e-01] [ 1.44852436e-01 7.22076675e-03 9.89426921e-01 1.39092734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:0.44, Z:1.40 [[ 9.87856752e-01 -5.77533756e-02 -1.44234478e-01 9.12729434e+00] [ 5.61462573e-02 9.98306975e-01 -1.51915015e-02 4.43519241e-01] [ 1.44867646e-01 6.90880124e-03 9.89426922e-01 1.40476184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:9.18, Y:0.45, Z:1.42 [[ 9.87092487e-01 -6.96124288e-02 -1.44230827e-01 9.18397890e+00] [ 6.81258767e-02 9.97560540e-01 -1.52260861e-02 4.47349803e-01] [ 1.44938907e-01 5.20370371e-03 9.89426922e-01 1.42004235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:0.45, Z:1.43 [[ 9.87238852e-01 -6.75079070e-02 -1.44229438e-01 9.23989773e+00] [ 6.59971238e-02 9.97703436e-01 -1.52392322e-02 4.53179556e-01] [ 1.44926974e-01 5.52603407e-03 9.89426923e-01 1.42769122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:0.46, Z:1.43 [[ 9.87808001e-01 -5.85983862e-02 -1.44227534e-01 9.29771662e+00] [ 5.69906318e-02 9.98258125e-01 -1.52572327e-02 4.62332706e-01] [ 1.44870357e-01 6.85159828e-03 9.89426923e-01 1.43057502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:0.46, Z:1.44 [[ 9.87848079e-01 -5.79294664e-02 -1.44223267e-01 9.35619873e+00] [ 5.63087757e-02 9.98296203e-01 -1.52974652e-02 4.64624989e-01] [ 1.44863713e-01 6.99053607e-03 9.89426923e-01 1.43875963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:0.47, Z:1.45 [[ 9.87423967e-01 -6.47663055e-02 -1.44219400e-01 9.41408807e+00] [ 6.32126761e-02 9.97882273e-01 -1.53338366e-02 4.65451572e-01] [ 1.44907098e-01 6.02450353e-03 9.89426924e-01 1.44847698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:0.47, Z:1.46 [[ 9.87159423e-01 -6.86899334e-02 -1.44214999e-01 9.47239079e+00] [ 6.71718571e-02 9.97622949e-01 -1.53751149e-02 4.65173002e-01] [ 1.44928308e-01 5.49050030e-03 9.89426925e-01 1.46208788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:0.47, Z:1.47 [[ 9.87329461e-01 -6.62095431e-02 -1.44211070e-01 9.53014846e+00] [ 6.46598221e-02 9.97788345e-01 -1.54118763e-02 4.68815686e-01] [ 1.44912538e-01 5.89193739e-03 9.89426926e-01 1.47171819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:0.47, Z:1.48 [[ 9.87730770e-01 -5.99365842e-02 -1.44206557e-01 9.58775266e+00] [ 5.83143235e-02 9.98178648e-01 -1.54539914e-02 4.72163510e-01] [ 1.44870166e-01 6.85507496e-03 9.89426927e-01 1.47531180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:0.48, Z:1.48 [[ 9.87705602e-01 -6.03545688e-02 -1.44204608e-01 9.64556462e+00] [ 5.87340829e-02 9.98153756e-01 -1.54721604e-02 4.75092071e-01] [ 1.44872186e-01 6.81221412e-03 9.89426927e-01 1.48208311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:0.48, Z:1.49 [[ 9.87446643e-01 -6.44625592e-02 -1.44200228e-01 9.70315340e+00] [ 6.28796141e-02 9.97900549e-01 -1.55128693e-02 4.75468291e-01] [ 1.44897486e-01 6.25087603e-03 9.89426928e-01 1.48972095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:9.76, Y:0.47, Z:1.50 [[ 9.86910909e-01 -7.22108410e-02 -1.44195884e-01 9.76022573e+00] [ 7.07041177e-02 9.97376071e-01 -1.55531473e-02 4.69766393e-01] [ 1.44940630e-01 5.15432798e-03 9.89426928e-01 1.50447878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:9.82, Y:0.47, Z:1.51 [[ 9.87209297e-01 -6.80196275e-02 -1.44191308e-01 9.81713080e+00] [ 6.64623111e-02 9.97667050e-01 -1.55954593e-02 4.72059531e-01] [ 1.44915714e-01 5.81269487e-03 9.89426929e-01 1.51030158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:0.48, Z:1.51 [[ 9.87162305e-01 -6.87024067e-02 -1.44189328e-01 9.87485722e+00] [ 6.71496575e-02 9.97620737e-01 -1.56137413e-02 4.76136622e-01] [ 1.44918965e-01 5.73103281e-03 9.89426929e-01 1.51340007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:0.48, Z:1.51 [[ 9.86991577e-01 -7.11220567e-02 -1.44184880e-01 9.93437334e+00] [ 6.95889728e-02 9.97452909e-01 -1.56547091e-02 4.81200198e-01] [ 1.44931023e-01 5.41738830e-03 9.89426930e-01 1.51349878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:9.99, Y:0.49, Z:1.53 [[ 9.86298549e-01 -8.01686513e-02 -1.44180994e-01 9.99091388e+00] [ 7.87263338e-02 9.96772780e-01 -1.56904224e-02 4.86802127e-01] [ 1.44973570e-01 4.12459981e-03 9.89426931e-01 1.53055296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:10.05, Y:0.50, Z:1.54 [[ 9.86409775e-01 -7.87954292e-02 -1.44177103e-01 1.00478807e+01] [ 7.73333213e-02 9.96881260e-01 -1.57260950e-02 4.97032586e-01] [ 1.44966597e-01 4.36267956e-03 9.89426932e-01 1.54126101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:0.51, Z:1.56 [[ 9.86714461e-01 -7.48910956e-02 -1.44173148e-01 1.01038454e+01] [ 7.33822780e-02 9.97179318e-01 -1.57622742e-02 5.08541159e-01] [ 1.44946935e-01 4.97310986e-03 9.89426932e-01 1.55569588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:0.52, Z:1.56 [[ 9.87257092e-01 -6.73709870e-02 -1.44168600e-01 1.01615140e+01] [ 6.57764319e-02 9.97709227e-01 -1.58037637e-02 5.22183846e-01] [ 1.44903057e-01 6.11948170e-03 9.89426933e-01 1.55821230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:0.53, Z:1.56 [[ 9.87361239e-01 -6.58369456e-02 -1.44164072e-01 1.02200562e+01] [ 6.42201494e-02 9.97809957e-01 -1.58449569e-02 5.30181290e-01] [ 1.44891530e-01 6.38645804e-03 9.89426934e-01 1.56227966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:0.54, Z:1.57 [[ 9.87348827e-01 -6.60314430e-02 -1.44160125e-01 1.02771683e+01] [ 6.44114830e-02 9.97797054e-01 -1.58807930e-02 5.35591115e-01] [ 1.44891179e-01 6.39431491e-03 9.89426935e-01 1.57462797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:0.54, Z:1.58 [[ 9.87491576e-01 -6.38702172e-02 -1.44156106e-01 1.03361527e+01] [ 6.22220907e-02 9.97935396e-01 -1.59171897e-02 5.42026361e-01] [ 1.44875115e-01 6.74839643e-03 9.89426935e-01 1.57840071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:0.55, Z:1.59 [[ 9.87376743e-01 -6.56304916e-02 -1.44152027e-01 1.03939449e+01] [ 6.39956158e-02 9.97822644e-01 -1.59540459e-02 5.48755190e-01] [ 1.44885229e-01 6.52755613e-03 9.89426936e-01 1.58955821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:0.56, Z:1.60 [[ 9.87438633e-01 -6.47017368e-02 -1.44147952e-01 1.04513881e+01] [ 6.30516848e-02 9.97882147e-01 -1.59907828e-02 5.58378187e-01] [ 1.44877299e-01 6.70114551e-03 9.89426937e-01 1.59527255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:0.57, Z:1.60 [[ 9.87347007e-01 -6.60954059e-02 -1.44143281e-01 1.05082490e+01] [ 6.44539776e-02 9.97791879e-01 -1.60327790e-02 5.65298284e-01] [ 1.44884688e-01 6.53930851e-03 9.89426937e-01 1.60462898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:0.57, Z:1.61 [[ 9.86787472e-01 -7.39900586e-02 -1.44138673e-01 1.05647863e+01] [ 7.24261930e-02 9.97244238e-01 -1.60741016e-02 5.71199860e-01] [ 1.44930785e-01 5.42230675e-03 9.89426938e-01 1.61260541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:10.62, Y:0.57, Z:1.62 [[ 9.85900664e-01 -8.49960738e-02 -1.44137256e-01 1.06222323e+01] [ 8.35471280e-02 9.96373972e-01 -1.60867966e-02 5.73036025e-01] [ 1.44981925e-01 3.81772964e-03 9.89426938e-01 1.62429328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:10.68, Y:0.58, Z:1.64 [[ 9.85430081e-01 -9.02957131e-02 -1.44132719e-01 1.06792777e+01] [ 8.88971711e-02 9.95910238e-01 -1.61273485e-02 5.76977794e-01] [ 1.44999480e-01 3.07938344e-03 9.89426939e-01 1.63513216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:0.58, Z:1.64 [[ 9.85801760e-01 -8.61507379e-02 -1.44128210e-01 1.07368035e+01] [ 8.47022614e-02 9.96275131e-01 -1.61675448e-02 5.84471961e-01] [ 1.44984197e-01 3.73000886e-03 9.89426940e-01 1.64274489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:10.79, Y:0.59, Z:1.65 [[ 9.86661933e-01 -7.56742399e-02 -1.44123693e-01 1.07940383e+01] [ 7.41087330e-02 9.97118451e-01 -1.62077108e-02 5.94422164e-01] [ 1.44934900e-01 5.31070697e-03 9.89426941e-01 1.64831290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:10.85, Y:0.60, Z:1.65 [[ 9.87171432e-01 -6.87187058e-02 -1.44119061e-01 1.08533270e+01] [ 6.70735574e-02 9.97615715e-01 -1.62487950e-02 6.03104465e-01] [ 1.44892036e-01 6.37376813e-03 9.89426942e-01 1.64859193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:10.91, Y:0.61, Z:1.66 [[ 9.86070730e-01 -8.30384072e-02 -1.44115016e-01 1.09105854e+01] [ 8.15397847e-02 9.96537042e-01 -1.62845877e-02 6.06690890e-01] [ 1.44968198e-01 4.30664789e-03 9.89426942e-01 1.66050654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:0.61, Z:1.68 [[ 9.85417138e-01 -9.04673507e-02 -1.44113577e-01 1.09669910e+01] [ 8.90457876e-02 9.95894194e-01 -1.62973132e-02 6.09410633e-01] [ 1.44996250e-01 3.22694476e-03 9.89426942e-01 1.67760855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:11.02, Y:0.62, Z:1.69 [[ 9.85497418e-01 -8.95908512e-02 -1.44112175e-01 1.10238474e+01] [ 8.81581592e-02 9.95972958e-01 -1.63097027e-02 6.18780123e-01] [ 1.44993030e-01 3.36850582e-03 9.89426942e-01 1.68571535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:0.63, Z:1.69 [[ 9.85810701e-01 -8.60827225e-02 -1.44107695e-01 1.10812440e+01] [ 8.46069861e-02 9.96280263e-01 -1.63491977e-02 6.28235050e-01] [ 1.44979035e-01 3.92469633e-03 9.89426943e-01 1.69106470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:0.64, Z:1.70 [[ 9.86073538e-01 -8.30257825e-02 -1.44103077e-01 1.11391985e+01] [ 8.15116647e-02 9.96537618e-01 -1.63897953e-02 6.39006757e-01] [ 1.44964913e-01 4.41546174e-03 9.89426944e-01 1.69639563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:0.64, Z:1.71 [[ 9.85842954e-01 -8.57271806e-02 -1.44098994e-01 1.11964461e+01] [ 8.42365068e-02 9.96310398e-01 -1.64256162e-02 6.44172534e-01] [ 1.44975448e-01 4.05468206e-03 9.89426945e-01 1.70575272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:0.65, Z:1.72 [[ 9.85544501e-01 -8.91002512e-02 -1.44094350e-01 1.12543315e+01] [ 8.76394676e-02 9.96016158e-01 -1.64662555e-02 6.48766463e-01] [ 1.44987449e-01 3.59987541e-03 9.89426946e-01 1.71817975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:0.65, Z:1.73 [[ 9.85820918e-01 -8.59947726e-02 -1.44090307e-01 1.13120211e+01] [ 8.44958483e-02 9.96287183e-01 -1.65015608e-02 6.53134478e-01] [ 1.44974374e-01 4.09255107e-03 9.89426946e-01 1.72607710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:11.37, Y:0.66, Z:1.73 [[ 9.86538828e-01 -7.73334871e-02 -1.44085644e-01 1.13691708e+01] [ 7.57367759e-02 9.96990620e-01 -1.65421832e-02 6.60209575e-01] [ 1.44931300e-01 5.40692396e-03 9.89426947e-01 1.73236807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:11.43, Y:0.67, Z:1.74 [[ 9.86881786e-01 -7.28355225e-02 -1.44080973e-01 1.14265613e+01] [ 7.11852690e-02 9.97325258e-01 -1.65827647e-02 6.67446995e-01] [ 1.44903408e-01 6.10878565e-03 9.89426948e-01 1.74130260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:0.67, Z:1.75 [[ 9.86922106e-01 -7.22964426e-02 -1.44076306e-01 1.14848222e+01] [ 7.06345908e-02 9.97363737e-01 -1.66232130e-02 6.73896612e-01] [ 1.44898282e-01 6.22904545e-03 9.89426949e-01 1.74674922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:11.54, Y:0.68, Z:1.75 [[ 9.87007251e-01 -7.11331283e-02 -1.44072080e-01 1.15438324e+01] [ 6.94536457e-02 9.97446060e-01 -1.66597631e-02 6.80211873e-01] [ 1.44889190e-01 6.43697575e-03 9.89426949e-01 1.75182617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:0.68, Z:1.76 [[ 9.86847470e-01 -7.33243201e-02 -1.44068093e-01 1.16002329e+01] [ 7.16630041e-02 9.97289185e-01 -1.66941695e-02 6.83672657e-01] [ 1.44901640e-01 6.15024657e-03 9.89426950e-01 1.76108195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:0.69, Z:1.78 [[ 9.86522950e-01 -7.75745211e-02 -1.44064789e-01 1.16574610e+01] [ 7.59540480e-02 9.96971081e-01 -1.67226335e-02 6.87397552e-01] [ 1.44925679e-01 5.55495787e-03 9.89426950e-01 1.77787947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:0.69, Z:1.78 [[ 9.86634675e-01 -7.61484197e-02 -1.44060530e-01 1.17152571e+01] [ 7.45075080e-02 9.97079615e-01 -1.67592474e-02 6.93542516e-01] [ 1.44916008e-01 5.80166356e-03 9.89426951e-01 1.78298467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:0.70, Z:1.79 [[ 9.86498892e-01 -7.78967063e-02 -1.44055678e-01 1.17736993e+01] [ 7.62682406e-02 9.96945779e-01 -1.68008487e-02 6.98609794e-01] [ 1.44924431e-01 5.58714549e-03 9.89426952e-01 1.78728239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:0.70, Z:1.80 [[ 9.86006452e-01 -8.39079232e-02 -1.44051164e-01 1.18323567e+01] [ 8.23375250e-02 9.96462224e-01 -1.68394676e-02 7.01391911e-01] [ 1.44954508e-01 4.74300738e-03 9.89426953e-01 1.79700182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:0.70, Z:1.81 [[ 9.85432912e-01 -9.04017497e-02 -1.44046863e-01 1.18904311e+01] [ 8.88949039e-02 9.95898032e-01 -1.68761787e-02 7.03533348e-01] [ 1.44981623e-01 3.82530995e-03 9.89426953e-01 1.80805062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:0.71, Z:1.82 [[ 9.85034790e-01 -9.46477491e-02 -1.44042583e-01 1.19488271e+01] [ 9.31806903e-02 9.95505561e-01 -1.69126297e-02 7.08036363e-01] [ 1.44995935e-01 3.23754135e-03 9.89426954e-01 1.81794825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:12.01, Y:0.71, Z:1.83 [[ 9.85673009e-01 -8.77591386e-02 -1.44038372e-01 1.20056921e+01] [ 8.62136899e-02 9.96132497e-01 -1.69484193e-02 7.14575607e-01] [ 1.44968682e-01 4.28751993e-03 9.89426955e-01 1.82637936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:0.72, Z:1.83 [[ 9.85816598e-01 -8.61391882e-02 -1.44033591e-01 1.20626959e+01] [ 8.45706362e-02 9.96272645e-01 -1.69889533e-02 7.22839989e-01] [ 1.44960141e-01 4.56697969e-03 9.89426955e-01 1.83308896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:0.73, Z:1.84 [[ 9.84989376e-01 -9.51402245e-02 -1.44028700e-01 1.21191780e+01] [ 9.36611995e-02 9.95458461e-01 -1.70303210e-02 7.33159296e-01] [ 1.44994856e-01 3.28478445e-03 9.89426956e-01 1.84402812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:0.75, Z:1.84 [[ 9.84166986e-01 -1.03307681e-01 -1.44023842e-01 1.21769702e+01] [ 1.01909554e-01 9.94647180e-01 -1.70713081e-02 7.52166764e-01] [ 1.45016505e-01 2.12361243e-03 9.89426957e-01 1.83962517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:12.23, Y:0.76, Z:1.85 [[ 9.84496238e-01 -1.00123087e-01 -1.44022653e-01 1.22334897e+01] [ 9.86895953e-02 9.94971654e-01 -1.70813260e-02 7.63533367e-01] [ 1.45008693e-01 2.60296380e-03 9.89426957e-01 1.85393697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:12.29, Y:0.78, Z:1.86 [[ 9.85724394e-01 -8.72128151e-02 -1.44018553e-01 1.22900644e+01] [ 8.56371318e-02 9.96179366e-01 -1.71158301e-02 7.79797351e-01] [ 1.44961030e-01 4.53815549e-03 9.89426958e-01 1.86420183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:12.35, Y:0.80, Z:1.88 [[ 9.86833805e-01 -7.36133197e-02 -1.44014305e-01 1.23465101e+01] [ 7.18884386e-02 9.97265200e-01 -1.71514943e-02 7.96070919e-01] [ 1.44883034e-01 6.57271078e-03 9.89426958e-01 1.87747865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:0.81, Z:1.88 [[ 9.87191906e-01 -6.86531753e-02 -1.44010010e-01 1.24035790e+01] [ 6.68706574e-02 9.97613605e-01 -1.71874862e-02 8.14162533e-01] [ 1.44846321e-01 7.33730326e-03 9.89426959e-01 1.88430670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:0.83, Z:1.89 [[ 9.86961162e-01 -7.19030780e-02 -1.44005600e-01 1.24614009e+01] [ 7.01495153e-02 9.97387772e-01 -1.72243559e-02 8.28955327e-01] [ 1.44867909e-01 6.89784726e-03 9.89426960e-01 1.88659493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:0.84, Z:1.90 [[ 9.85824195e-01 -8.61065359e-02 -1.44001112e-01 1.25179910e+01] [ 8.44978216e-02 9.96274133e-01 -1.72617937e-02 8.37472786e-01] [ 1.44950937e-01 4.84931359e-03 9.89426960e-01 1.90305746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:0.84, Z:1.92 [[ 9.83775845e-01 -1.07004871e-01 -1.43996678e-01 1.25729917e+01] [ 1.05612849e-01 9.94256849e-01 -1.72987037e-02 8.44500779e-01] [ 1.45020729e-01 1.81014735e-03 9.89426961e-01 1.91688735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:0.85, Z:1.93 [[ 9.81607511e-01 -1.25348617e-01 -1.43994510e-01 1.26308699e+01] [ 1.24149822e-01 9.92112369e-01 -1.73167387e-02 8.51157148e-01] [ 1.45029363e-01 -8.78651973e-04 9.89426961e-01 1.92827159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:0.86, Z:1.93 [[ 9.81853650e-01 -1.23410913e-01 -1.43990128e-01 1.26877021e+01] [ 1.22186055e-01 9.92355500e-01 -1.73530935e-02 8.63013217e-01] [ 1.45030957e-01 -5.55387553e-04 9.89426962e-01 1.93066239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:0.88, Z:1.93 [[ 9.82482750e-01 -1.18300176e-01 -1.43988594e-01 1.27462729e+01] [ 1.17018824e-01 9.92977856e-01 -1.73658145e-02 8.78653966e-01] [ 1.45031864e-01 2.12237200e-04 9.89426962e-01 1.93038555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:0.89, Z:1.93 [[ 9.82749512e-01 -1.16068476e-01 -1.43984391e-01 1.28044456e+01] [ 1.14758195e-01 9.93241046e-01 -1.74005953e-02 8.90693697e-01] [ 1.45030868e-01 5.77037681e-04 9.89426963e-01 1.93408912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:12.86, Y:0.90, Z:1.95 [[ 9.83909135e-01 -1.05794683e-01 -1.43980205e-01 1.28608136e+01] [ 1.04369804e-01 9.94385719e-01 -1.74351646e-02 9.04120401e-01] [ 1.45016407e-01 2.12743191e-03 9.89426963e-01 1.94928097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:12.92, Y:0.92, Z:1.96 [[ 9.85594984e-01 -8.87327347e-02 -1.43975793e-01 1.29178550e+01] [ 8.71212584e-02 9.96044493e-01 -1.74715240e-02 9.18068918e-01] [ 1.44956592e-01 4.67649414e-03 9.89426964e-01 1.95993776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:12.97, Y:0.93, Z:1.97 [[ 9.85903702e-01 -8.52416417e-02 -1.43971363e-01 1.29744516e+01] [ 8.35878558e-02 9.96346597e-01 -1.75079487e-02 9.27502963e-01] [ 1.44937784e-01 5.22689384e-03 9.89426965e-01 1.96756035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:13.03, Y:0.94, Z:1.98 [[ 9.85492426e-01 -8.98799726e-02 -1.43966205e-01 1.30314740e+01] [ 8.82691696e-02 9.95942037e-01 -1.75502640e-02 9.35388514e-01] [ 1.44959413e-01 4.58787490e-03 9.89426965e-01 1.97827033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:13.09, Y:0.94, Z:1.99 [[ 9.84599911e-01 -9.91877618e-02 -1.43961118e-01 1.30886706e+01] [ 9.76696839e-02 9.95063394e-01 -1.75918948e-02 9.41557184e-01] [ 1.44995339e-01 3.26034112e-03 9.89426966e-01 1.98607535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:13.15, Y:0.94, Z:2.00 [[ 9.82573545e-01 -1.17583609e-01 -1.43955977e-01 1.31463300e+01] [ 1.16255327e-01 9.93062811e-01 -1.76338681e-02 9.44620703e-01] [ 1.45030781e-01 5.90923132e-04 9.89426967e-01 1.99951077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:0.95, Z:2.02 [[ 9.80905075e-01 -1.30779266e-01 -1.43951441e-01 1.32021159e+01] [ 1.29586663e-01 9.91410631e-01 -1.76708176e-02 9.46542645e-01] [ 1.45025965e-01 -1.32079222e-03 9.89426968e-01 2.01697706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:0.96, Z:2.01 [[ 9.81733519e-01 -1.24410403e-01 -1.43949119e-01 1.32612392e+01] [ 1.23146873e-01 9.92230780e-01 -1.76897160e-02 9.59216099e-01] [ 1.45031531e-01 -3.60296620e-04 9.89426968e-01 2.01186676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:0.97, Z:2.01 [[ 9.83142554e-01 -1.12741494e-01 -1.43944689e-01 1.33181503e+01] [ 1.11348109e-01 9.93623369e-01 -1.77256916e-02 9.72710877e-01] [ 1.45025227e-01 1.39891295e-03 9.89426969e-01 2.01311800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:0.99, Z:2.02 [[ 9.83281320e-01 -1.11526768e-01 -1.43943131e-01 1.33746777e+01] [ 1.10118585e-01 9.93760157e-01 -1.77383346e-02 9.87152515e-01] [ 1.45023247e-01 1.59095922e-03 9.89426969e-01 2.02082061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:1.00, Z:2.03 [[ 9.81862346e-01 -1.23402534e-01 -1.43938003e-01 1.34310258e+01] [ 1.22115014e-01 9.92356690e-01 -1.77798452e-02 9.98187517e-01] [ 1.45031918e-01 -1.19630781e-04 9.89426970e-01 2.03361188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:1.01, Z:2.05 [[ 9.82008857e-01 -1.22237145e-01 -1.43932919e-01 1.34877166e+01] [ 1.20931154e-01 9.92500918e-01 -1.78209068e-02 1.01086623e+00] [ 1.45031931e-01 9.43143551e-05 9.89426971e-01 2.04822218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:1.03, Z:2.05 [[ 9.83622226e-01 -1.08498608e-01 -1.43928347e-01 1.35437189e+01] [ 1.07040694e-01 9.94094256e-01 -1.78577567e-02 1.02739213e+00] [ 1.45015885e-01 2.15909621e-03 9.89426971e-01 2.05497061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:1.05, Z:2.06 [[ 9.85541747e-01 -8.94011137e-02 -1.43926739e-01 1.36009601e+01] [ 8.77384825e-02 9.95983231e-01 -1.78707077e-02 1.04742113e+00] [ 1.44946280e-01 4.98441484e-03 9.89426971e-01 2.05666863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:1.06, Z:2.06 [[ 9.86322284e-01 -8.03414424e-02 -1.43922219e-01 1.36578656e+01] [ 7.85776463e-02 9.96747155e-01 -1.79070372e-02 1.06257303e+00] [ 1.44892740e-01 6.35304060e-03 9.89426972e-01 2.06234393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:1.07, Z:2.07 [[ 9.85759919e-01 -8.69787112e-02 -1.43916942e-01 1.37158704e+01] [ 8.52789578e-02 9.96195423e-01 -1.79493488e-02 1.06932199e+00] [ 1.44930610e-01 5.42066183e-03 9.89426973e-01 2.06780173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:13.77, Y:1.07, Z:2.07 [[ 9.85164219e-01 -9.34926855e-02 -1.43911705e-01 1.37738976e+01] [ 9.18558343e-02 9.95609773e-01 -1.79912410e-02 1.06922608e+00] [ 1.44961949e-01 4.50519713e-03 9.89426974e-01 2.07410101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:1.07, Z:2.09 [[ 9.85131306e-01 -9.38468984e-02 -1.43906463e-01 1.38313222e+01] [ 9.22076979e-02 9.95576491e-01 -1.80330740e-02 1.07200297e+00] [ 1.44962239e-01 4.49566211e-03 9.89426975e-01 2.08504144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:1.07, Z:2.10 [[ 9.85171112e-01 -9.34362511e-02 -1.43901170e-01 1.38893030e+01] [ 9.17865474e-02 9.95614642e-01 -1.80752162e-02 1.06561622e+00] [ 1.44958992e-01 4.59898928e-03 9.89426976e-01 2.09849342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:1.06, Z:2.10 [[ 9.84387371e-01 -1.01368002e-01 -1.43895908e-01 1.39484992e+01] [ 9.97963599e-02 9.94842933e-01 -1.81170098e-02 1.05749475e+00] [ 1.44990312e-01 3.47386785e-03 9.89426976e-01 2.10317346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:1.05, Z:2.11 [[ 9.83474778e-01 -1.09876475e-01 -1.43890660e-01 1.40077565e+01] [ 1.08389221e-01 9.93942675e-01 -1.81585993e-02 1.04997552e+00] [ 1.45014270e-01 2.26232803e-03 9.89426977e-01 2.11107628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:14.06, Y:1.05, Z:2.12 [[ 9.82531763e-01 -1.18013926e-01 -1.43889015e-01 1.40644261e+01] [ 1.16611469e-01 9.93011358e-01 -1.81716179e-02 1.04808591e+00] [ 1.45027931e-01 1.07508218e-03 9.89426977e-01 2.11908938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:14.12, Y:1.05, Z:2.12 [[ 9.81273320e-01 -1.28059653e-01 -1.43886750e-01 1.41235753e+01] [ 1.26761856e-01 9.91766390e-01 -1.81895350e-02 1.04567596e+00] [ 1.45031389e-01 -3.90446143e-04 9.89426978e-01 2.12251175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:14.18, Y:1.05, Z:2.13 [[ 9.81347322e-01 -1.27493102e-01 -1.43885170e-01 1.41814448e+01] [ 1.26187415e-01 9.91839414e-01 -1.82020248e-02 1.05141475e+00] [ 1.45031616e-01 -2.93989464e-04 9.89426978e-01 2.12863654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:1.06, Z:2.14 [[ 9.84115595e-01 -1.03995220e-01 -1.43880124e-01 1.42388539e+01] [ 1.02433251e-01 9.94572604e-01 -1.82418276e-02 1.05693191e+00] [ 1.44996293e-01 3.21395807e-03 9.89426978e-01 2.14404873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:1.07, Z:2.15 [[ 9.85209062e-01 -9.30749129e-02 -1.43875518e-01 1.42951408e+01] [ 9.13917823e-02 9.95647254e-01 -1.82780876e-02 1.06650835e+00] [ 1.44950496e-01 4.85869759e-03 9.89426979e-01 2.15129586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:1.07, Z:2.16 [[ 9.85867239e-01 -8.58259272e-02 -1.43873891e-01 1.43522118e+01] [ 8.40642022e-02 9.96292454e-01 -1.82908839e-02 1.07183737e+00] [ 1.44910304e-01 5.93773940e-03 9.89426979e-01 2.15802730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:14.41, Y:1.07, Z:2.16 [[ 9.86151699e-01 -8.25022047e-02 -1.43868735e-01 1.44107497e+01] [ 8.06994556e-02 9.96569897e-01 -1.83313518e-02 1.07356150e+00] [ 1.44887627e-01 6.46736515e-03 9.89426980e-01 2.15894661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:14.47, Y:1.07, Z:2.16 [[ 9.85906387e-01 -8.53877196e-02 -1.43866377e-01 1.44713304e+01] [ 8.36127730e-02 9.96329357e-01 -1.83498394e-02 1.06954908e+00] [ 1.44905146e-01 6.06215716e-03 9.89426980e-01 2.16134929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:1.06, Z:2.17 [[ 9.85986581e-01 -8.44644061e-02 -1.43861831e-01 1.45289747e+01] [ 8.26745190e-02 9.96406995e-01 -1.83854103e-02 1.06263271e+00] [ 1.44897847e-01 6.23406019e-03 9.89426981e-01 2.17309959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:1.06, Z:2.19 [[ 9.85678259e-01 -8.79952290e-02 -1.43858298e-01 1.45870943e+01] [ 8.62386520e-02 9.96104340e-01 -1.84130158e-02 1.06178116e+00] [ 1.44918132e-01 5.74316372e-03 9.89426981e-01 2.18809974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:1.06, Z:2.20 [[ 9.85360863e-01 -9.14883282e-02 -1.43853591e-01 1.46447878e+01] [ 8.97633665e-02 9.95792220e-01 -1.84497115e-02 1.06484247e+00] [ 1.44936220e-01 5.26684101e-03 9.89426982e-01 2.19946693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:1.07, Z:2.20 [[ 9.85370948e-01 -9.13869733e-02 -1.43848932e-01 1.47029672e+01] [ 8.96556521e-02 9.95801252e-01 -1.84859730e-02 1.07096558e+00] [ 1.44934323e-01 5.31867102e-03 9.89426982e-01 2.20331033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:1.08, Z:2.21 [[ 9.85500402e-01 -8.99875628e-02 -1.43844346e-01 1.47610406e+01] [ 8.82362407e-02 9.95927365e-01 -1.85215872e-02 1.07661601e+00] [ 1.44925233e-01 5.56074730e-03 9.89426983e-01 2.21079683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:1.09, Z:2.22 [[ 9.85853278e-01 -8.60432229e-02 -1.43839764e-01 1.48179325e+01] [ 8.42450171e-02 9.96272257e-01 -1.85571053e-02 1.08615545e+00] [ 1.44900279e-01 6.17679969e-03 9.89426984e-01 2.22131659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:1.10, Z:2.23 [[ 9.86325797e-01 -8.04542517e-02 -1.43835096e-01 1.48733486e+01] [ 7.85917689e-02 9.96733478e-01 -1.85932159e-02 1.09780683e+00] [ 1.44861159e-01 7.03471384e-03 9.89426984e-01 2.22871634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:14.93, Y:1.11, Z:2.24 [[ 9.86556357e-01 -7.75825648e-02 -1.43831501e-01 1.49291452e+01] [ 7.56857542e-02 9.96957835e-01 -1.86209826e-02 1.10859894e+00] [ 1.44838606e-01 7.48465310e-03 9.89426985e-01 2.23940431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:14.99, Y:1.12, Z:2.25 [[ 9.85840051e-01 -8.62174626e-02 -1.43826086e-01 1.49858373e+01] [ 8.44057188e-02 9.96256683e-01 -1.86627140e-02 1.11882835e+00] [ 1.44896751e-01 6.25870670e-03 9.89426986e-01 2.24823353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:1.13, Z:2.26 [[ 9.85293513e-01 -9.22622236e-02 -1.43820634e-01 1.50430697e+01] [ 9.05082906e-02 9.95720034e-01 -1.87046373e-02 1.12543667e+00] [ 1.44930818e-01 5.41259802e-03 9.89426987e-01 2.25744635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:1.13, Z:2.26 [[ 9.85242360e-01 -9.28152535e-02 -1.43815229e-01 1.51014478e+01] [ 9.10611289e-02 9.95668848e-01 -1.87461021e-02 1.13107303e+00] [ 1.44932268e-01 5.37347677e-03 9.89426987e-01 2.26463518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:1.14, Z:2.27 [[ 9.85898001e-01 -8.55784014e-02 -1.43810531e-01 1.51587305e+01] [ 8.37425284e-02 9.96310405e-01 -1.87820764e-02 1.13760047e+00] [ 1.44887268e-01 6.47415411e-03 9.89426988e-01 2.27049317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:1.15, Z:2.28 [[ 9.86158447e-01 -8.25259108e-02 -1.43808870e-01 1.52167749e+01] [ 8.06559633e-02 9.96564785e-01 -1.87947867e-02 1.14638563e+00] [ 1.44865912e-01 6.93559478e-03 9.89426988e-01 2.27514903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:1.15, Z:2.29 [[ 9.85307783e-01 -9.21353840e-02 -1.43804183e-01 1.52746298e+01] [ 9.03617531e-02 9.95730969e-01 -1.88305824e-02 1.15466729e+00] [ 1.44925241e-01 5.55952132e-03 9.89426989e-01 2.28592487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:1.16, Z:2.30 [[ 9.84899189e-01 -9.64120709e-02 -1.43799514e-01 1.53317196e+01] [ 9.46785175e-02 9.95329114e-01 -1.88661694e-02 1.16346559e+00] [ 1.44946769e-01 4.96655012e-03 9.89426989e-01 2.29866526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:1.17, Z:2.31 [[ 9.84853492e-01 -9.68847806e-02 -1.43794781e-01 1.53884911e+01] [ 9.51509830e-02 9.95283376e-01 -1.89021722e-02 1.16881706e+00] [ 1.44947888e-01 4.93365555e-03 9.89426990e-01 2.31220695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:1.17, Z:2.32 [[ 9.84869847e-01 -9.67208585e-02 -1.43793116e-01 1.54461844e+01] [ 9.49834790e-02 9.95299135e-01 -1.89148304e-02 1.17442345e+00] [ 1.44946623e-01 4.97067572e-03 9.89426990e-01 2.31906685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:15.51, Y:1.18, Z:2.32 [[ 9.85082903e-01 -9.45344276e-02 -1.43787745e-01 1.55051257e+01] [ 9.27679622e-02 9.95507303e-01 -1.89555760e-02 1.18046104e+00] [ 1.44933705e-01 5.33391778e-03 9.89426991e-01 2.32221894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:1.19, Z:2.33 [[ 9.85188883e-01 -9.34307524e-02 -1.43783027e-01 1.55633898e+01] [ 9.16474042e-02 9.95610408e-01 -1.89912942e-02 1.18685259e+00] [ 1.44926249e-01 5.53267075e-03 9.89426992e-01 2.32848458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:1.19, Z:2.34 [[ 9.84923657e-01 -9.61935091e-02 -1.43778297e-01 1.56209696e+01] [ 9.44341859e-02 9.95349264e-01 -1.90270354e-02 1.19463467e+00] [ 1.44939900e-01 5.16259080e-03 9.89426992e-01 2.33863280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:1.20, Z:2.36 [[ 9.84794083e-01 -9.75180084e-02 -1.43773611e-01 1.56772358e+01] [ 9.57675539e-02 9.95221182e-01 -1.90623798e-02 1.20058833e+00] [ 1.44945469e-01 5.00367180e-03 9.89426993e-01 2.35567245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:1.21, Z:2.36 [[ 9.85264338e-01 -9.26489692e-02 -1.43771878e-01 1.57336142e+01] [ 9.08450918e-02 9.95682327e-01 -1.90754413e-02 1.21201307e+00] [ 1.44918438e-01 5.73338258e-03 9.89426993e-01 2.36178727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:1.22, Z:2.37 [[ 9.85934206e-01 -8.52348159e-02 -1.43766362e-01 1.57898846e+01] [ 8.33465856e-02 9.96337237e-01 -1.91169279e-02 1.22265422e+00] [ 1.44869208e-01 6.86559775e-03 9.89426994e-01 2.36965908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:1.23, Z:2.38 [[ 9.85956027e-01 -8.49914558e-02 -1.43760791e-01 1.58461500e+01] [ 8.30945769e-02 9.96357483e-01 -1.91587292e-02 1.23162653e+00] [ 1.44865469e-01 6.94392235e-03 9.89426995e-01 2.37646538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:1.24, Z:2.38 [[ 9.86022232e-01 -8.42263497e-02 -1.43757014e-01 1.59043250e+01] [ 8.23172842e-02 9.96421458e-01 -1.91870276e-02 1.23853463e+00] [ 1.44858627e-01 7.08514881e-03 9.89426995e-01 2.38483145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:1.25, Z:2.40 [[ 9.86026118e-01 -8.41891473e-02 -1.43752155e-01 1.59610583e+01] [ 8.22744050e-02 9.96424299e-01 -1.92233637e-02 1.24616786e+00] [ 1.44856539e-01 7.12761562e-03 9.89426996e-01 2.39872263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:1.25, Z:2.41 [[ 9.85853519e-01 -8.61951415e-02 -1.43747128e-01 1.60176560e+01] [ 8.42961007e-02 9.96254579e-01 -1.92608848e-02 1.25402854e+00] [ 1.44868929e-01 6.87108863e-03 9.89426997e-01 2.40900706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:1.26, Z:2.42 [[ 9.85509443e-01 -9.00467074e-02 -1.43745361e-01 1.60743565e+01] [ 8.81864045e-02 9.95917501e-01 -1.92740650e-02 1.26091176e+00] [ 1.44894087e-01 6.31838651e-03 9.89426997e-01 2.41722464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:1.27, Z:2.42 [[ 9.85135583e-01 -9.40571351e-02 -1.43739828e-01 1.61334284e+01] [ 9.22332121e-02 9.95550077e-01 -1.93152380e-02 1.26608940e+00] [ 1.44916933e-01 5.77054216e-03 9.89426997e-01 2.42035934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:16.19, Y:1.27, Z:2.43 [[ 9.85014267e-01 -9.53264550e-02 -1.43735039e-01 1.61910885e+01] [ 9.35107703e-02 9.95430199e-01 -1.93508090e-02 1.27097813e+00] [ 1.44922843e-01 5.62004870e-03 9.89426998e-01 2.42996412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:16.25, Y:1.28, Z:2.44 [[ 9.85087679e-01 -9.45732137e-02 -1.43729512e-01 1.62486501e+01] [ 9.27435960e-02 9.95501172e-01 -1.93917822e-02 1.27824415e+00] [ 1.44916840e-01 5.77261397e-03 9.89426999e-01 2.44058099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:16.31, Y:1.29, Z:2.45 [[ 9.85251716e-01 -9.28565143e-02 -1.43724475e-01 1.63050381e+01] [ 9.10033275e-02 9.95661040e-01 -1.94290435e-02 1.28798994e+00] [ 1.44904973e-01 6.06309301e-03 9.89427000e-01 2.44510570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:1.29, Z:2.45 [[ 9.84986172e-01 -9.56359067e-02 -1.43722005e-01 1.63630506e+01] [ 9.38094374e-02 9.95400217e-01 -1.94472912e-02 1.29390803e+00] [ 1.44920775e-01 5.67283243e-03 9.89427000e-01 2.45119576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:1.30, Z:2.46 [[ 9.84793686e-01 -9.76052559e-02 -1.43717120e-01 1.64199655e+01] [ 9.57943616e-02 9.95210450e-01 -1.94833314e-02 1.29992280e+00] [ 1.44930455e-01 5.41977202e-03 9.89427000e-01 2.45951720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:16.48, Y:1.30, Z:2.47 [[ 9.84579779e-01 -9.97480795e-02 -1.43711447e-01 1.64776421e+01] [ 9.79537708e-02 9.94999412e-01 -1.95250868e-02 1.30452064e+00] [ 1.44940395e-01 5.14692749e-03 9.89427001e-01 2.46649838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:1.31, Z:2.48 [[ 9.84110827e-01 -1.04280924e-01 -1.43705842e-01 1.65358300e+01] [ 1.02528610e-01 9.94537604e-01 -1.95662500e-02 1.30574818e+00] [ 1.44961251e-01 4.52139815e-03 9.89427002e-01 2.48002248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:1.31, Z:2.49 [[ 9.83219082e-01 -1.12384519e-01 -1.43700929e-01 1.65940109e+01] [ 1.10712899e-01 9.93659099e-01 -1.96022700e-02 1.30787898e+00] [ 1.44992727e-01 3.36377947e-03 9.89427003e-01 2.49155616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:1.31, Z:2.50 [[ 9.82092885e-01 -1.21840142e-01 -1.43696019e-01 1.66516223e+01] [ 1.20263801e-01 9.92547711e-01 -1.96381996e-02 1.30990701e+00] [ 1.45017876e-01 2.00510663e-03 9.89427004e-01 2.50191145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:1.32, Z:2.51 [[ 9.81849820e-01 -1.23790087e-01 -1.43690449e-01 1.67091530e+01] [ 1.22228558e-01 9.92306869e-01 -1.96788731e-02 1.31559684e+00] [ 1.45021068e-01 1.75862172e-03 9.89427004e-01 2.50820113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:1.32, Z:2.52 [[ 9.82045116e-01 -1.22234126e-01 -1.43687886e-01 1.67667980e+01] [ 1.20653295e-01 9.92499264e-01 -1.96975654e-02 1.32420648e+00] [ 1.45017836e-01 2.00748102e-03 9.89427005e-01 2.51596266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:1.33, Z:2.52 [[ 9.82469965e-01 -1.18776868e-01 -1.43683069e-01 1.68234556e+01] [ 1.17154123e-01 9.92917688e-01 -1.97326394e-02 1.33456835e+00] [ 1.45009242e-01 2.55366160e-03 9.89427005e-01 2.52048460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:16.88, Y:1.35, Z:2.53 [[ 9.82790469e-01 -1.16098177e-01 -1.43680577e-01 1.68800147e+01] [ 1.14444308e-01 9.93233310e-01 -1.97507724e-02 1.34800511e+00] [ 1.45001363e-01 2.96744670e-03 9.89427005e-01 2.52898703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:1.36, Z:2.54 [[ 9.82501480e-01 -1.18524739e-01 -1.43675777e-01 1.69366800e+01] [ 1.16891566e-01 9.92947577e-01 -1.97856301e-02 1.35970520e+00] [ 1.45007601e-01 2.64492428e-03 9.89427006e-01 2.54204551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:1.38, Z:2.55 [[ 9.83251428e-01 -1.12139574e-01 -1.43670965e-01 1.69929047e+01] [ 1.10433481e-01 9.93685863e-01 -1.98205096e-02 1.37699481e+00] [ 1.44986470e-01 3.62245962e-03 9.89427007e-01 2.54876075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:1.39, Z:2.56 [[ 9.83832510e-01 -1.06929030e-01 -1.43665497e-01 1.70488098e+01] [ 1.05161912e-01 9.94256783e-01 -1.98600652e-02 1.39125777e+00] [ 1.44964012e-01 4.43083949e-03 9.89427007e-01 2.55795545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:1.40, Z:2.58 [[ 9.83636585e-01 -1.08718811e-01 -1.43663807e-01 1.71046521e+01] [ 1.06968879e-01 9.94063756e-01 -1.98722782e-02 1.40076452e+00] [ 1.44971474e-01 4.17954340e-03 9.89427007e-01 2.57710876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:1.41, Z:2.59 [[ 9.82677890e-01 -1.17073968e-01 -1.43658800e-01 1.71616668e+01] [ 1.15407431e-01 9.93118714e-01 -1.99084097e-02 1.40822403e+00] [ 1.45001000e-01 2.98426098e-03 9.89427008e-01 2.58786734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:1.41, Z:2.60 [[ 9.82156989e-01 -1.21373124e-01 -1.43653103e-01 1.72187021e+01] [ 1.19746293e-01 9.92604073e-01 -1.99494366e-02 1.41479876e+00] [ 1.45011981e-01 2.39155205e-03 9.89427009e-01 2.59599953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:1.42, Z:2.60 [[ 9.81765017e-01 -1.24510424e-01 -1.43647507e-01 1.72769958e+01] [ 1.22911097e-01 9.92216346e-01 -1.99896481e-02 1.42238097e+00] [ 1.45018324e-01 1.96926456e-03 9.89427010e-01 2.59936194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:1.43, Z:2.60 [[ 9.81807286e-01 -1.24182305e-01 -1.43642643e-01 1.73359682e+01] [ 1.22574380e-01 9.92257295e-01 -2.00245435e-02 1.43071011e+00] [ 1.45017154e-01 2.05333477e-03 9.89427010e-01 2.60190537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:1.44, Z:2.61 [[ 9.81964906e-01 -1.22935325e-01 -1.43637842e-01 1.73935301e+01] [ 1.21309103e-01 9.92412082e-01 -2.00589193e-02 1.43814462e+00] [ 1.45013880e-01 2.27257706e-03 9.89427011e-01 2.61057503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:1.45, Z:2.62 [[ 9.82031290e-01 -1.22409636e-01 -1.43632958e-01 1.74507926e+01] [ 1.20772716e-01 9.92476795e-01 -2.00938354e-02 1.44657868e+00] [ 1.45012057e-01 2.38583272e-03 9.89427012e-01 2.62316659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:1.46, Z:2.63 [[ 9.82068037e-01 -1.22120189e-01 -1.43628097e-01 1.75083606e+01] [ 1.20475119e-01 9.92512261e-01 -2.01285226e-02 1.45652377e+00] [ 1.45010746e-01 2.46396665e-03 9.89427012e-01 2.63425243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:17.56, Y:1.47, Z:2.65 [[ 9.81914525e-01 -1.23354217e-01 -1.43623130e-01 1.75649586e+01] [ 1.21717100e-01 9.92359998e-01 -2.01639007e-02 1.46552279e+00] [ 1.45013151e-01 2.31783610e-03 9.89427013e-01 2.64570184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:1.48, Z:2.65 [[ 9.81642181e-01 -1.25505071e-01 -1.43621399e-01 1.76212340e+01] [ 1.23889039e-01 9.92090936e-01 -2.01762221e-02 1.47580543e+00] [ 1.45017706e-01 2.01271353e-03 9.89427013e-01 2.65419485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:17.68, Y:1.49, Z:2.66 [[ 9.81924958e-01 -1.23279729e-01 -1.43615755e-01 1.76778456e+01] [ 1.21634154e-01 9.92369101e-01 -2.02163186e-02 1.48729122e+00] [ 1.45012100e-01 2.38232690e-03 9.89427014e-01 2.65690647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:1.50, Z:2.66 [[ 9.82386722e-01 -1.19547215e-01 -1.43613339e-01 1.77353208e+01] [ 1.17859456e-01 9.92824131e-01 -2.02334639e-02 1.49702798e+00] [ 1.45001643e-01 2.95089621e-03 9.89427014e-01 2.66334761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:1.51, Z:2.67 [[ 9.83108910e-01 -1.13462186e-01 -1.43607811e-01 1.77924426e+01] [ 1.11704116e-01 9.93534706e-01 -2.02726283e-02 1.50860115e+00] [ 1.44979521e-01 3.88861802e-03 9.89427015e-01 2.67361778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:1.52, Z:2.68 [[ 9.83864468e-01 -1.06719031e-01 -1.43602776e-01 1.78493035e+01] [ 1.04884329e-01 9.94277051e-01 -2.03082303e-02 1.51879417e+00] [ 1.44948219e-01 4.91886533e-03 9.89427015e-01 2.68162026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:1.53, Z:2.69 [[ 9.84176526e-01 -1.03809822e-01 -1.43596959e-01 1.79065474e+01] [ 1.01938363e-01 9.94582564e-01 -2.03492762e-02 1.52822694e+00] [ 1.44931487e-01 5.38924095e-03 9.89427016e-01 2.68900276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:1.54, Z:2.69 [[ 9.84357447e-01 -1.02088426e-01 -1.43590983e-01 1.79627648e+01] [ 1.00192641e-01 9.94759080e-01 -2.03913644e-02 1.53655939e+00] [ 1.44920156e-01 5.68563162e-03 9.89427017e-01 2.69480571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:1.54, Z:2.70 [[ 9.84398230e-01 -1.01698059e-01 -1.43588404e-01 1.80195353e+01] [ 9.97955080e-02 9.94798627e-01 -2.04095033e-02 1.54356267e+00] [ 1.44917154e-01 5.76160119e-03 9.89427017e-01 2.70092286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:18.08, Y:1.55, Z:2.71 [[ 9.84681333e-01 -9.89230212e-02 -1.43585893e-01 1.80762884e+01] [ 9.69885932e-02 9.95075848e-01 -2.04271602e-02 1.55030299e+00] [ 1.44899570e-01 6.18804960e-03 9.89427017e-01 2.71092804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:1.56, Z:2.72 [[ 9.84923106e-01 -9.64947857e-02 -1.43580056e-01 1.81331837e+01] [ 9.45287779e-02 9.95311693e-01 -2.04681009e-02 1.55788425e+00] [ 1.44881974e-01 6.58705823e-03 9.89427018e-01 2.71989328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:1.57, Z:2.73 [[ 9.84934876e-01 -9.63832828e-02 -1.43574207e-01 1.81903307e+01] [ 9.44101424e-02 9.95322111e-01 -2.05090500e-02 1.56677490e+00] [ 1.44879312e-01 6.64521731e-03 9.89427019e-01 2.72693377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:1.57, Z:2.74 [[ 9.84705497e-01 -9.87076250e-02 -1.43568410e-01 1.82469605e+01] [ 9.67531121e-02 9.95096252e-01 -2.05495509e-02 1.57254635e+00] [ 1.44892784e-01 6.34456527e-03 9.89427020e-01 2.74055659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:18.30, Y:1.58, Z:2.75 [[ 9.84372771e-01 -1.01980865e-01 -1.43562356e-01 1.83037252e+01] [ 1.00054764e-01 9.94768829e-01 -2.05917583e-02 1.58137053e+00] [ 1.44911322e-01 5.90586859e-03 9.89427021e-01 2.74800702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:18.36, Y:1.59, Z:2.75 [[ 9.84001355e-01 -1.05512788e-01 -1.43556208e-01 1.83608559e+01] [ 1.03617774e-01 9.94403124e-01 -2.06345363e-02 1.58861331e+00] [ 1.44929949e-01 5.42943697e-03 9.89427022e-01 2.75414177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:18.42, Y:1.59, Z:2.76 [[ 9.83570601e-01 -1.09463394e-01 -1.43550127e-01 1.84166170e+01] [ 1.07604011e-01 9.93978797e-01 -2.06767508e-02 1.59417709e+00] [ 1.44949130e-01 4.89047472e-03 9.89427023e-01 2.76474036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:1.60, Z:2.77 [[ 9.83187449e-01 -1.12856330e-01 -1.43547515e-01 1.84734562e+01] [ 1.11030227e-01 9.93601535e-01 -2.06948693e-02 1.60111192e+00] [ 1.44964578e-01 4.40882260e-03 9.89427023e-01 2.77397829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:1.61, Z:2.78 [[ 9.82885087e-01 -1.15467667e-01 -1.43541366e-01 1.85301597e+01] [ 1.13663023e-01 9.93302912e-01 -2.07374362e-02 1.60794285e+00] [ 1.44974560e-01 4.06717122e-03 9.89427024e-01 2.78136887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:1.61, Z:2.79 [[ 9.82555241e-01 -1.18246602e-01 -1.43537242e-01 1.85878099e+01] [ 1.16467263e-01 9.92977418e-01 -2.07659367e-02 1.61477525e+00] [ 1.44984742e-01 3.68629008e-03 9.89427024e-01 2.78868390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:1.62, Z:2.80 [[ 9.82326093e-01 -1.20142289e-01 -1.43531454e-01 1.86448351e+01] [ 1.18377233e-01 9.92750697e-01 -2.08058709e-02 1.62280660e+00] [ 1.44990616e-01 3.44729360e-03 9.89427025e-01 2.79760963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:1.63, Z:2.80 [[ 9.82067412e-01 -1.22245718e-01 -1.43525551e-01 1.87019713e+01] [ 1.20497053e-01 9.92494777e-01 -2.08465123e-02 1.63253429e+00] [ 1.44996757e-01 3.17827444e-03 9.89427026e-01 2.80235330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:1.64, Z:2.81 [[ 9.81958103e-01 -1.23127690e-01 -1.43519535e-01 1.87574781e+01] [ 1.21382352e-01 9.92386025e-01 -2.08878459e-02 1.64115259e+00] [ 1.44998653e-01 3.09025074e-03 9.89427027e-01 2.80985750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:1.65, Z:2.82 [[ 9.81920587e-01 -1.23429535e-01 -1.43516937e-01 1.88137779e+01] [ 1.21684797e-01 9.92348609e-01 -2.09056856e-02 1.64866060e+00] [ 1.44999212e-01 3.06389375e-03 9.89427027e-01 2.82188636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:1.66, Z:2.83 [[ 9.82226533e-01 -1.20977977e-01 -1.43510863e-01 1.88702732e+01] [ 1.19201137e-01 9.92649132e-01 -2.09472998e-02 1.65788457e+00] [ 1.44990095e-01 3.46833570e-03 9.89427028e-01 2.83195607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:1.67, Z:2.84 [[ 9.82877419e-01 -1.15573117e-01 -1.43508999e-01 1.89271987e+01] [ 1.13737110e-01 9.93289759e-01 -2.09600571e-02 1.66678628e+00] [ 1.44968439e-01 4.27886804e-03 9.89427028e-01 2.83941733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:1.68, Z:2.85 [[ 9.83777225e-01 -1.07654981e-01 -1.43501838e-01 1.89840824e+01] [ 1.05728065e-01 9.94173123e-01 -2.10089732e-02 1.67716958e+00] [ 1.44927391e-01 5.49597760e-03 9.89427029e-01 2.84529738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:1.69, Z:2.85 [[ 9.84363148e-01 -1.02161916e-01 -1.43499604e-01 1.90416554e+01] [ 1.00174782e-01 9.94747704e-01 -2.10242238e-02 1.68793381e+00] [ 1.44893776e-01 6.32042964e-03 9.89427029e-01 2.84981645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:1.70, Z:2.86 [[ 9.85095959e-01 -9.48438239e-02 -1.43494251e-01 1.90977950e+01] [ 9.27742738e-02 9.95464405e-01 -2.10606938e-02 1.69935404e+00] [ 1.44840896e-01 7.43422939e-03 9.89427030e-01 2.85536398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:1.71, Z:2.87 [[ 9.84557866e-01 -1.00278353e-01 -1.43492368e-01 1.91545846e+01] [ 9.82641844e-02 9.94937213e-01 -2.10735185e-02 1.70908086e+00] [ 1.44879114e-01 6.64793795e-03 9.89427030e-01 2.86610713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:1.72, Z:2.88 [[ 9.84023631e-01 -1.05398953e-01 -1.43487124e-01 1.92120516e+01] [ 1.03433619e-01 9.94412334e-01 -2.11091632e-02 1.71894359e+00] [ 1.44910250e-01 5.93052289e-03 9.89427030e-01 2.87580709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:1.73, Z:2.88 [[ 9.83844594e-01 -1.07064348e-01 -1.43481844e-01 1.92689399e+01] [ 1.05111384e-01 9.94235629e-01 -2.11449909e-02 1.72779263e+00] [ 1.44918636e-01 5.72180975e-03 9.89427031e-01 2.88358761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:1.74, Z:2.90 [[ 9.83260152e-01 -1.12312774e-01 -1.43475829e-01 1.93258636e+01] [ 1.10409349e-01 9.93660375e-01 -2.11857271e-02 1.73579413e+00] [ 1.44945674e-01 4.99000841e-03 9.89427032e-01 2.89632813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:1.75, Z:2.91 [[ 9.82561481e-01 -1.18275947e-01 -1.43470330e-01 1.93821584e+01] [ 1.16430229e-01 9.92972099e-01 -2.12229053e-02 1.74561113e+00] [ 1.44972194e-01 4.14852590e-03 9.89427033e-01 2.90614038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:1.76, Z:2.92 [[ 9.81778897e-01 -1.24612380e-01 -1.43464111e-01 1.94381231e+01] [ 1.22827736e-01 9.92200158e-01 -2.12648614e-02 1.75613896e+00] [ 1.44994978e-01 3.25602025e-03 9.89427033e-01 2.91535223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:1.76, Z:2.93 [[ 9.81360189e-01 -1.27874986e-01 -1.43457892e-01 1.94931855e+01] [ 1.26118871e-01 9.91786294e-01 -2.13067366e-02 1.76478819e+00] [ 1.45004169e-01 2.81683574e-03 9.89427034e-01 2.92585312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:1.78, Z:2.93 [[ 9.80722077e-01 -1.32684764e-01 -1.43453687e-01 1.95491106e+01] [ 1.30975651e-01 9.91155990e-01 -2.13350101e-02 1.77669694e+00] [ 1.45015812e-01 2.13477538e-03 9.89427035e-01 2.93033961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:1.79, Z:2.94 [[ 9.80357523e-01 -1.35354767e-01 -1.43451085e-01 1.96062521e+01] [ 1.33671514e-01 9.90795639e-01 -2.13524879e-02 1.78754123e+00] [ 1.45020871e-01 1.75774839e-03 9.89427035e-01 2.93783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:1.80, Z:2.95 [[ 9.80263272e-01 -1.36041950e-01 -1.43445130e-01 1.96627139e+01] [ 1.34360172e-01 9.90701624e-01 -2.13924218e-02 1.79878548e+00] [ 1.45021590e-01 1.69689307e-03 9.89427036e-01 2.94558458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:1.81, Z:2.95 [[ 9.80671451e-01 -1.33074034e-01 -1.43439210e-01 1.97190320e+01] [ 1.31354873e-01 9.91103711e-01 -2.14320414e-02 1.81080110e+00] [ 1.45015182e-01 2.17635196e-03 9.89427037e-01 2.95286377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:1.82, Z:2.96 [[ 9.81419049e-01 -1.27450345e-01 -1.43433120e-01 1.97754121e+01] [ 1.25665469e-01 9.91840265e-01 -2.14727210e-02 1.82328091e+00] [ 1.44999450e-01 3.04914710e-03 9.89427037e-01 2.95798594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:1.84, Z:2.96 [[ 9.82787829e-01 -1.16433562e-01 -1.43427017e-01 1.98315064e+01] [ 1.14525969e-01 9.93187281e-01 -2.15134088e-02 1.83580555e+00] [ 1.44954772e-01 4.71699821e-03 9.89427038e-01 2.96448461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:1.85, Z:2.97 [[ 9.83702282e-01 -1.08439153e-01 -1.43425142e-01 1.98874827e+01] [ 1.06445251e-01 9.94085531e-01 -2.15259079e-02 1.84774479e+00] [ 1.44911109e-01 5.90815950e-03 9.89427038e-01 2.97487195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:1.86, Z:2.99 [[ 9.83908431e-01 -1.06560981e-01 -1.43418814e-01 1.99440281e+01] [ 1.04541139e-01 9.94286665e-01 -2.15679825e-02 1.85870525e+00] [ 1.44897720e-01 6.22775373e-03 9.89427039e-01 2.98902575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:1.87, Z:3.00 [[ 9.83709758e-01 -1.08387039e-01 -1.43413252e-01 1.99992363e+01] [ 1.06381090e-01 9.94090686e-01 -2.16049047e-02 1.86898233e+00] [ 1.44907470e-01 5.99649754e-03 9.89427040e-01 2.99764847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:1.88, Z:3.00 [[ 9.83253992e-01 -1.12450034e-01 -1.43410520e-01 2.00563699e+01] [ 1.10484349e-01 9.93642619e-01 -2.16230255e-02 1.87920381e+00] [ 1.44930315e-01 5.41630830e-03 9.89427040e-01 3.00446977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:1.89, Z:3.01 [[ 9.83062669e-01 -1.14118384e-01 -1.43404262e-01 2.01134373e+01] [ 1.12164295e-01 9.93453483e-01 -2.16644490e-02 1.88915671e+00] [ 1.44937776e-01 5.21267308e-03 9.89427041e-01 3.00950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:1.90, Z:3.01 [[ 9.83192528e-01 -1.13002039e-01 -1.43398021e-01 2.01700971e+01] [ 1.11030148e-01 9.93579976e-01 -2.17056813e-02 1.89901272e+00] [ 1.44930189e-01 5.41936011e-03 9.89427042e-01 3.01357410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:1.91, Z:3.02 [[ 9.83401309e-01 -1.11172928e-01 -1.43396111e-01 2.02284052e+01] [ 1.09179881e-01 9.93784720e-01 -2.17182941e-02 1.90793703e+00] [ 1.44919350e-01 5.70182853e-03 9.89427042e-01 3.01814922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:1.92, Z:3.03 [[ 9.83214817e-01 -1.12817180e-01 -1.43390752e-01 2.02858611e+01] [ 1.10836355e-01 9.93600565e-01 -2.17536149e-02 1.91582473e+00] [ 1.44927314e-01 5.49556822e-03 9.89427042e-01 3.02507264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:1.92, Z:3.04 [[ 9.82874578e-01 -1.15751607e-01 -1.43384553e-01 2.03426216e+01] [ 1.13795850e-01 9.93265075e-01 -2.17944001e-02 1.92101095e+00] [ 1.44941606e-01 5.10459463e-03 9.89427043e-01 3.03975113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:1.93, Z:3.05 [[ 9.83118517e-01 -1.13663625e-01 -1.43382575e-01 2.03996926e+01] [ 1.11683908e-01 9.93504475e-01 -2.18074097e-02 1.93010056e+00] [ 1.44929939e-01 5.42574200e-03 9.89427043e-01 3.05137379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:1.94, Z:3.06 [[ 9.83875562e-01 -1.06920064e-01 -1.43377052e-01 2.04565468e+01] [ 1.04863908e-01 9.94246657e-01 -2.18436591e-02 1.93998053e+00] [ 1.44887680e-01 6.45636436e-03 9.89427044e-01 3.05871632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:1.95, Z:3.06 [[ 9.84296600e-01 -1.02980894e-01 -1.43370632e-01 2.05140275e+01] [ 1.00877129e-01 9.94658142e-01 -2.18857196e-02 1.94742335e+00] [ 1.44858577e-01 7.07922174e-03 9.89427045e-01 3.06496468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:20.57, Y:1.96, Z:3.07 [[ 9.84297327e-01 -1.02976706e-01 -1.43368653e-01 2.05709223e+01] [ 1.00871015e-01 9.94658477e-01 -2.18986733e-02 1.95580021e+00] [ 1.44857899e-01 7.09306404e-03 9.89427045e-01 3.07401625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:20.63, Y:1.96, Z:3.09 [[ 9.84062162e-01 -1.05208967e-01 -1.43362247e-01 2.06278304e+01] [ 1.03120698e-01 9.94426837e-01 -2.19405312e-02 1.96240638e+00] [ 1.44871607e-01 6.80723163e-03 9.89427046e-01 3.08548548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:1.97, Z:3.09 [[ 9.83572343e-01 -1.09702055e-01 -1.43355866e-01 2.06855764e+01] [ 1.07655088e-01 9.93945254e-01 -2.19821470e-02 1.96802804e+00] [ 1.44899369e-01 6.18804348e-03 9.89427047e-01 3.09263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:1.97, Z:3.10 [[ 9.83181058e-01 -1.13163199e-01 -1.43349562e-01 2.07425004e+01] [ 1.11146781e-01 9.93559949e-01 -2.20231777e-02 1.97471735e+00] [ 1.44918597e-01 5.71992878e-03 9.89427048e-01 3.10035391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:20.80, Y:1.98, Z:3.11 [[ 9.82888424e-01 -1.15680993e-01 -1.43346618e-01 2.08000339e+01] [ 1.13688375e-01 9.93271911e-01 -2.20423268e-02 1.97803098e+00] [ 1.44932047e-01 5.36830377e-03 9.89427048e-01 3.10923076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:1.98, Z:3.12 [[ 9.83133105e-01 -1.13590891e-01 -1.43340179e-01 2.08575229e+01] [ 1.11570117e-01 9.93511148e-01 -2.20841206e-02 1.98370323e+00] [ 1.44918621e-01 5.71914956e-03 9.89427049e-01 3.11929960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:1.99, Z:3.13 [[ 9.83607787e-01 -1.09412895e-01 -1.43333666e-01 2.09141508e+01] [ 1.07341910e-01 9.93975926e-01 -2.21263086e-02 1.99055899e+00] [ 1.44891117e-01 6.37789984e-03 9.89427050e-01 3.12635495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:2.00, Z:3.13 [[ 9.84071836e-01 -1.05161214e-01 -1.43330875e-01 2.09711348e+01] [ 1.03042817e-01 9.94430392e-01 -2.21443751e-02 1.99739374e+00] [ 1.44861308e-01 7.02243873e-03 9.89427050e-01 3.13397478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:2.01, Z:3.14 [[ 9.84766360e-01 -9.84546343e-02 -1.43324464e-01 2.10295758e+01] [ 9.62597088e-02 9.95108968e-01 -2.21857906e-02 2.00665386e+00] [ 1.44807754e-01 8.05144905e-03 9.89427051e-01 3.13761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:2.02, Z:3.14 [[ 9.84958701e-01 -9.65198441e-02 -1.43318795e-01 2.10867485e+01] [ 9.42993016e-02 9.95295840e-01 -2.22223582e-02 2.01518226e+00] [ 1.44789499e-01 8.37324285e-03 9.89427051e-01 3.14477951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:2.02, Z:3.16 [[ 9.85321412e-01 -9.27470355e-02 -1.43316788e-01 2.11439449e+01] [ 9.04850476e-02 9.95649561e-01 -2.22352896e-02 2.02085439e+00] [ 1.44755555e-01 8.94088052e-03 9.89427051e-01 3.15565763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:2.03, Z:3.16 [[ 9.85264851e-01 -9.33560181e-02 -1.43310246e-01 2.12008376e+01] [ 9.10943161e-02 9.95593062e-01 -2.22773751e-02 2.02849636e+00] [ 1.44758414e-01 8.89436581e-03 9.89427052e-01 3.16454899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:21.26, Y:2.03, Z:3.17 [[ 9.84869352e-01 -9.74428643e-02 -1.43308227e-01 2.12576397e+01] [ 9.52221482e-02 9.95206452e-01 -2.22903588e-02 2.03291859e+00] [ 1.44793308e-01 8.30697405e-03 9.89427052e-01 3.17493736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:21.32, Y:2.04, Z:3.19 [[ 9.84256759e-01 -1.03456208e-01 -1.43301937e-01 2.13150198e+01] [ 1.01292807e-01 9.94606005e-01 -2.23307209e-02 2.03675281e+00] [ 1.44839219e-01 7.46370746e-03 9.89427053e-01 3.18624464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:2.04, Z:3.19 [[ 9.83916390e-01 -1.06653411e-01 -1.43295452e-01 2.13721134e+01] [ 1.04517610e-01 9.94271367e-01 -2.23722622e-02 2.04382169e+00] [ 1.44860643e-01 7.03553743e-03 9.89427054e-01 3.19443441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:2.05, Z:3.20 [[ 9.83383398e-01 -1.11469194e-01 -1.43288909e-01 2.14296045e+01] [ 1.09378032e-01 9.93747480e-01 -2.24140881e-02 2.04809224e+00] [ 1.44891473e-01 6.36898328e-03 9.89427055e-01 3.20071346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:2.06, Z:3.21 [[ 9.82229872e-01 -1.21221365e-01 -1.43282445e-01 2.14863861e+01] [ 1.19227134e-01 9.92613041e-01 -2.24553329e-02 2.05520908e+00] [ 1.44946090e-01 4.97314339e-03 9.89427056e-01 3.20850593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:2.06, Z:3.22 [[ 9.81705190e-01 -1.25407020e-01 -1.43275956e-01 2.15426778e+01] [ 1.23451039e-01 9.92095631e-01 -2.24966629e-02 2.06217885e+00] [ 1.44964690e-01 4.39752508e-03 9.89427057e-01 3.21987960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:21.60, Y:2.07, Z:3.22 [[ 9.81541304e-01 -1.26690521e-01 -1.43269607e-01 2.16008400e+01] [ 1.24742241e-01 9.91933191e-01 -2.25370257e-02 2.07086346e+00] [ 1.44969106e-01 4.24924980e-03 9.89427058e-01 3.22493034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:2.08, Z:3.23 [[ 9.81761343e-01 -1.24980337e-01 -1.43264026e-01 2.16585386e+01] [ 1.23008792e-01 9.92148840e-01 -2.25724488e-02 2.08035035e+00] [ 1.44960349e-01 4.53802294e-03 9.89427058e-01 3.23032894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:21.71, Y:2.09, Z:3.24 [[ 9.82484696e-01 -1.19167529e-01 -1.43258233e-01 2.17149293e+01] [ 1.17129194e-01 9.92859294e-01 -2.26091527e-02 2.08970689e+00] [ 1.44929545e-01 5.43342505e-03 9.89427059e-01 3.23843192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:2.10, Z:3.25 [[ 9.82049414e-01 -1.22710785e-01 -1.43251565e-01 2.17709621e+01] [ 1.20703743e-01 9.92430110e-01 -2.26513273e-02 2.09844193e+00] [ 1.44946728e-01 4.95372272e-03 9.89427060e-01 3.24764219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:21.83, Y:2.11, Z:3.26 [[ 9.81843884e-01 -1.24346950e-01 -1.43249511e-01 2.18263420e+01] [ 1.22355316e-01 9.92227547e-01 -2.26643070e-02 2.10951475e+00] [ 1.44954348e-01 4.72547204e-03 9.89427060e-01 3.25862204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:2.12, Z:3.27 [[ 9.81843616e-01 -1.24351383e-01 -1.43247501e-01 2.18836286e+01] [ 1.22357945e-01 9.92226933e-01 -2.26770069e-02 2.12136897e+00] [ 1.44953945e-01 4.73780470e-03 9.89427060e-01 3.26796901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:2.13, Z:3.28 [[ 9.81979863e-01 -1.23277447e-01 -1.43241819e-01 2.19394840e+01] [ 1.21267433e-01 9.92359983e-01 -2.27128389e-02 2.13495356e+00] [ 1.44947430e-01 4.93298279e-03 9.89427061e-01 3.27759372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:2.15, Z:3.29 [[ 9.82030681e-01 -1.22875467e-01 -1.43238822e-01 2.19952940e+01] [ 1.20858453e-01 9.92409443e-01 -2.27317215e-02 2.14613129e+00] [ 1.44944731e-01 5.01162543e-03 9.89427061e-01 3.28735756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:2.16, Z:3.29 [[ 9.82374215e-01 -1.20105765e-01 -1.43232351e-01 2.20517459e+01] [ 1.18053565e-01 9.92746076e-01 -2.27724287e-02 2.15962765e+00] [ 1.44928454e-01 5.46195710e-03 9.89427062e-01 3.29448151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:2.17, Z:3.30 [[ 9.82782075e-01 -1.16729452e-01 -1.43225791e-01 2.21087307e+01] [ 1.14635633e-01 9.93145614e-01 -2.28136114e-02 2.17182181e+00] [ 1.44907086e-01 6.00202910e-03 9.89427062e-01 3.29892517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:2.18, Z:3.30 [[ 9.83332844e-01 -1.11997617e-01 -1.43223784e-01 2.21659485e+01] [ 1.09852109e-01 9.93685805e-01 -2.28262027e-02 2.18399769e+00] [ 1.44875922e-01 6.71232011e-03 9.89427063e-01 3.30408390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:2.19, Z:3.31 [[ 9.83480076e-01 -1.10705512e-01 -1.43217421e-01 2.22220637e+01] [ 1.08540612e-01 9.93828999e-01 -2.28660600e-02 2.19396298e+00] [ 1.44865025e-01 6.94340791e-03 9.89427063e-01 3.31299284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:2.20, Z:3.32 [[ 9.83397213e-01 -1.11447905e-01 -1.43210633e-01 2.22788916e+01] [ 1.09284653e-01 9.93746479e-01 -2.29084961e-02 2.20397415e+00] [ 1.44868166e-01 6.87742692e-03 9.89427064e-01 3.32078937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:2.21, Z:3.33 [[ 9.83088582e-01 -1.14140923e-01 -1.43208552e-01 2.23359385e+01] [ 1.12004134e-01 9.93443345e-01 -2.29214954e-02 2.21378409e+00] [ 1.44885864e-01 6.49391048e-03 9.89427064e-01 3.32822766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:2.22, Z:3.34 [[ 9.82771025e-01 -1.16851710e-01 -1.43201924e-01 2.23924821e+01] [ 1.14737475e-01 9.93130415e-01 -2.29628294e-02 2.22296200e+00] [ 1.44901432e-01 6.13657619e-03 9.89427065e-01 3.33516773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:2.23, Z:3.35 [[ 9.81971651e-01 -1.23396780e-01 -1.43195363e-01 2.24498182e+01] [ 1.21345663e-01 9.92343721e-01 -2.30036705e-02 2.22897120e+00] [ 1.44937599e-01 5.21281600e-03 9.89427066e-01 3.34867832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:2.24, Z:3.36 [[ 9.80915171e-01 -1.31537516e-01 -1.43189764e-01 2.25064349e+01] [ 1.29567424e-01 9.91302936e-01 -2.30384712e-02 2.23597348e+00] [ 1.44974857e-01 4.04605702e-03 9.89427067e-01 3.36016998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:2.24, Z:3.37 [[ 9.80243926e-01 -1.36451812e-01 -1.43187805e-01 2.25630804e+01] [ 1.34532029e-01 9.90641106e-01 -2.30506389e-02 2.24285897e+00] [ 1.44993027e-01 3.33190286e-03 9.89427067e-01 3.36906711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:2.25, Z:3.38 [[ 9.79427300e-01 -1.42201547e-01 -1.43181300e-01 2.26194278e+01] [ 1.40336912e-01 9.89834510e-01 -2.30909768e-02 2.24928696e+00] [ 1.45009365e-01 2.52231164e-03 9.89427068e-01 3.37580644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:2.26, Z:3.38 [[ 9.78966152e-01 -1.45345071e-01 -1.43178504e-01 2.26757321e+01] [ 1.43511322e-01 9.89378849e-01 -2.31083005e-02 2.25599819e+00] [ 1.45016461e-01 2.07450753e-03 9.89427068e-01 3.38326433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:2.26, Z:3.39 [[ 9.79178839e-01 -1.43907958e-01 -1.43175768e-01 2.27334526e+01] [ 1.42056451e-01 9.89588393e-01 -2.31252406e-02 2.26396390e+00] [ 1.45012985e-01 2.30470477e-03 9.89427068e-01 3.39174189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:2.28, Z:3.40 [[ 9.80367639e-01 -1.35578771e-01 -1.43170143e-01 2.27911252e+01] [ 1.33633765e-01 9.90760128e-01 -2.31600137e-02 2.27739449e+00] [ 1.44987276e-01 3.57296272e-03 9.89427068e-01 3.39530461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:2.29, Z:3.40 [[ 9.81246758e-01 -1.29068707e-01 -1.43164479e-01 2.28474589e+01] [ 1.27049669e-01 9.91625118e-01 -2.31949763e-02 2.28791992e+00] [ 1.44959239e-01 4.57099577e-03 9.89427069e-01 3.40460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:2.30, Z:3.42 [[ 9.81766361e-01 -1.25062336e-01 -1.43158043e-01 2.29031405e+01] [ 1.22995177e-01 9.92135242e-01 -2.32346312e-02 2.29830291e+00] [ 1.44937917e-01 5.20323059e-03 9.89427070e-01 3.41574587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:2.31, Z:3.42 [[ 9.82036889e-01 -1.22927814e-01 -1.43151325e-01 2.29594783e+01] [ 1.20832104e-01 9.92400037e-01 -2.32759506e-02 2.30972671e+00] [ 1.44924641e-01 5.56056637e-03 9.89427071e-01 3.42438310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:2.32, Z:3.44 [[ 9.82332670e-01 -1.20543826e-01 -1.43149264e-01 2.30163655e+01] [ 1.18421127e-01 9.92690323e-01 -2.32886144e-02 2.31968209e+00] [ 1.44910188e-01 5.92526959e-03 9.89427071e-01 3.43732814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:23.07, Y:2.33, Z:3.44 [[ 9.82319567e-01 -1.20657378e-01 -1.43143510e-01 2.30724733e+01] [ 1.18530739e-01 9.92676412e-01 -2.33239290e-02 2.33086999e+00] [ 1.44909390e-01 5.94464580e-03 9.89427071e-01 3.44490273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:2.34, Z:3.45 [[ 9.82088803e-01 -1.22529151e-01 -1.43136961e-01 2.31290091e+01] [ 1.20416414e-01 9.92448492e-01 -2.33640506e-02 2.33972769e+00] [ 1.44918839e-01 5.70953288e-03 9.89427072e-01 3.45387686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:2.35, Z:3.46 [[ 9.81796724e-01 -1.24855363e-01 -1.43130467e-01 2.31868202e+01] [ 1.22761391e-01 9.92160221e-01 -2.34037689e-02 2.34880592e+00] [ 1.44930442e-01 5.40684839e-03 9.89427073e-01 3.46127865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:23.24, Y:2.36, Z:3.47 [[ 9.81272068e-01 -1.28920476e-01 -1.43124557e-01 2.32445396e+01] [ 1.26864186e-01 9.91643107e-01 -2.34398560e-02 2.35766388e+00] [ 1.44950358e-01 4.84349557e-03 9.89427074e-01 3.46930708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:23.30, Y:2.37, Z:3.48 [[ 9.80797115e-01 -1.32491730e-01 -1.43118698e-01 2.33018325e+01] [ 1.30467999e-01 9.91174555e-01 -2.34755770e-02 2.36583562e+00] [ 1.44965931e-01 4.35236801e-03 9.89427074e-01 3.47674520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:2.37, Z:3.48 [[ 9.80260844e-01 -1.36404926e-01 -1.43116643e-01 2.33585649e+01] [ 1.34420800e-01 9.90645930e-01 -2.34880975e-02 2.37387340e+00] [ 1.44981812e-01 3.78660855e-03 9.89427075e-01 3.48453383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:2.38, Z:3.50 [[ 9.80231680e-01 -1.36621260e-01 -1.43110045e-01 2.34148428e+01] [ 1.34633571e-01 9.90616083e-01 -2.35282310e-02 2.38189360e+00] [ 1.44981569e-01 3.79570103e-03 9.89427075e-01 3.49506993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:2.39, Z:3.51 [[ 9.80836514e-01 -1.32216491e-01 -1.43103225e-01 2.34707988e+01] [ 1.30176138e-01 9.91210697e-01 -2.35696392e-02 2.39039089e+00] [ 1.44961742e-01 4.48933759e-03 9.89427076e-01 3.50575704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:2.40, Z:3.51 [[ 9.81770060e-01 -1.25098430e-01 -1.43101123e-01 2.35278975e+01] [ 1.22981023e-01 9.92128791e-01 -2.35823945e-02 2.40129144e+00] [ 1.44924865e-01 5.55376628e-03 9.89427076e-01 3.51254776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:2.41, Z:3.52 [[ 9.82255688e-01 -1.21234247e-01 -1.43094449e-01 2.35845684e+01] [ 1.19070217e-01 9.92604778e-01 -2.36228216e-02 2.40880955e+00] [ 1.44900129e-01 6.16536375e-03 9.89427077e-01 3.52129844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:2.42, Z:3.53 [[ 9.82474893e-01 -1.19452852e-01 -1.43087740e-01 2.36411648e+01] [ 1.17264162e-01 9.92818795e-01 -2.36633933e-02 2.41720855e+00] [ 1.44886857e-01 6.46962591e-03 9.89427078e-01 3.52945297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:2.42, Z:3.54 [[ 9.82692380e-01 -1.17658697e-01 -1.43080805e-01 2.36980021e+01] [ 1.15445042e-01 9.93030968e-01 -2.37052490e-02 2.42414515e+00] [ 1.44872799e-01 6.77699795e-03 9.89427079e-01 3.53907070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:23.76, Y:2.43, Z:3.55 [[ 9.82306224e-01 -1.20844063e-01 -1.43077584e-01 2.37560746e+01] [ 1.18661115e-01 9.92651338e-01 -2.37246777e-02 2.43244155e+00] [ 1.44893141e-01 6.32715304e-03 9.89427079e-01 3.54732570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:2.44, Z:3.56 [[ 9.81585668e-01 -1.26570477e-01 -1.43071629e-01 2.38125549e+01] [ 1.24442676e-01 9.91942265e-01 -2.37605320e-02 2.43775828e+00] [ 1.44926178e-01 5.51878117e-03 9.89427080e-01 3.55560045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:2.45, Z:3.56 [[ 9.81040377e-01 -1.30733012e-01 -1.43068717e-01 2.38697451e+01] [ 1.28646608e-01 9.91405393e-01 -2.37780571e-02 2.44537786e+00] [ 1.44947674e-01 4.92192900e-03 9.89427080e-01 3.56494398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:2.45, Z:3.57 [[ 9.80453693e-01 -1.35069624e-01 -1.43062061e-01 2.39266846e+01] [ 1.33023244e-01 9.90826684e-01 -2.38180325e-02 2.45149396e+00] [ 1.44966801e-01 4.32189831e-03 9.89427081e-01 3.57475187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:2.46, Z:3.58 [[ 9.80029836e-01 -1.38118488e-01 -1.43055249e-01 2.39844426e+01] [ 1.36098423e-01 9.90407983e-01 -2.38588785e-02 2.45891171e+00] [ 1.44978413e-01 3.91281900e-03 9.89427081e-01 3.58168484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:2.47, Z:3.59 [[ 9.79843561e-01 -1.39440744e-01 -1.43048502e-01 2.40424443e+01] [ 1.37428793e-01 9.90223284e-01 -2.38992624e-02 2.46693537e+00] [ 1.44982489e-01 3.75855530e-03 9.89427082e-01 3.59170039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:2.48, Z:3.60 [[ 9.79790924e-01 -1.39816225e-01 -1.43042542e-01 2.40989628e+01] [ 1.37803055e-01 9.90170409e-01 -2.39348843e-02 2.47511866e+00] [ 1.44982977e-01 3.73948312e-03 9.89427083e-01 3.60129842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:2.49, Z:3.61 [[ 9.79615793e-01 -1.41040184e-01 -1.43040433e-01 2.41562364e+01] [ 1.39038144e-01 9.89997431e-01 -2.39474814e-02 2.48557936e+00] [ 1.44987218e-01 3.57125469e-03 9.89427083e-01 3.60764472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:2.50, Z:3.62 [[ 9.79179130e-01 -1.44047178e-01 -1.43033708e-01 2.42133310e+01] [ 1.42071166e-01 9.89565753e-01 -2.39875838e-02 2.49535453e+00] [ 1.44996602e-01 3.16717579e-03 9.89427084e-01 3.61917683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:2.51, Z:3.63 [[ 9.78246016e-01 -1.50259004e-01 -1.43027841e-01 2.42705925e+01] [ 1.48343849e-01 9.88644032e-01 -2.40225131e-02 2.50625473e+00] [ 1.45013220e-01 2.28262717e-03 9.89427084e-01 3.63019599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:2.51, Z:3.64 [[ 9.77525906e-01 -1.54880065e-01 -1.43021914e-01 2.43275709e+01] [ 1.53008913e-01 9.87931929e-01 -2.40577508e-02 2.51447505e+00] [ 1.45021981e-01 1.63344713e-03 9.89427085e-01 3.63861131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:24.38, Y:2.52, Z:3.65 [[ 9.76829708e-01 -1.59213842e-01 -1.43019835e-01 2.43846023e+01] [ 1.57387051e-01 9.87243611e-01 -2.40701007e-02 2.52482782e+00] [ 1.45027712e-01 1.00291933e-03 9.89427085e-01 3.64647133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:24.44, Y:2.54, Z:3.65 [[ 9.76639119e-01 -1.60384660e-01 -1.43013261e-01 2.44415557e+01] [ 1.58564641e-01 9.87054206e-01 -2.41091029e-02 2.53598537e+00] [ 1.45028571e-01 8.69046713e-04 9.89427086e-01 3.65071313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:24.50, Y:2.55, Z:3.66 [[ 9.77220548e-01 -1.56809120e-01 -1.43006645e-01 2.44991705e+01] [ 1.54945262e-01 9.87627878e-01 -2.41482804e-02 2.54677041e+00] [ 1.45024020e-01 1.43999365e-03 9.89427087e-01 3.65864965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:24.56, Y:2.56, Z:3.67 [[ 9.77769591e-01 -1.53353791e-01 -1.43000844e-01 2.45560953e+01] [ 1.51448140e-01 9.88169350e-01 -2.41825850e-02 2.55909820e+00] [ 1.45017542e-01 1.98778442e-03 9.89427087e-01 3.66901550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:2.57, Z:3.68 [[ 9.78702064e-01 -1.47291094e-01 -1.42995119e-01 2.46130824e+01] [ 1.45316089e-01 9.89088874e-01 -2.42163919e-02 2.57253676e+00] [ 1.45001740e-01 2.92114126e-03 9.89427088e-01 3.67942165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:2.58, Z:3.69 [[ 9.78978408e-01 -1.45448763e-01 -1.42989281e-01 2.46693807e+01] [ 1.43449187e-01 9.89360515e-01 -2.42508125e-02 2.58301434e+00] [ 1.44995200e-01 3.22932569e-03 9.89427089e-01 3.68781267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:2.59, Z:3.70 [[ 9.79471435e-01 -1.42097586e-01 -1.42982460e-01 2.47255420e+01] [ 1.40056634e-01 9.89845487e-01 -2.42909635e-02 2.59486429e+00] [ 1.44982230e-01 3.76666279e-03 9.89427089e-01 3.69579238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:2.61, Z:3.70 [[ 9.80091770e-01 -1.37760951e-01 -1.42975671e-01 2.47814671e+01] [ 1.35668288e-01 9.90455514e-01 -2.43308620e-02 2.60697805e+00] [ 1.44962884e-01 4.44921316e-03 9.89427090e-01 3.70386473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:2.62, Z:3.71 [[ 9.80508470e-01 -1.34770514e-01 -1.42968701e-01 2.48383204e+01] [ 1.32640290e-01 9.90864557e-01 -2.43717486e-02 2.62013876e+00] [ 1.44947212e-01 4.93329596e-03 9.89427091e-01 3.71044769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:2.63, Z:3.72 [[ 9.80715375e-01 -1.33263973e-01 -1.42961770e-01 2.48963684e+01] [ 1.31111932e-01 9.91066950e-01 -2.44123390e-02 2.63210091e+00] [ 1.44937970e-01 5.19756231e-03 9.89427092e-01 3.71553370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:24.95, Y:2.64, Z:3.73 [[ 9.80940766e-01 -1.31601189e-01 -1.42955732e-01 2.49527698e+01] [ 1.29426464e-01 9.91287598e-01 -2.44476465e-02 2.64479713e+00] [ 1.44927583e-01 5.47943819e-03 9.89427092e-01 3.72529223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:2.66, Z:3.74 [[ 9.80832540e-01 -1.32412997e-01 -1.42948687e-01 2.50093945e+01] [ 1.30240852e-01 9.91179913e-01 -2.44887701e-02 2.65604426e+00] [ 1.44930499e-01 5.40162373e-03 9.89427093e-01 3.73520354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:2.67, Z:3.74 [[ 9.80360872e-01 -1.35867506e-01 -1.42942580e-01 2.50659940e+01] [ 1.33726642e-01 9.90714763e-01 -2.45243671e-02 2.66579357e+00] [ 1.44947388e-01 4.92749873e-03 9.89427094e-01 3.74457232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:2.67, Z:3.76 [[ 9.79312524e-01 -1.43230634e-01 -1.42940427e-01 2.51233148e+01] [ 1.41165807e-01 9.89681845e-01 -2.45369053e-02 2.67461031e+00] [ 1.44979982e-01 3.85099787e-03 9.89427094e-01 3.75601209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:25.18, Y:2.68, Z:3.77 [[ 9.78594027e-01 -1.48065886e-01 -1.42934331e-01 2.51795003e+01] [ 1.46047123e-01 9.88972415e-01 -2.45723651e-02 2.68366406e+00] [ 1.44996440e-01 3.17122188e-03 9.89427095e-01 3.76684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:2.69, Z:3.78 [[ 9.78383127e-01 -1.49459749e-01 -1.42927398e-01 2.52366323e+01] [ 1.47449892e-01 9.88763242e-01 -2.46126315e-02 2.69340164e+00] [ 1.44999955e-01 3.00595406e-03 9.89427096e-01 3.77533631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:2.71, Z:3.78 [[ 9.78459783e-01 -1.48963649e-01 -1.42920551e-01 2.52938693e+01] [ 1.46942735e-01 9.88837750e-01 -2.46523245e-02 2.70677783e+00] [ 1.44997536e-01 3.12017148e-03 9.89427096e-01 3.77881587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:2.72, Z:3.79 [[ 9.78721467e-01 -1.47241328e-01 -1.42913548e-01 2.53501959e+01] [ 1.45196235e-01 9.89094695e-01 -2.46928567e-02 2.71922615e+00] [ 1.44990841e-01 3.41691979e-03 9.89427097e-01 3.78723562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:2.73, Z:3.80 [[ 9.78928876e-01 -1.45862803e-01 -1.42906606e-01 2.54061206e+01] [ 1.43797251e-01 9.89298050e-01 -2.47329669e-02 2.72975826e+00] [ 1.44984847e-01 3.66223829e-03 9.89427098e-01 3.79716129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:2.74, Z:3.81 [[ 9.79349629e-01 -1.43017520e-01 -1.42899591e-01 2.54619918e+01] [ 1.40915946e-01 9.89711561e-01 -2.47734310e-02 2.74153296e+00] [ 1.44972412e-01 4.12501936e-03 9.89427099e-01 3.80853032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:2.75, Z:3.81 [[ 9.79692290e-01 -1.40658252e-01 -1.42892520e-01 2.55186516e+01] [ 1.38525793e-01 9.90047909e-01 -2.48141510e-02 2.75323587e+00] [ 1.44960756e-01 4.51593265e-03 9.89427100e-01 3.81418061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:25.57, Y:2.76, Z:3.82 [[ 9.79751106e-01 -1.40255249e-01 -1.42885391e-01 2.55749434e+01] [ 1.38112559e-01 9.90104612e-01 -2.48551347e-02 2.76233949e+00] [ 1.44957548e-01 4.61757861e-03 9.89427101e-01 3.82336942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:2.77, Z:3.83 [[ 9.79761282e-01 -1.40191495e-01 -1.42878184e-01 2.56318019e+01] [ 1.38042106e-01 9.90113398e-01 -2.48964984e-02 2.77303814e+00] [ 1.44955881e-01 4.66941981e-03 9.89427101e-01 3.83091114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:2.78, Z:3.84 [[ 9.79796385e-01 -1.39953390e-01 -1.42870898e-01 2.56890066e+01] [ 1.37795405e-01 9.90146712e-01 -2.49382387e-02 2.78239293e+00] [ 1.44953341e-01 4.74744283e-03 9.89427102e-01 3.83620779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:2.79, Z:3.84 [[ 9.79275672e-01 -1.43554949e-01 -1.42867543e-01 2.57459962e+01] [ 1.41432236e-01 9.89633290e-01 -2.49574467e-02 2.79187075e+00] [ 1.44969241e-01 4.23414443e-03 9.89427102e-01 3.84255216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:2.80, Z:3.85 [[ 9.78895224e-01 -1.46133628e-01 -1.42860436e-01 2.58031062e+01] [ 1.44032278e-01 9.89257196e-01 -2.49980627e-02 2.80079610e+00] [ 1.44978772e-01 3.89397020e-03 9.89427103e-01 3.85291125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:2.81, Z:3.86 [[ 9.78742177e-01 -1.47161190e-01 -1.42854245e-01 2.58596197e+01] [ 1.45065566e-01 9.89105308e-01 -2.50333923e-02 2.81049536e+00] [ 1.44981835e-01 3.77800511e-03 9.89427104e-01 3.86380175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:2.82, Z:3.87 [[ 9.78926164e-01 -1.45939073e-01 -1.42847303e-01 2.59163513e+01] [ 1.43824745e-01 9.89285495e-01 -2.50729422e-02 2.82302970e+00] [ 1.44975887e-01 3.99958222e-03 9.89427105e-01 3.87171542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:2.84, Z:3.88 [[ 9.79411565e-01 -1.42652107e-01 -1.42840339e-01 2.59724202e+01] [ 1.40497244e-01 9.89762539e-01 -2.51125514e-02 2.83728790e+00] [ 1.44960375e-01 4.52684920e-03 9.89427106e-01 3.87749931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:2.85, Z:3.88 [[ 9.79436325e-01 -1.42488990e-01 -1.42833372e-01 2.60294150e+01] [ 1.40326640e-01 9.89785737e-01 -2.51521164e-02 2.84980549e+00] [ 1.44958334e-01 4.59156919e-03 9.89427106e-01 3.88494306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:2.86, Z:3.89 [[ 9.79318115e-01 -1.43305448e-01 -1.42827090e-01 2.60860311e+01] [ 1.41146535e-01 9.89668244e-01 -2.51877404e-02 2.86185685e+00] [ 1.44960976e-01 4.50726158e-03 9.89427107e-01 3.89366307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:2.87, Z:3.90 [[ 9.79388217e-01 -1.42832766e-01 -1.42819895e-01 2.61422648e+01] [ 1.40662924e-01 9.89736059e-01 -2.52284744e-02 2.87370159e+00] [ 1.44957452e-01 4.61900657e-03 9.89427108e-01 3.90117038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:2.89, Z:3.91 [[ 9.79807986e-01 -1.39926479e-01 -1.42817685e-01 2.61986437e+01] [ 1.37724127e-01 9.90148957e-01 -2.52409751e-02 2.88559570e+00] [ 1.44942663e-01 5.06186784e-03 9.89427108e-01 3.90856867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:2.90, Z:3.92 [[ 9.80296205e-01 -1.36471365e-01 -1.42810770e-01 2.62551999e+01] [ 1.34226888e-01 9.90628115e-01 -2.52800413e-02 2.89761139e+00] [ 1.44922366e-01 5.61288324e-03 9.89427109e-01 3.91775348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:26.31, Y:2.91, Z:3.93 [[ 9.80410409e-01 -1.35656212e-01 -1.42803436e-01 2.63119743e+01] [ 1.33397130e-01 9.90739134e-01 -2.53214041e-02 2.90850432e+00] [ 1.44915958e-01 5.77579962e-03 9.89427110e-01 3.92716688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:26.37, Y:2.92, Z:3.94 [[ 9.80252425e-01 -1.36800794e-01 -1.42796102e-01 2.63683754e+01] [ 1.34547767e-01 9.90582471e-01 -2.53626979e-02 2.91736356e+00] [ 1.44920952e-01 5.64894955e-03 9.89427110e-01 3.93521590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:2.93, Z:3.94 [[ 9.79982382e-01 -1.38724369e-01 -1.42793837e-01 2.64251690e+01] [ 1.36489765e-01 9.90316430e-01 -2.53754430e-02 2.92681917e+00] [ 1.44931275e-01 5.37758990e-03 9.89427111e-01 3.94291772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:2.94, Z:3.95 [[ 9.79570985e-01 -1.41607599e-01 -1.42786460e-01 2.64817022e+01] [ 1.39397382e-01 9.89910275e-01 -2.54168832e-02 2.93674866e+00] [ 1.44945008e-01 4.99358254e-03 9.89427111e-01 3.94726315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:2.94, Z:3.96 [[ 9.78930828e-01 -1.45969540e-01 -1.42784198e-01 2.65398098e+01] [ 1.43803548e-01 9.89279473e-01 -2.54295878e-02 2.94285474e+00] [ 1.44965421e-01 4.36093322e-03 9.89427112e-01 3.95584842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:2.95, Z:3.96 [[ 9.78467174e-01 -1.49051903e-01 -1.42777866e-01 2.65971531e+01] [ 1.46913338e-01 9.88821521e-01 -2.54650882e-02 2.95130613e+00] [ 1.44977447e-01 3.94077995e-03 9.89427112e-01 3.96405291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:2.96, Z:3.97 [[ 9.78055939e-01 -1.51732867e-01 -1.42771555e-01 2.66545435e+01] [ 1.49617532e-01 9.88415056e-01 -2.55004208e-02 2.95931630e+00] [ 1.44986807e-01 3.57971021e-03 9.89427113e-01 3.97313261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:2.97, Z:3.98 [[ 9.78034038e-01 -1.51880781e-01 -1.42764310e-01 2.67111181e+01] [ 1.49761104e-01 9.88392267e-01 -2.55409206e-02 2.96779265e+00] [ 1.44986315e-01 3.59934905e-03 9.89427114e-01 3.98110743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:2.98, Z:3.99 [[ 9.78083871e-01 -1.51566358e-01 -1.42757065e-01 2.67679334e+01] [ 1.49437454e-01 9.88440206e-01 -2.55813543e-02 2.97567615e+00] [ 1.44984095e-01 3.68745782e-03 9.89427114e-01 3.98904266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:26.83, Y:2.98, Z:4.00 [[ 9.77790570e-01 -1.53449191e-01 -1.42754851e-01 2.68262045e+01] [ 1.51338427e-01 9.88150617e-01 -2.55937024e-02 2.98106077e+00] [ 1.44990627e-01 3.42098620e-03 9.89427115e-01 4.00075164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:2.99, Z:4.01 [[ 9.77598506e-01 -1.54673939e-01 -1.42748500e-01 2.68820224e+01] [ 1.52570992e-01 9.87960142e-01 -2.56290766e-02 2.98880840e+00] [ 1.44993978e-01 3.27566666e-03 9.89427115e-01 4.00860855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:3.00, Z:4.01 [[ 9.77396522e-01 -1.55948065e-01 -1.42745365e-01 2.69390619e+01] [ 1.53856080e-01 9.87760377e-01 -2.56465231e-02 2.99660668e+00] [ 1.44997742e-01 3.10458014e-03 9.89427115e-01 4.01456935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:3.00, Z:4.02 [[ 9.76751201e-01 -1.59946448e-01 -1.42738309e-01 2.69968548e+01] [ 1.57891162e-01 9.87122396e-01 -2.56857350e-02 2.99883601e+00] [ 1.45008524e-01 2.55145500e-03 9.89427116e-01 4.02378293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:3.01, Z:4.03 [[ 9.76086111e-01 -1.63962519e-01 -1.42731202e-01 2.70540025e+01] [ 1.61944142e-01 9.86464551e-01 -2.57251684e-02 3.00636209e+00] [ 1.45017235e-01 1.99549751e-03 9.89427117e-01 4.03050900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:3.01, Z:4.04 [[ 9.75483714e-01 -1.67515267e-01 -1.42724069e-01 2.71118151e+01] [ 1.65528909e-01 9.85868329e-01 -2.57646842e-02 3.01212233e+00] [ 1.45023117e-01 1.50807034e-03 9.89427118e-01 4.03997914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:3.02, Z:4.05 [[ 9.75159747e-01 -1.69396174e-01 -1.42717917e-01 2.71685580e+01] [ 1.67424867e-01 9.85547229e-01 -2.57987152e-02 3.01982743e+00] [ 1.45025451e-01 1.26334032e-03 9.89427118e-01 4.04860656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:3.03, Z:4.06 [[ 9.75278270e-01 -1.68718464e-01 -1.42710814e-01 2.72253440e+01] [ 1.66734198e-01 9.85663283e-01 -2.58379475e-02 3.02951822e+00] [ 1.45024148e-01 1.40441562e-03 9.89427119e-01 4.05521331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:3.04, Z:4.06 [[ 9.75787907e-01 -1.65751740e-01 -1.42703610e-01 2.72822546e+01] [ 1.63730092e-01 9.86165708e-01 -2.58776750e-02 3.03880483e+00] [ 1.45018676e-01 1.88624707e-03 9.89427120e-01 4.06352270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:3.05, Z:4.07 [[ 9.76661843e-01 -1.60528449e-01 -1.42696395e-01 2.73379113e+01] [ 1.58445503e-01 9.87027513e-01 -2.59174004e-02 3.04881438e+00] [ 1.45005748e-01 2.70293403e-03 9.89427121e-01 4.07083043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:3.06, Z:4.08 [[ 9.77346259e-01 -1.56310322e-01 -1.42693287e-01 2.73954483e+01] [ 1.54180147e-01 9.87702326e-01 -2.59345020e-02 3.06077309e+00] [ 1.44992322e-01 3.34651661e-03 9.89427121e-01 4.07933074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:3.07, Z:4.09 [[ 9.77731975e-01 -1.53885063e-01 -1.42686973e-01 2.74514457e+01] [ 1.51724141e-01 9.88081670e-01 -2.59691957e-02 3.07083150e+00] [ 1.44982654e-01 3.74185467e-03 9.89427121e-01 4.08884805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:27.51, Y:3.08, Z:4.10 [[ 9.77681305e-01 -1.54208725e-01 -1.42684740e-01 2.75080470e+01] [ 1.52049441e-01 9.88031341e-01 -2.59814575e-02 3.07888833e+00] [ 1.44983563e-01 3.70645028e-03 9.89427122e-01 4.09992837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:27.57, Y:3.09, Z:4.10 [[ 9.77170888e-01 -1.57417392e-01 -1.42677332e-01 2.75657691e+01] [ 1.55286169e-01 9.87526738e-01 -2.60220761e-02 3.09023285e+00] [ 1.44994008e-01 3.27219888e-03 9.89427122e-01 4.10265990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:3.10, Z:4.11 [[ 9.77305452e-01 -1.56586788e-01 -1.42669659e-01 2.76235001e+01] [ 1.54440635e-01 9.87658217e-01 -2.60640794e-02 3.09597637e+00] [ 1.44990151e-01 3.43857414e-03 9.89427123e-01 4.11130988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:3.10, Z:4.12 [[ 9.77149856e-01 -1.57560843e-01 -1.42663025e-01 2.76809094e+01] [ 1.55419719e-01 9.87503662e-01 -2.61003380e-02 3.10335779e+00] [ 1.44992651e-01 3.33129426e-03 9.89427124e-01 4.12053241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:3.11, Z:4.13 [[ 9.77247170e-01 -1.56961989e-01 -1.42656592e-01 2.77382598e+01] [ 1.54809397e-01 9.87598597e-01 -2.61354545e-02 3.11130991e+00] [ 1.44989723e-01 3.45621803e-03 9.89427125e-01 4.13359868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:27.80, Y:3.12, Z:4.14 [[ 9.76211049e-01 -1.63287888e-01 -1.42650109e-01 2.77956715e+01] [ 1.61197222e-01 9.86575160e-01 -2.61707886e-02 3.12151389e+00] [ 1.45008427e-01 2.55341175e-03 9.89427125e-01 4.13867459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:3.13, Z:4.15 [[ 9.74271915e-01 -1.74491549e-01 -1.42642686e-01 2.78522200e+01] [ 1.72514165e-01 9.84658233e-01 -2.62111899e-02 3.13173499e+00] [ 1.45027926e-01 9.28942360e-04 9.89427126e-01 4.15079300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:3.14, Z:4.16 [[ 9.73817839e-01 -1.77014038e-01 -1.42635366e-01 2.79077338e+01] [ 1.75057733e-01 9.84208147e-01 -2.62509603e-02 3.14311151e+00] [ 1.45029678e-01 5.94229534e-04 9.89427127e-01 4.15884626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:3.16, Z:4.16 [[ 9.74468757e-01 -1.73398919e-01 -1.42630488e-01 2.79657777e+01] [ 1.71400192e-01 9.84850989e-01 -2.62774412e-02 3.16106484e+00] [ 1.45026257e-01 1.15965253e-03 9.89427127e-01 4.15692962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:3.18, Z:4.16 [[ 9.75686221e-01 -1.66416895e-01 -1.42624738e-01 2.80228385e+01] [ 1.64339323e-01 9.86052962e-01 -2.63086097e-02 3.17824259e+00] [ 1.45013743e-01 2.23009494e-03 9.89427128e-01 4.16202659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:3.19, Z:4.18 [[ 9.77205667e-01 -1.57254902e-01 -1.42618301e-01 2.80790169e+01] [ 1.55075070e-01 9.87551388e-01 -2.63434621e-02 3.18568932e+00] [ 1.44985539e-01 3.62643750e-03 9.89427128e-01 4.18359779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:3.20, Z:4.19 [[ 9.78078562e-01 -1.51737379e-01 -1.42611693e-01 2.81346313e+01] [ 1.49493990e-01 9.88410687e-01 -2.63791847e-02 3.19954083e+00] [ 1.44961630e-01 4.48132408e-03 9.89427129e-01 4.19002984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:3.21, Z:4.20 [[ 9.78826864e-01 -1.46835956e-01 -1.42608458e-01 2.81909532e+01] [ 1.44538296e-01 9.89147055e-01 -2.63966607e-02 3.21154969e+00] [ 1.44936716e-01 5.22537704e-03 9.89427129e-01 4.19887921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:3.22, Z:4.21 [[ 9.78156532e-01 -1.51244112e-01 -1.42600904e-01 2.82471437e+01] [ 1.48987033e-01 9.88485674e-01 -2.64374072e-02 3.22225805e+00] [ 1.44957453e-01 4.61423692e-03 9.89427130e-01 4.20750995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:3.23, Z:4.22 [[ 9.77949095e-01 -1.52586663e-01 -1.42593403e-01 2.83042830e+01] [ 1.50337880e-01 9.88280045e-01 -2.64778045e-02 3.23223843e+00] [ 1.44962375e-01 4.45675495e-03 9.89427131e-01 4.21803545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:3.24, Z:4.23 [[ 9.77336129e-01 -1.56470823e-01 -1.42586720e-01 2.83599051e+01] [ 1.54257863e-01 9.87674811e-01 -2.65137478e-02 3.24098296e+00] [ 1.44977939e-01 3.91772102e-03 9.89427131e-01 4.22739144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:28.42, Y:3.26, Z:4.22 [[ 9.75790078e-01 -1.65842354e-01 -1.42583438e-01 2.84183218e+01] [ 1.63726132e-01 9.86148995e-01 -2.65313840e-02 3.25866411e+00] [ 1.45008541e-01 2.54442653e-03 9.89427132e-01 4.22190821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:28.48, Y:3.26, Z:4.24 [[ 9.76487151e-01 -1.61693334e-01 -1.42576680e-01 2.84750634e+01] [ 1.59527807e-01 9.86835872e-01 -2.65676541e-02 3.26184930e+00] [ 1.44995595e-01 3.19802779e-03 9.89427132e-01 4.23544358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:3.27, Z:4.25 [[ 9.76802831e-01 -1.59777324e-01 -1.42574321e-01 2.85314944e+01] [ 1.57589654e-01 9.87146893e-01 -2.65803060e-02 3.27197690e+00] [ 1.44988728e-01 3.49548030e-03 9.89427132e-01 4.24526975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:3.28, Z:4.25 [[ 9.77227370e-01 -1.57161933e-01 -1.42572064e-01 2.85886926e+01] [ 1.54944816e-01 9.87565161e-01 -2.65924058e-02 3.28427726e+00] [ 1.44978517e-01 3.89602458e-03 9.89427132e-01 4.25484926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:3.29, Z:4.27 [[ 9.77376512e-01 -1.56237665e-01 -1.42565587e-01 2.86461666e+01] [ 1.54005718e-01 9.87711110e-01 -2.66270851e-02 3.29419053e+00] [ 1.44973768e-01 4.06877188e-03 9.89427133e-01 4.26589874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:3.30, Z:4.28 [[ 9.77338060e-01 -1.56483900e-01 -1.42559131e-01 2.87031116e+01] [ 1.54249525e-01 9.87672133e-01 -2.66616042e-02 3.30392803e+00] [ 1.44973793e-01 4.06772213e-03 9.89427134e-01 4.27691627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:3.31, Z:4.28 [[ 9.77331880e-01 -1.56528518e-01 -1.42552516e-01 2.87600312e+01] [ 1.54289467e-01 9.87664940e-01 -2.66969298e-02 3.31478581e+00] [ 1.44972953e-01 4.09740889e-03 9.89427134e-01 4.28158648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:3.33, Z:4.29 [[ 9.77155105e-01 -1.57630404e-01 -1.42550191e-01 2.88180398e+01] [ 1.55401197e-01 9.87490293e-01 -2.67093363e-02 3.32555930e+00] [ 1.44977134e-01 3.94669390e-03 9.89427134e-01 4.28605710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:3.33, Z:4.29 [[ 9.76813229e-01 -1.59741016e-01 -1.42543763e-01 2.88750548e+01] [ 1.57529145e-01 9.87152141e-01 -2.67435977e-02 3.33483428e+00] [ 1.44984430e-01 3.66870292e-03 9.89427135e-01 4.29327541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:3.34, Z:4.31 [[ 9.76830133e-01 -1.59639636e-01 -1.42541496e-01 2.89315161e+01] [ 1.57424931e-01 9.87168438e-01 -2.67556747e-02 3.34468079e+00] [ 1.44983732e-01 3.69616405e-03 9.89427135e-01 4.30587097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:28.99, Y:3.35, Z:4.32 [[ 9.77049914e-01 -1.58294904e-01 -1.42534868e-01 2.89876948e+01] [ 1.56060830e-01 9.87384050e-01 -2.67909409e-02 3.35461175e+00] [ 1.44977525e-01 3.93197674e-03 9.89427136e-01 4.31769307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:3.37, Z:4.33 [[ 9.77334956e-01 -1.56527504e-01 -1.42532537e-01 2.90443070e+01] [ 1.54272936e-01 9.87664641e-01 -2.68033346e-02 3.36669311e+00] [ 1.44969806e-01 4.20692278e-03 9.89427136e-01 4.32841936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:3.38, Z:4.34 [[ 9.77394945e-01 -1.56158606e-01 -1.42525823e-01 2.91011036e+01] [ 1.53894945e-01 9.87722640e-01 -2.68389875e-02 3.37675123e+00] [ 1.44967122e-01 4.29828690e-03 9.89427136e-01 4.33624755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:3.39, Z:4.34 [[ 9.77689023e-01 -1.54313753e-01 -1.42518207e-01 2.91574796e+01] [ 1.52024724e-01 9.88011125e-01 -2.68793733e-02 3.38844515e+00] [ 1.44957431e-01 4.61337716e-03 9.89427137e-01 4.34456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:29.21, Y:3.40, Z:4.35 [[ 9.78042113e-01 -1.52066871e-01 -1.42510669e-01 2.92139203e+01] [ 1.49748324e-01 9.88357624e-01 -2.69192762e-02 3.40086841e+00] [ 1.44945037e-01 4.98745190e-03 9.89427138e-01 4.35255277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:3.41, Z:4.36 [[ 9.78080858e-01 -1.51824610e-01 -1.42503066e-01 2.92692174e+01] [ 1.49497659e-01 9.88394474e-01 -2.69594668e-02 3.41253940e+00] [ 1.44942354e-01 5.06466357e-03 9.89427139e-01 4.35886090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:3.42, Z:4.37 [[ 9.77829156e-01 -1.53442122e-01 -1.42497918e-01 2.93273044e+01] [ 1.51128277e-01 9.88145720e-01 -2.69866482e-02 3.42338315e+00] [ 1.44949597e-01 4.85286666e-03 9.89427139e-01 4.36508721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:29.39, Y:3.43, Z:4.37 [[ 9.77439300e-01 -1.55912333e-01 -1.42491264e-01 2.93854508e+01] [ 1.53619451e-01 9.87760543e-01 -2.70217398e-02 3.43290421e+00] [ 1.44960271e-01 4.52268067e-03 9.89427140e-01 4.37269637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:3.44, Z:4.38 [[ 9.76553018e-01 -1.61376369e-01 -1.42484636e-01 2.94427350e+01] [ 1.59136157e-01 9.86885820e-01 -2.70566440e-02 3.44230652e+00] [ 1.44982370e-01 3.74778992e-03 9.89427141e-01 4.38363364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:3.45, Z:4.40 [[ 9.75770689e-01 -1.66046951e-01 -1.42477972e-01 2.94991151e+01] [ 1.63851088e-01 9.86113006e-01 -2.70916933e-02 3.45282133e+00] [ 1.44997874e-01 3.09010965e-03 9.89427141e-01 4.39677964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:3.46, Z:4.41 [[ 9.75222532e-01 -1.69242210e-01 -1.42471359e-01 2.95549890e+01] [ 1.67075162e-01 9.85570925e-01 -2.71264257e-02 3.46286251e+00] [ 1.45006565e-01 2.65087629e-03 9.89427142e-01 4.40735525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:3.47, Z:4.42 [[ 9.74660773e-01 -1.72454129e-01 -1.42463855e-01 2.96111464e+01] [ 1.70315435e-01 9.85015062e-01 -2.71657759e-02 3.47490676e+00] [ 1.45013893e-01 2.21362267e-03 9.89427143e-01 4.41587611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:3.49, Z:4.42 [[ 9.74421794e-01 -1.73805474e-01 -1.42456396e-01 2.96681315e+01] [ 1.71675430e-01 9.84777865e-01 -2.72048369e-02 3.48695820e+00] [ 1.45016255e-01 2.05272294e-03 9.89427143e-01 4.42177025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:3.50, Z:4.42 [[ 9.74114777e-01 -1.75524086e-01 -1.42448928e-01 2.97266901e+01] [ 1.73406604e-01 9.84473423e-01 -2.72438865e-02 3.49890282e+00] [ 1.45019142e-01 1.83708770e-03 9.89427144e-01 4.42384830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:3.51, Z:4.43 [[ 9.74175680e-01 -1.75190593e-01 -1.42442975e-01 2.97831047e+01] [ 1.73065020e-01 9.84532668e-01 -2.72749757e-02 3.51125803e+00] [ 1.45018081e-01 1.91872179e-03 9.89427145e-01 4.43190018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:3.52, Z:4.44 [[ 9.74551175e-01 -1.73092388e-01 -1.42439578e-01 2.98397824e+01] [ 1.70941926e-01 9.84903024e-01 -2.72927010e-02 3.52325695e+00] [ 1.45013330e-01 2.24923787e-03 9.89427145e-01 4.44316967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:3.53, Z:4.45 [[ 9.75469173e-01 -1.67847275e-01 -1.42433089e-01 2.98956801e+01] [ 1.65636220e-01 9.85808249e-01 -2.73265262e-02 3.53407727e+00] [ 1.44998397e-01 3.06410545e-03 9.89427145e-01 4.45292959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:29.95, Y:3.55, Z:4.46 [[ 9.75978573e-01 -1.64866037e-01 -1.42425471e-01 2.99516973e+01] [ 1.62617620e-01 9.86309587e-01 -2.73661762e-02 3.54625419e+00] [ 1.44987360e-01 3.54791061e-03 9.89427146e-01 4.46074211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:3.56, Z:4.47 [[ 9.76476604e-01 -1.61896908e-01 -1.42417813e-01 3.00073613e+01] [ 1.59611280e-01 9.86799449e-01 -2.74059716e-02 3.55664314e+00] [ 1.44974761e-01 4.02980060e-03 9.89427147e-01 4.46707451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:30.06, Y:3.57, Z:4.48 [[ 9.76773128e-01 -1.60102802e-01 -1.42412599e-01 3.00637946e+01] [ 1.57794272e-01 9.87090875e-01 -2.74330400e-02 3.56579702e+00] [ 1.44966283e-01 4.32396399e-03 9.89427147e-01 4.47594499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:30.12, Y:3.58, Z:4.48 [[ 9.76865392e-01 -1.59546021e-01 -1.42404612e-01 3.01189443e+01] [ 1.57225581e-01 9.87180466e-01 -2.74744365e-02 3.57613939e+00] [ 1.44962488e-01 4.44917827e-03 9.89427148e-01 4.48392627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:3.59, Z:4.49 [[ 9.76916180e-01 -1.59239600e-01 -1.42399185e-01 3.01760935e+01] [ 1.56911833e-01 9.87229602e-01 -2.75025368e-02 3.58600058e+00] [ 1.44960184e-01 4.52355610e-03 9.89427149e-01 4.49118651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:3.59, Z:4.50 [[ 9.76766915e-01 -1.60159523e-01 -1.42391432e-01 3.02343811e+01] [ 1.57835632e-01 9.87081211e-01 -2.75426184e-02 3.59436014e+00] [ 1.44963120e-01 4.42827675e-03 9.89427150e-01 4.49680341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:3.60, Z:4.50 [[ 9.76680239e-01 -1.60693253e-01 -1.42384654e-01 3.02921854e+01] [ 1.58369901e-01 9.86994655e-01 -2.75776137e-02 3.60389344e+00] [ 1.44964429e-01 4.38506670e-03 9.89427150e-01 4.50350982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:3.61, Z:4.51 [[ 9.76513456e-01 -1.61709629e-01 -1.42377899e-01 3.03503567e+01] [ 1.59391939e-01 9.86829146e-01 -2.76124457e-02 3.61181110e+00] [ 1.44967859e-01 4.27003544e-03 9.89427151e-01 4.51150247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:3.63, Z:4.52 [[ 9.75647308e-01 -1.66861512e-01 -1.42371229e-01 3.04078539e+01] [ 1.64593292e-01 9.85973987e-01 -2.76467920e-02 3.62722400e+00] [ 1.44987514e-01 3.54016883e-03 9.89427151e-01 4.51545814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:3.63, Z:4.53 [[ 9.75628014e-01 -1.66980234e-01 -1.42364253e-01 3.04641864e+01] [ 1.64708039e-01 9.85953818e-01 -2.76826712e-02 3.62983925e+00] [ 1.44987038e-01 3.55945264e-03 9.89427152e-01 4.53335407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:30.52, Y:3.64, Z:4.54 [[ 9.75394202e-01 -1.68342703e-01 -1.42361813e-01 3.05202322e+01] [ 1.66083102e-01 9.85722769e-01 -2.76952150e-02 3.63982993e+00] [ 1.44991568e-01 3.36986061e-03 9.89427152e-01 4.54256017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:3.65, Z:4.55 [[ 9.75228591e-01 -1.69306089e-01 -1.42353936e-01 3.05778602e+01] [ 1.67050793e-01 9.85558099e-01 -2.77356427e-02 3.65072819e+00] [ 1.44993888e-01 3.26825380e-03 9.89427153e-01 4.54861030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:3.66, Z:4.56 [[ 9.74890497e-01 -1.71247813e-01 -1.42347127e-01 3.06343673e+01] [ 1.69007998e-01 9.85223372e-01 -2.77705438e-02 3.66020320e+00] [ 1.44999362e-01 3.01543630e-03 9.89427154e-01 4.55542782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:30.69, Y:3.67, Z:4.57 [[ 9.74668557e-01 -1.72509459e-01 -1.42343565e-01 3.06911707e+01] [ 1.70280355e-01 9.85003748e-01 -2.77887910e-02 3.67073568e+00] [ 1.45002774e-01 2.84654803e-03 9.89427154e-01 4.56525834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:30.75, Y:3.68, Z:4.57 [[ 9.74709935e-01 -1.72281047e-01 -1.42336867e-01 3.07472636e+01] [ 1.70044519e-01 9.85043521e-01 -2.78230546e-02 3.68300687e+00] [ 1.45001394e-01 2.91580348e-03 9.89427154e-01 4.57352581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:3.69, Z:4.58 [[ 9.75145421e-01 -1.69805344e-01 -1.42329033e-01 3.08023839e+01] [ 1.67536745e-01 9.85472013e-01 -2.78630751e-02 3.69444710e+00] [ 1.44992578e-01 3.32520724e-03 9.89427155e-01 4.58244933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:3.71, Z:4.59 [[ 9.75567711e-01 -1.67365015e-01 -1.42325655e-01 3.08596180e+01] [ 1.65068073e-01 9.85888036e-01 -2.78803181e-02 3.70666904e+00] [ 1.44983350e-01 3.70571653e-03 9.89427155e-01 4.59040334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:3.72, Z:4.60 [[ 9.76642794e-01 -1.60978830e-01 -1.42318897e-01 3.09168238e+01] [ 1.58609401e-01 9.86946718e-01 -2.79147716e-02 3.71962096e+00] [ 1.44954856e-01 4.68964542e-03 9.89427156e-01 4.59857921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:3.73, Z:4.61 [[ 9.77221123e-01 -1.57436117e-01 -1.42312140e-01 3.09733530e+01] [ 1.55024334e-01 9.87515215e-01 -2.79491784e-02 3.73168747e+00] [ 1.44935614e-01 5.25068282e-03 9.89427157e-01 4.60654820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:3.75, Z:4.61 [[ 9.77041328e-01 -1.58550233e-01 -1.42309755e-01 3.10287886e+01] [ 1.56148423e-01 9.87337751e-01 -2.79613183e-02 3.74989912e+00] [ 1.44941067e-01 5.09791975e-03 9.89427157e-01 4.61487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:3.76, Z:4.63 [[ 9.76310968e-01 -1.62993377e-01 -1.42302680e-01 3.10857579e+01] [ 1.60633196e-01 9.86617012e-01 -2.79972798e-02 3.75861693e+00] [ 1.44961616e-01 4.47551711e-03 9.89427157e-01 4.62538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:3.76, Z:4.64 [[ 9.75758812e-01 -1.66273103e-01 -1.42295456e-01 3.11423753e+01] [ 1.63942222e-01 9.86071521e-01 -2.80339483e-02 3.76389258e+00] [ 1.44974788e-01 4.02613880e-03 9.89427158e-01 4.63741095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:3.78, Z:4.64 [[ 9.73949120e-01 -1.76566797e-01 -1.42292927e-01 3.11993654e+01] [ 1.74343064e-01 9.84285464e-01 -2.80467765e-02 3.78191462e+00] [ 1.45008989e-01 2.50834828e-03 9.89427158e-01 4.63542903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:3.78, Z:4.65 [[ 9.74183267e-01 -1.75272391e-01 -1.42290378e-01 3.12565038e+01] [ 1.73033037e-01 9.84516237e-01 -2.80597047e-02 3.78393462e+00] [ 1.45005279e-01 2.71435855e-03 9.89427158e-01 4.65238797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:3.79, Z:4.67 [[ 9.73694933e-01 -1.77966832e-01 -1.42288386e-01 3.13134862e+01] [ 1.75754598e-01 9.84033743e-01 -2.80698010e-02 3.79360919e+00] [ 1.45012067e-01 2.32358493e-03 9.89427158e-01 4.66501650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:3.81, Z:4.67 [[ 9.73818964e-01 -1.77292414e-01 -1.42281500e-01 3.13699467e+01] [ 1.75067928e-01 9.84155145e-01 -2.81046631e-02 3.80530626e+00] [ 1.45009814e-01 2.45992656e-03 9.89427159e-01 4.67380513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:31.43, Y:3.82, Z:4.68 [[ 9.74173266e-01 -1.75341550e-01 -1.42273642e-01 3.14272267e+01] [ 1.73090566e-01 9.84503707e-01 -2.81443849e-02 3.81827020e+00] [ 1.45003808e-01 2.79128206e-03 9.89427160e-01 4.67959242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:31.48, Y:3.84, Z:4.68 [[ 9.73566238e-01 -1.78686677e-01 -1.42266836e-01 3.14844436e+01] [ 1.76466170e-01 9.83903272e-01 -2.81787508e-02 3.83836102e+00] [ 1.45011972e-01 2.32859686e-03 9.89427160e-01 4.67891989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:31.54, Y:3.84, Z:4.70 [[ 9.75325140e-01 -1.68828518e-01 -1.42259633e-01 3.15411149e+01] [ 1.66498257e-01 9.85637987e-01 -2.82150648e-02 3.84298403e+00] [ 1.44980006e-01 3.83288093e-03 9.89427161e-01 4.69688391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:31.60, Y:3.86, Z:4.70 [[ 9.75907477e-01 -1.65435040e-01 -1.42252749e-01 3.15977663e+01] [ 1.63063874e-01 9.86210995e-01 -2.82497302e-02 3.85555217e+00] [ 1.44964721e-01 4.37283852e-03 9.89427162e-01 4.70439807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:3.87, Z:4.71 [[ 9.74930168e-01 -1.71106894e-01 -1.42244853e-01 3.16543959e+01] [ 1.68789891e-01 9.85246000e-01 -2.82894344e-02 3.86787315e+00] [ 1.44986690e-01 3.57072980e-03 9.89427162e-01 4.71373518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:3.88, Z:4.72 [[ 9.75596968e-01 -1.67269034e-01 -1.42237924e-01 3.17098958e+01] [ 1.64906384e-01 9.85902441e-01 -2.83242321e-02 3.88150639e+00] [ 1.44970483e-01 4.17709324e-03 9.89427163e-01 4.72455069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:3.90, Z:4.72 [[ 9.75455021e-01 -1.68101490e-01 -1.42230065e-01 3.17659259e+01] [ 1.65741895e-01 9.85761192e-01 -2.83636394e-02 3.90474935e+00] [ 1.44972849e-01 4.09397396e-03 9.89427164e-01 4.72409175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:3.91, Z:4.74 [[ 9.77414260e-01 -1.56314129e-01 -1.42222560e-01 3.18213238e+01] [ 1.53824835e-01 9.87689876e-01 -2.84012217e-02 3.91085569e+00] [ 1.44911295e-01 5.88239715e-03 9.89427165e-01 4.74383096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:3.92, Z:4.75 [[ 9.77503309e-01 -1.55758693e-01 -1.42219937e-01 3.18775293e+01] [ 1.53261654e-01 9.87777045e-01 -2.84143531e-02 3.92328125e+00] [ 1.44907372e-01 5.97826145e-03 9.89427165e-01 4.75181928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.256875 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:3.94, Z:4.76 [[ 9.77501347e-01 -1.55778432e-01 -1.42211799e-01 3.19331409e+01] [ 1.53275694e-01 9.87773695e-01 -2.84550232e-02 3.93770604e+00] [ 1.44905754e-01 6.01721130e-03 9.89427165e-01 4.75848409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:3.95, Z:4.77 [[ 9.75960703e-01 -1.65162969e-01 -1.42203725e-01 3.19894682e+01] [ 1.62753177e-01 9.86255251e-01 -2.84953200e-02 3.95082817e+00] [ 1.44955542e-01 4.66620458e-03 9.89427166e-01 4.77141438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:3.96, Z:4.78 [[ 9.74912353e-01 -1.71248551e-01 -1.42196477e-01 3.20465661e+01] [ 1.68897766e-01 9.85220534e-01 -2.85314437e-02 3.96215711e+00] [ 1.44980857e-01 3.79898964e-03 9.89427167e-01 4.78198615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:3.98, Z:4.79 [[ 9.73436761e-01 -1.79452060e-01 -1.42189418e-01 3.21021773e+01] [ 1.77183031e-01 9.83763246e-01 -2.85665775e-02 3.97566880e+00] [ 1.45007055e-01 2.61420456e-03 9.89427168e-01 4.78715216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:3.99, Z:4.80 [[ 9.72212289e-01 -1.85974246e-01 -1.42185952e-01 3.21585186e+01] [ 1.83771979e-01 9.82553217e-01 -2.85838191e-02 3.98601056e+00] [ 1.45021119e-01 1.65974636e-03 9.89427168e-01 4.79907487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:4.00, Z:4.81 [[ 9.71501318e-01 -1.89659153e-01 -1.42178038e-01 3.22147131e+01] [ 1.87490357e-01 9.81849318e-01 -2.86231322e-02 3.99747954e+00] [ 1.45026048e-01 1.15039960e-03 9.89427169e-01 4.81068937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:4.01, Z:4.82 [[ 9.71195836e-01 -1.91220055e-01 -1.42174325e-01 3.22709395e+01] [ 1.89065192e-01 9.81546746e-01 -2.86415643e-02 4.00987545e+00] [ 1.45027587e-01 9.36351926e-04 9.89427169e-01 4.82060560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.676874999999995 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:4.02, Z:4.83 [[ 9.71513518e-01 -1.89602199e-01 -1.42170638e-01 3.23275064e+01] [ 1.87427423e-01 9.81860262e-01 -2.86598519e-02 4.02413833e+00] [ 1.45025671e-01 1.19675725e-03 9.89427169e-01 4.83084292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:4.04, Z:4.84 [[ 9.72159085e-01 -1.86269107e-01 -1.42163758e-01 3.23837766e+01] [ 1.84053873e-01 9.82497241e-01 -2.86939409e-02 4.03928279e+00] [ 1.45020295e-01 1.72928507e-03 9.89427170e-01 4.83764741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:4.05, Z:4.85 [[ 9.72724143e-01 -1.83301570e-01 -1.42155816e-01 3.24402565e+01] [ 1.81049057e-01 9.83054241e-01 -2.87332342e-02 4.05262780e+00] [ 1.45013724e-01 2.21233419e-03 9.89427170e-01 4.84616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:4.07, Z:4.85 [[ 9.73525311e-01 -1.79003695e-01 -1.42148325e-01 3.24953963e+01] [ 1.76700179e-01 9.83844154e-01 -2.87702430e-02 4.06917318e+00] [ 1.45001779e-01 2.89092516e-03 9.89427171e-01 4.85329980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:4.08, Z:4.86 [[ 9.73995436e-01 -1.76434150e-01 -1.42140356e-01 3.25512615e+01] [ 1.74097678e-01 9.84306867e-01 -2.88095645e-02 4.08300249e+00] [ 1.44992719e-01 3.31407851e-03 9.89427172e-01 4.86157803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:4.10, Z:4.87 [[ 9.74563644e-01 -1.73274635e-01 -1.42132351e-01 3.26066786e+01] [ 1.70898988e-01 9.84866118e-01 -2.88490033e-02 4.09906055e+00] [ 1.44980137e-01 3.82491487e-03 9.89427173e-01 4.86803772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:32.66, Y:4.11, Z:4.88 [[ 9.74806109e-01 -1.71912070e-01 -1.42124208e-01 3.26631403e+01] [ 1.69516187e-01 9.85103895e-01 -2.88890629e-02 4.11185374e+00] [ 1.44973490e-01 4.06888117e-03 9.89427173e-01 4.88260065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:4.13, Z:4.89 [[ 9.74817185e-01 -1.71855314e-01 -1.42116879e-01 3.27189658e+01] [ 1.69453585e-01 9.85113609e-01 -2.89250758e-02 4.12561361e+00] [ 1.44972199e-01 4.11444639e-03 9.89427174e-01 4.88939841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:4.14, Z:4.89 [[ 9.74807678e-01 -1.71916087e-01 -1.42108584e-01 3.27751189e+01] [ 1.69509073e-01 9.85102867e-01 -2.89657714e-02 4.13844477e+00] [ 1.44971255e-01 4.14736213e-03 9.89427175e-01 4.89406593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:32.83, Y:4.15, Z:4.90 [[ 9.74125440e-01 -1.75742704e-01 -1.42106048e-01 3.28322228e+01] [ 1.73374323e-01 9.84429585e-01 -2.89782047e-02 4.14947002e+00] [ 1.44986106e-01 3.59086642e-03 9.89427175e-01 4.90120725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:4.16, Z:4.91 [[ 9.73550974e-01 -1.78903262e-01 -1.42098994e-01 3.28887113e+01] [ 1.76563295e-01 9.83861608e-01 -2.90127554e-02 4.16047579e+00] [ 1.44996221e-01 3.15592967e-03 9.89427176e-01 4.91121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:4.17, Z:4.92 [[ 9.72606556e-01 -1.83974705e-01 -1.42090796e-01 3.29458494e+01] [ 1.81682650e-01 9.82927946e-01 -2.90528492e-02 4.16972923e+00] [ 1.45010004e-01 2.44155927e-03 9.89427176e-01 4.92286010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:33.00, Y:4.18, Z:4.93 [[ 9.72051293e-01 -1.86891728e-01 -1.42083657e-01 3.30022372e+01] [ 1.84625550e-01 9.82378395e-01 -2.90877243e-02 4.18004999e+00] [ 1.45016170e-01 2.04248666e-03 9.89427177e-01 4.93178948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:33.06, Y:4.19, Z:4.94 [[ 9.72218681e-01 -1.86025171e-01 -1.42075585e-01 3.30591706e+01] [ 1.83744037e-01 9.82542488e-01 -2.91270982e-02 4.19195443e+00] [ 1.45013672e-01 2.21236754e-03 9.89427178e-01 4.93707788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:4.20, Z:4.95 [[ 9.72908718e-01 -1.82384780e-01 -1.42071874e-01 3.31154117e+01] [ 1.80062379e-01 9.83223320e-01 -2.91451860e-02 4.20330424e+00] [ 1.45004018e-01 2.77380597e-03 9.89427178e-01 4.94686990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:4.22, Z:4.96 [[ 9.73938736e-01 -1.76808474e-01 -1.42063724e-01 3.31710557e+01] [ 1.74421240e-01 9.84238526e-01 -2.91848588e-02 4.21554701e+00] [ 1.44984721e-01 3.64533363e-03 9.89427179e-01 4.95781437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:33.23, Y:4.23, Z:4.97 [[ 9.74687789e-01 -1.72638396e-01 -1.42055261e-01 3.32271347e+01] [ 1.70201111e-01 9.84975849e-01 -2.92259946e-02 4.22833496e+00] [ 1.44966530e-01 4.30825683e-03 9.89427180e-01 4.96732923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:33.28, Y:4.24, Z:4.98 [[ 9.75109263e-01 -1.70244943e-01 -1.42051347e-01 3.32838183e+01] [ 1.67779640e-01 9.85390644e-01 -2.92450070e-02 4.24080403e+00] [ 1.44954883e-01 4.68375332e-03 9.89427180e-01 4.97823372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:33.34, Y:4.25, Z:4.99 [[ 9.75587466e-01 -1.67489026e-01 -1.42044088e-01 3.33399440e+01] [ 1.64989561e-01 9.85860595e-01 -2.92802225e-02 4.25412803e+00] [ 1.44939785e-01 5.12962632e-03 9.89427181e-01 4.98620899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:33.40, Y:4.27, Z:4.99 [[ 9.75573869e-01 -1.67575095e-01 -1.42035960e-01 3.33963662e+01] [ 1.65070812e-01 9.85845824e-01 -2.93195992e-02 4.26589148e+00] [ 1.44938792e-01 5.15744363e-03 9.89427181e-01 4.99385653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:4.28, Z:5.00 [[ 9.75182540e-01 -1.69844433e-01 -1.42027750e-01 3.34524526e+01] [ 1.67358278e-01 9.85458897e-01 -2.93593144e-02 4.27559532e+00] [ 1.44949026e-01 4.86117109e-03 9.89427182e-01 5.00425183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:4.29, Z:5.01 [[ 9.74900697e-01 -1.71461747e-01 -1.42019367e-01 3.35103236e+01] [ 1.68986748e-01 9.85179745e-01 -2.93998100e-02 4.28766430e+00] [ 1.44955547e-01 4.66250430e-03 9.89427183e-01 5.01031093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:4.30, Z:5.02 [[ 9.74914043e-01 -1.71391883e-01 -1.42012083e-01 3.35677029e+01] [ 1.68911033e-01 9.85191680e-01 -2.94349547e-02 4.29803504e+00] [ 1.44954035e-01 4.70914311e-03 9.89427184e-01 5.01684366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:4.31, Z:5.03 [[ 9.75182522e-01 -1.69863799e-01 -1.42004716e-01 3.36231983e+01] [ 1.67361681e-01 9.85455002e-01 -2.94704534e-02 4.30900488e+00] [ 1.44945221e-01 4.97292310e-03 9.89427184e-01 5.02549618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:4.32, Z:5.03 [[ 9.75331909e-01 -1.69006965e-01 -1.42001104e-01 3.36795637e+01] [ 1.66493295e-01 9.85601567e-01 -2.94878478e-02 4.32108517e+00] [ 1.44940162e-01 5.11820732e-03 9.89427184e-01 5.03395134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:4.33, Z:5.04 [[ 9.75912974e-01 -1.65625759e-01 -1.41992869e-01 3.37357246e+01] [ 1.63070759e-01 9.86172428e-01 -2.95274486e-02 4.33295447e+00] [ 1.44919958e-01 5.66133530e-03 9.89427185e-01 5.04250974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:33.79, Y:4.34, Z:5.05 [[ 9.76025190e-01 -1.64970217e-01 -1.41984707e-01 3.37929620e+01] [ 1.62402634e-01 9.86281500e-01 -2.95666434e-02 4.34451161e+00] [ 1.44914506e-01 5.79909830e-03 9.89427186e-01 5.05307014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:33.85, Y:4.36, Z:5.06 [[ 9.75940632e-01 -1.65476023e-01 -1.41977355e-01 3.38493975e+01] [ 1.62908635e-01 9.86196990e-01 -2.96019052e-02 4.35549879e+00] [ 1.44916046e-01 5.76036496e-03 9.89427187e-01 5.06052971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:4.37, Z:5.07 [[ 9.75583812e-01 -1.67569070e-01 -1.41974761e-01 3.39059163e+01] [ 1.65021880e-01 9.85845206e-01 -2.96143422e-02 4.36612986e+00] [ 1.44927585e-01 5.46233090e-03 9.89427187e-01 5.06878256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:33.96, Y:4.38, Z:5.08 [[ 9.75156311e-01 -1.70046224e-01 -1.41966373e-01 3.39635274e+01] [ 1.67519265e-01 9.85422705e-01 -2.96544982e-02 4.37671662e+00] [ 1.44939523e-01 5.13566858e-03 9.89427188e-01 5.07571798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:34.02, Y:4.39, Z:5.08 [[ 9.74881835e-01 -1.71618754e-01 -1.41959189e-01 3.40206630e+01] [ 1.69103360e-01 9.85151068e-01 -2.96888495e-02 4.38744624e+00] [ 1.44946410e-01 4.93734421e-03 9.89427188e-01 5.08296831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:4.40, Z:5.09 [[ 9.74312599e-01 -1.74827274e-01 -1.41952047e-01 3.40773292e+01] [ 1.72340737e-01 9.84588856e-01 -2.97229614e-02 4.39720804e+00] [ 1.44960788e-01 4.49533547e-03 9.89427189e-01 5.09440865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:34.14, Y:4.41, Z:5.10 [[ 9.73969769e-01 -1.76733113e-01 -1.41944694e-01 3.41354438e+01] [ 1.74261578e-01 9.84249644e-01 -2.97580347e-02 4.40506085e+00] [ 1.44968244e-01 4.24791992e-03 9.89427189e-01 5.10483100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:4.41, Z:5.11 [[ 9.73584277e-01 -1.78850356e-01 -1.41937327e-01 3.41932130e+01] [ 1.76396065e-01 9.83868283e-01 -2.97931298e-02 4.41443028e+00] [ 1.44976146e-01 3.96893679e-03 9.89427190e-01 5.11370053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:4.42, Z:5.12 [[ 9.73255048e-01 -1.80639089e-01 -1.41930020e-01 3.42512438e+01] [ 1.78198633e-01 9.83542345e-01 -2.98278982e-02 4.42216354e+00] [ 1.44982269e-01 3.73841682e-03 9.89427191e-01 5.12285801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:4.43, Z:5.13 [[ 9.73373914e-01 -1.80003115e-01 -1.41922875e-01 3.43077887e+01] [ 1.77550990e-01 9.83658434e-01 -2.98618563e-02 4.43113784e+00] [ 1.44978861e-01 3.86820486e-03 9.89427191e-01 5.13140418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:4.44, Z:5.14 [[ 9.73550989e-01 -1.79049330e-01 -1.41914796e-01 3.43644455e+01] [ 1.76581543e-01 9.83831762e-01 -2.99002041e-02 4.44076930e+00] [ 1.44973895e-01 4.04983953e-03 9.89427192e-01 5.13869788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:4.45, Z:5.15 [[ 9.73705592e-01 -1.78213306e-01 -1.41906441e-01 3.44212920e+01] [ 1.75730927e-01 9.83982850e-01 -2.99398042e-02 4.44870517e+00] [ 1.44969176e-01 4.21520434e-03 9.89427193e-01 5.14747568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:4.46, Z:5.16 [[ 9.73800510e-01 -1.77700546e-01 -1.41898139e-01 3.44778662e+01] [ 1.75207034e-01 9.84075073e-01 -2.99791007e-02 4.45829961e+00] [ 1.44965724e-01 4.33211143e-03 9.89427194e-01 5.15717921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:4.47, Z:5.17 [[ 9.73644882e-01 -1.78557932e-01 -1.41889773e-01 3.45349729e+01] [ 1.76067710e-01 9.83920242e-01 -3.00186441e-02 4.46989137e+00] [ 1.44968287e-01 4.24529163e-03 9.89427195e-01 5.16564038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:4.48, Z:5.17 [[ 9.73361396e-01 -1.80102797e-01 -1.41882255e-01 3.45923881e+01] [ 1.77623715e-01 9.83639449e-01 -3.00541360e-02 4.47967640e+00] [ 1.44973817e-01 4.05188250e-03 9.89427195e-01 5.17480638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:4.49, Z:5.18 [[ 9.72301925e-01 -1.85743129e-01 -1.41874791e-01 3.46487197e+01] [ 1.83318546e-01 9.82592969e-01 -3.00893329e-02 4.48729848e+00] [ 1.44994059e-01 3.24763606e-03 9.89427196e-01 5.18425256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:4.50, Z:5.19 [[ 9.70867167e-01 -1.93104969e-01 -1.41871122e-01 3.47048803e+01] [ 1.90755905e-01 9.81175711e-01 -3.01066199e-02 4.49530799e+00] [ 1.45014237e-01 2.16677443e-03 9.89427196e-01 5.19424459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:4.50, Z:5.20 [[ 9.70132240e-01 -1.96765718e-01 -1.41868564e-01 3.47620825e+01] [ 1.94453793e-01 9.80449177e-01 -3.01186707e-02 4.50475232e+00] [ 1.45021239e-01 1.63221312e-03 9.89427196e-01 5.20224620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:4.51, Z:5.21 [[ 9.69815037e-01 -1.98329273e-01 -1.41860120e-01 3.48180590e+01] [ 1.96028172e-01 9.80134393e-01 -3.01583915e-02 4.51415629e+00] [ 1.45023274e-01 1.43948168e-03 9.89427197e-01 5.21088961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:4.53, Z:5.22 [[ 9.70088830e-01 -1.96988316e-01 -1.41856494e-01 3.48731958e+01] [ 1.94670458e-01 9.80404435e-01 -3.01754369e-02 4.52508757e+00] [ 1.45020944e-01 1.65758570e-03 9.89427197e-01 5.21880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:4.54, Z:5.23 [[ 9.70839696e-01 -1.93256420e-01 -1.41852886e-01 3.49307022e+01] [ 1.90896435e-01 9.81145744e-01 -3.01923855e-02 4.53631742e+00] [ 1.45013228e-01 2.23275604e-03 9.89427197e-01 5.22739253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:4.55, Z:5.23 [[ 9.71141810e-01 -1.91737889e-01 -1.41845577e-01 3.49883381e+01] [ 1.89356780e-01 9.81442997e-01 -3.02266870e-02 4.54981381e+00] [ 1.45008949e-01 2.49497772e-03 9.89427198e-01 5.23320680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:4.56, Z:5.24 [[ 9.71742615e-01 -1.88674869e-01 -1.41838231e-01 3.50448942e+01] [ 1.86256268e-01 9.82035064e-01 -3.02611216e-02 4.56176888e+00] [ 1.44999629e-01 2.98776196e-03 9.89427198e-01 5.24477495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:4.57, Z:5.25 [[ 9.72169389e-01 -1.86469018e-01 -1.41830832e-01 3.51005530e+01] [ 1.84022014e-01 9.82455121e-01 -3.02957586e-02 4.57456139e+00] [ 1.44991648e-01 3.35261366e-03 9.89427199e-01 5.25370290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:35.16, Y:4.59, Z:5.26 [[ 9.72909998e-01 -1.82571977e-01 -1.41822455e-01 3.51564032e+01] [ 1.80078072e-01 9.83184459e-01 -3.03349222e-02 4.58914409e+00] [ 1.44975941e-01 3.97403475e-03 9.89427200e-01 5.25854217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:4.60, Z:5.27 [[ 9.73466829e-01 -1.79585961e-01 -1.41814016e-01 3.52132200e+01] [ 1.77054809e-01 9.83732176e-01 -3.03743268e-02 4.60234748e+00] [ 1.44961813e-01 4.45954620e-03 9.89427201e-01 5.26887164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:4.62, Z:5.28 [[ 9.73854571e-01 -1.77477226e-01 -1.41806589e-01 3.52694687e+01] [ 1.74918810e-01 9.84113157e-01 -3.04089579e-02 4.61566584e+00] [ 1.44950628e-01 4.80926283e-03 9.89427201e-01 5.27990792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:4.63, Z:5.29 [[ 9.73892757e-01 -1.77273706e-01 -1.41798913e-01 3.53252674e+01] [ 1.74707947e-01 9.84149507e-01 -3.04447107e-02 4.62881167e+00] [ 1.44948377e-01 4.87648625e-03 9.89427202e-01 5.28667370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:4.64, Z:5.29 [[ 9.73417526e-01 -1.79871885e-01 -1.41790078e-01 3.53821451e+01] [ 1.77327524e-01 9.83679605e-01 -3.04858053e-02 4.64032161e+00] [ 1.44959547e-01 4.53213376e-03 9.89427203e-01 5.29192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:4.65, Z:5.30 [[ 9.73143994e-01 -1.81348026e-01 -1.41787375e-01 3.54390187e+01] [ 1.78817403e-01 9.83409470e-01 -3.04983706e-02 4.65279657e+00] [ 1.44965867e-01 4.32525597e-03 9.89427203e-01 5.30010963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:4.66, Z:5.31 [[ 9.72538463e-01 -1.84573549e-01 -1.41779909e-01 3.54959938e+01] [ 1.82071926e-01 9.82811044e-01 -3.05330408e-02 4.66431158e+00] [ 1.44978452e-01 3.88041565e-03 9.89427203e-01 5.30951963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:4.67, Z:5.32 [[ 9.69344538e-01 -2.00678261e-01 -1.41772364e-01 3.55523793e+01] [ 1.98342240e-01 9.79656037e-01 -3.05680327e-02 4.67406421e+00] [ 1.45022492e-01 1.51150719e-03 9.89427204e-01 5.32336112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:4.69, Z:5.33 [[ 9.68107266e-01 -2.06569734e-01 -1.41764828e-01 3.56083629e+01] [ 2.04291356e-01 9.78431654e-01 -3.06029453e-02 4.68781607e+00] [ 1.45028837e-01 6.65604888e-04 9.89427205e-01 5.33134425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:4.70, Z:5.34 [[ 9.68919051e-01 -2.02733969e-01 -1.41756165e-01 3.56626922e+01] [ 2.00408856e-01 9.79233014e-01 -3.06430177e-02 4.70373257e+00] [ 1.45024698e-01 1.28141272e-03 9.89427206e-01 5.33705521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:4.72, Z:5.35 [[ 9.70740818e-01 -1.93825972e-01 -1.41752446e-01 3.57181022e+01] [ 1.91403714e-01 9.81032400e-01 -3.06602137e-02 4.71931627e+00] [ 1.45006488e-01 2.63117627e-03 9.89427206e-01 5.34802517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:4.74, Z:5.36 [[ 9.71685921e-01 -1.89037425e-01 -1.41743861e-01 3.57738834e+01] [ 1.86558676e-01 9.81964042e-01 -3.06998495e-02 4.73528120e+00] [ 1.44990796e-01 3.38706440e-03 9.89427207e-01 5.35516140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:4.75, Z:5.36 [[ 9.72507533e-01 -1.84770650e-01 -1.41735338e-01 3.58291630e+01] [ 1.82241088e-01 9.82773265e-01 -3.07391523e-02 4.75122279e+00] [ 1.44973394e-01 4.06405494e-03 9.89427207e-01 5.36230045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:4.77, Z:5.37 [[ 9.72591409e-01 -1.84335328e-01 -1.41726630e-01 3.58845424e+01] [ 1.81795333e-01 9.82854564e-01 -3.07792503e-02 4.76652812e+00] [ 1.44970368e-01 4.17039454e-03 9.89427208e-01 5.36868745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:4.78, Z:5.38 [[ 9.72130270e-01 -1.86758560e-01 -1.41717957e-01 3.59402141e+01] [ 1.84238340e-01 9.82398298e-01 -3.08191326e-02 4.77967520e+00] [ 1.44979216e-01 3.85033059e-03 9.89427209e-01 5.37778119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:4.79, Z:5.39 [[ 9.71065560e-01 -1.92224216e-01 -1.41709311e-01 3.59964736e+01] [ 1.89756006e-01 9.81346213e-01 -3.08588347e-02 4.79226779e+00] [ 1.44997711e-01 3.07575875e-03 9.89427210e-01 5.38996371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:4.80, Z:5.40 [[ 9.70033093e-01 -1.97373802e-01 -1.41701728e-01 3.60533670e+01] [ 1.94955094e-01 9.80325505e-01 -3.08936160e-02 4.80476272e+00] [ 1.45011409e-01 2.34235611e-03 9.89427210e-01 5.39865274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:4.82, Z:5.41 [[ 9.68812837e-01 -2.03284095e-01 -1.41694261e-01 3.61096291e+01] [ 2.00923178e-01 9.79118658e-01 -3.09278289e-02 4.81721744e+00] [ 1.45022630e-01 1.49361649e-03 9.89427211e-01 5.40698798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:36.17, Y:4.83, Z:5.41 [[ 9.68396232e-01 -2.05265448e-01 -1.41685685e-01 3.61670159e+01] [ 2.02919877e-01 9.78705555e-01 -3.09670665e-02 4.82942538e+00] [ 1.45025036e-01 1.23754870e-03 9.89427212e-01 5.41209250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:4.84, Z:5.42 [[ 9.68640652e-01 -2.04114067e-01 -1.41678282e-01 3.62245123e+01] [ 2.01751293e-01 9.78946045e-01 -3.10009004e-02 4.84187410e+00] [ 1.45023113e-01 1.44495581e-03 9.89427212e-01 5.42032564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:4.86, Z:5.43 [[ 9.69484842e-01 -2.00071273e-01 -1.41670837e-01 3.62811126e+01] [ 1.97660562e-01 9.79779127e-01 -3.10348860e-02 4.85510001e+00] [ 1.45015318e-01 2.08511431e-03 9.89427213e-01 5.42681138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:36.34, Y:4.87, Z:5.44 [[ 9.70180876e-01 -1.96674521e-01 -1.41662278e-01 3.63381694e+01] [ 1.94222075e-01 9.80465297e-01 -3.10739036e-02 4.86699356e+00] [ 1.45006393e-01 2.63336543e-03 9.89427214e-01 5.43713460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:4.88, Z:5.45 [[ 9.71438794e-01 -1.90369674e-01 -1.41654708e-01 3.63945220e+01] [ 1.87845465e-01 9.81705837e-01 -3.11083765e-02 4.87937055e+00] [ 1.44985345e-01 3.61068928e-03 9.89427214e-01 5.44599447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:4.89, Z:5.45 [[ 9.72121309e-01 -1.86855219e-01 -1.41651996e-01 3.64498141e+01] [ 1.84292099e-01 9.82378707e-01 -3.11207199e-02 4.89038726e+00] [ 1.44970974e-01 4.14777134e-03 9.89427214e-01 5.45309858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:4.90, Z:5.46 [[ 9.72864469e-01 -1.82949467e-01 -1.41648215e-01 3.65074814e+01] [ 1.80342670e-01 9.83110854e-01 -3.11379188e-02 4.90033651e+00] [ 1.44952564e-01 4.74775753e-03 9.89427215e-01 5.46054994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:4.91, Z:5.47 [[ 9.72971989e-01 -1.82382776e-01 -1.41640501e-01 3.65647720e+01] [ 1.79764915e-01 9.83215552e-01 -3.11729715e-02 4.91067903e+00] [ 1.44948556e-01 4.86843552e-03 9.89427215e-01 5.46742416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:4.92, Z:5.48 [[ 9.72810709e-01 -1.83247950e-01 -1.41631613e-01 3.66210683e+01] [ 1.80633334e-01 9.83055099e-01 -3.12133023e-02 4.92081266e+00] [ 1.44951453e-01 4.78124433e-03 9.89427216e-01 5.47537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:4.93, Z:5.49 [[ 9.72076892e-01 -1.87108411e-01 -1.41622594e-01 3.66772424e+01] [ 1.84528534e-01 9.82330085e-01 -3.12541703e-02 4.92863943e+00] [ 1.44968053e-01 4.24804697e-03 9.89427217e-01 5.48690398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:4.94, Z:5.50 [[ 9.71749347e-01 -1.88804212e-01 -1.41619826e-01 3.67338079e+01] [ 1.86240404e-01 9.82006571e-01 -3.12667090e-02 4.93856079e+00] [ 1.44974886e-01 4.00807053e-03 9.89427217e-01 5.49590034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:4.95, Z:5.50 [[ 9.69049239e-01 -2.02212530e-01 -1.41610961e-01 3.67898428e+01] [ 1.99784829e-01 9.79339525e-01 -3.13068083e-02 4.94969102e+00] [ 1.45015840e-01 2.04611717e-03 9.89427218e-01 5.50131777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:4.96, Z:5.52 [[ 9.65312668e-01 -2.19360139e-01 -1.41607144e-01 3.68460755e+01] [ 2.17112715e-01 9.75643825e-01 -3.13240614e-02 4.95939350e+00] [ 1.45029386e-01 -5.07198232e-04 9.89427218e-01 5.51605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:36.90, Y:4.97, Z:5.52 [[ 9.64101930e-01 -2.24626446e-01 -1.41599533e-01 3.69026640e+01] [ 2.22430405e-01 9.74444131e-01 -3.13584306e-02 4.97428038e+00] [ 1.45024767e-01 -1.26331797e-03 9.89427219e-01 5.52066850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:36.96, Y:4.99, Z:5.53 [[ 9.64480641e-01 -2.22999715e-01 -1.41591734e-01 3.69574150e+01] [ 2.20781067e-01 9.74818015e-01 -3.13936044e-02 4.98945357e+00] [ 1.45026938e-01 -9.82250390e-04 9.89427219e-01 5.52658580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:5.00, Z:5.54 [[ 9.65615082e-01 -2.18037537e-01 -1.41587941e-01 3.70143146e+01] [ 2.15763257e-01 9.75940359e-01 -3.14107064e-02 5.00295312e+00] [ 1.45030099e-01 -2.18823367e-04 9.89427219e-01 5.53735663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:5.02, Z:5.54 [[ 9.67860322e-01 -2.07849029e-01 -1.41580996e-01 3.70694606e+01] [ 2.05461486e-01 9.78159997e-01 -3.14419769e-02 5.02143310e+00] [ 1.45024051e-01 1.34200009e-03 9.89427220e-01 5.54363234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:5.04, Z:5.56 [[ 9.70018287e-01 -1.97539291e-01 -1.41572426e-01 3.71254848e+01] [ 1.95036672e-01 9.80290607e-01 -3.14805184e-02 5.03724409e+00] [ 1.45000759e-01 2.92486375e-03 9.89427221e-01 5.55629673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:5.05, Z:5.57 [[ 9.70858263e-01 -1.93374361e-01 -1.41564787e-01 3.71806661e+01] [ 1.90822677e-01 9.81118505e-01 -3.15148342e-02 5.05093528e+00] [ 1.44985993e-01 3.58266556e-03 9.89427221e-01 5.56616903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:5.07, Z:5.57 [[ 9.71805109e-01 -1.88565047e-01 -1.41555831e-01 3.72350150e+01] [ 1.85956747e-01 9.82051103e-01 -3.15550109e-02 5.06630881e+00] [ 1.44965232e-01 4.34205906e-03 9.89427222e-01 5.57241457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:5.08, Z:5.58 [[ 9.72046249e-01 -1.87320913e-01 -1.41551989e-01 3.72905899e+01] [ 1.84696994e-01 9.82288254e-01 -3.15722347e-02 5.07957601e+00] [ 1.44958996e-01 4.54544538e-03 9.89427222e-01 5.58004682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:5.09, Z:5.59 [[ 9.72493287e-01 -1.84992706e-01 -1.41543299e-01 3.73475525e+01] [ 1.82338612e-01 9.82727514e-01 -3.16111461e-02 5.09387217e+00] [ 1.44946326e-01 4.93281863e-03 9.89427223e-01 5.58604979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:37.40, Y:5.11, Z:5.59 [[ 9.72681747e-01 -1.84005333e-01 -1.41535352e-01 3.74031005e+01] [ 1.81335686e-01 9.82911927e-01 -3.16466873e-02 5.10670829e+00] [ 1.44939945e-01 5.11674496e-03 9.89427224e-01 5.59358224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:37.46, Y:5.12, Z:5.60 [[ 9.72917617e-01 -1.82756254e-01 -1.41532549e-01 3.74587083e+01] [ 1.80071653e-01 9.83143882e-01 -3.16592196e-02 5.11946984e+00] [ 1.44932780e-01 5.31581246e-03 9.89427224e-01 5.60311089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:5.13, Z:5.61 [[ 9.73324415e-01 -1.80584354e-01 -1.41523407e-01 3.75144666e+01] [ 1.77871011e-01 9.83543091e-01 -3.17000339e-02 5.13325741e+00] [ 1.44918900e-01 5.68150547e-03 9.89427225e-01 5.61006861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:5.14, Z:5.62 [[ 9.73517842e-01 -1.79540889e-01 -1.41520601e-01 3.75704900e+01] [ 1.76814775e-01 9.83733119e-01 -3.17125587e-02 5.14468455e+00] [ 1.44912203e-01 5.84980851e-03 9.89427225e-01 5.62059926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:37.63, Y:5.16, Z:5.63 [[ 9.73453635e-01 -1.79895817e-01 -1.41511540e-01 3.76274028e+01] [ 1.77167567e-01 9.83668340e-01 -3.17529395e-02 5.15683692e+00] [ 1.44912643e-01 5.83875908e-03 9.89427226e-01 5.63002971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:37.68, Y:5.17, Z:5.64 [[ 9.73238313e-01 -1.81063297e-01 -1.41503602e-01 3.76838496e+01] [ 1.78342172e-01 9.83454918e-01 -3.17882732e-02 5.16791704e+00] [ 1.44918103e-01 5.70150553e-03 9.89427226e-01 5.63823155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:5.18, Z:5.65 [[ 9.72996990e-01 -1.82362649e-01 -1.41494598e-01 3.77415796e+01] [ 1.79649356e-01 9.83215677e-01 -3.18283055e-02 5.17908120e+00] [ 1.44924001e-01 5.54943221e-03 9.89427227e-01 5.64538328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:5.19, Z:5.65 [[ 9.72685925e-01 -1.84020678e-01 -1.41486680e-01 3.77980715e+01] [ 1.81319698e-01 9.82907873e-01 -3.18634611e-02 5.18927779e+00] [ 1.44931908e-01 5.33881797e-03 9.89427228e-01 5.65142817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:5.20, Z:5.66 [[ 9.72391349e-01 -1.85573085e-01 -1.41483901e-01 3.78539505e+01] [ 1.82886633e-01 9.82617124e-01 -3.18757960e-02 5.20095709e+00] [ 1.44939794e-01 5.12023397e-03 9.89427228e-01 5.66045935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:5.21, Z:5.67 [[ 9.71354151e-01 -1.90934547e-01 -1.41474774e-01 3.79106906e+01] [ 1.88298659e-01 9.81593076e-01 -3.19162554e-02 5.20871605e+00] [ 1.44964574e-01 4.36247688e-03 9.89427229e-01 5.67125231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:5.22, Z:5.68 [[ 9.69820878e-01 -1.98582272e-01 -1.41465706e-01 3.79671225e+01] [ 1.96021290e-01 9.80078794e-01 -3.19563967e-02 5.21651166e+00] [ 1.44993513e-01 3.26169049e-03 9.89427230e-01 5.68339477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:5.23, Z:5.69 [[ 9.68977155e-01 -2.02661076e-01 -1.41462930e-01 3.80244664e+01] [ 2.00141485e-01 9.79245316e-01 -3.19686813e-02 5.22619574e+00] [ 1.45005719e-01 2.66432096e-03 9.89427230e-01 5.69013314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:5.23, Z:5.70 [[ 9.68195879e-01 -2.06367410e-01 -1.41453992e-01 3.80829966e+01] [ 2.03881358e-01 9.78472211e-01 -3.20081838e-02 5.23379921e+00] [ 1.45014246e-01 2.15035969e-03 9.89427230e-01 5.69861336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:5.24, Z:5.71 [[ 9.68071009e-01 -2.06957753e-01 -1.41446139e-01 3.81390653e+01] [ 2.04472904e-01 9.78347631e-01 -3.20428488e-02 5.24401229e+00] [ 1.45015011e-01 2.09785020e-03 9.89427231e-01 5.70775166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:5.26, Z:5.71 [[ 9.68539608e-01 -2.04755451e-01 -1.41443389e-01 3.81970887e+01] [ 2.02245464e-01 9.78810120e-01 -3.20549822e-02 5.25531741e+00] [ 1.45009653e-01 2.44023596e-03 9.89427231e-01 5.71438643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:5.27, Z:5.72 [[ 9.69043233e-01 -2.02363507e-01 -1.41436286e-01 3.82545511e+01] [ 1.99823601e-01 9.79306386e-01 -3.20862950e-02 5.26760049e+00] [ 1.45002553e-01 2.83069906e-03 9.89427232e-01 5.72269553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:5.28, Z:5.73 [[ 9.68047117e-01 -2.07081551e-01 -1.41428464e-01 3.83112262e+01] [ 2.04586639e-01 9.78321300e-01 -3.21207353e-02 5.27979913e+00] [ 1.45014090e-01 2.16001115e-03 9.89427232e-01 5.73424445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:5.30, Z:5.74 [[ 9.67166018e-01 -2.11163758e-01 -1.41420510e-01 3.83679415e+01] [ 2.08707099e-01 9.77449414e-01 -3.21557181e-02 5.29528743e+00] [ 1.45021517e-01 1.58445358e-03 9.89427233e-01 5.74262184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:38.42, Y:5.31, Z:5.75 [[ 9.67046908e-01 -2.11713868e-01 -1.41412572e-01 3.84243862e+01] [ 2.09257959e-01 9.77330483e-01 -3.21905903e-02 5.31016189e+00] [ 1.45022011e-01 1.53810468e-03 9.89427234e-01 5.74987438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:5.32, Z:5.76 [[ 9.67553420e-01 -2.09392142e-01 -1.41404774e-01 3.84803457e+01] [ 2.06906557e-01 9.77829862e-01 -3.22248074e-02 5.32377947e+00] [ 1.45017432e-01 1.92164767e-03 9.89427234e-01 5.76206110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:5.34, Z:5.77 [[ 9.68038080e-01 -2.07145252e-01 -1.41397030e-01 3.85357171e+01] [ 2.04630860e-01 9.78307510e-01 -3.22587492e-02 5.33877473e+00] [ 1.45012024e-01 2.29350178e-03 9.89427235e-01 5.77173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:5.35, Z:5.78 [[ 9.68868041e-01 -2.03234152e-01 -1.41388112e-01 3.85921832e+01] [ 2.00672612e-01 9.79125812e-01 -3.22977929e-02 5.35490052e+00] [ 1.45000764e-01 2.91957775e-03 9.89427236e-01 5.77617907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:5.37, Z:5.79 [[ 9.69380487e-01 -2.00781252e-01 -1.41380200e-01 3.86472933e+01] [ 1.98188714e-01 9.79630466e-01 -3.23323884e-02 5.36954859e+00] [ 1.44992089e-01 3.32242632e-03 9.89427236e-01 5.78504387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:5.38, Z:5.80 [[ 9.69331869e-01 -2.01022216e-01 -1.41371128e-01 3.87029409e+01] [ 1.98426451e-01 9.79581031e-01 -3.23720054e-02 5.38231105e+00] [ 1.44991968e-01 3.32744527e-03 9.89427237e-01 5.79559888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:5.40, Z:5.80 [[ 9.68804712e-01 -2.03553895e-01 -1.41362091e-01 3.87592501e+01] [ 2.00979166e-01 9.79059178e-01 -3.24114207e-02 5.39579009e+00] [ 1.44999324e-01 2.98950194e-03 9.89427238e-01 5.80283273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:38.82, Y:5.41, Z:5.81 [[ 9.68237490e-01 -2.06241353e-01 -1.41352991e-01 3.88158625e+01] [ 2.03689302e-01 9.78497622e-01 -3.24510616e-02 5.40758505e+00] [ 1.45006316e-01 2.62824226e-03 9.89427239e-01 5.81149675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:5.42, Z:5.82 [[ 9.67971152e-01 -2.07493950e-01 -1.41343942e-01 3.88723686e+01] [ 2.04949430e-01 9.78233154e-01 -3.24904295e-02 5.41945204e+00] [ 1.45008897e-01 2.48143809e-03 9.89427239e-01 5.82345219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:5.43, Z:5.83 [[ 9.67765980e-01 -2.08454127e-01 -1.41336073e-01 3.89282012e+01] [ 2.05914797e-01 9.78029266e-01 -3.25246225e-02 5.43226662e+00] [ 1.45010708e-01 2.37303440e-03 9.89427240e-01 5.83477113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:5.44, Z:5.84 [[ 9.67596280e-01 -2.09243219e-01 -1.41331927e-01 3.89841394e+01] [ 2.06709628e-01 9.77860985e-01 -3.25426315e-02 5.44469551e+00] [ 1.45012302e-01 2.27345921e-03 9.89427240e-01 5.84356870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:5.46, Z:5.85 [[ 9.67476531e-01 -2.09802365e-01 -1.41322782e-01 3.90403603e+01] [ 2.07268914e-01 9.77741270e-01 -3.25822971e-02 5.45701121e+00] [ 1.45012959e-01 2.23078829e-03 9.89427241e-01 5.85264885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:5.47, Z:5.86 [[ 9.67347009e-01 -2.10404961e-01 -1.41313538e-01 3.90963619e+01] [ 2.07872056e-01 9.77611882e-01 -3.26223416e-02 5.46936292e+00] [ 1.45013696e-01 2.18198904e-03 9.89427242e-01 5.85992833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:5.48, Z:5.87 [[ 9.67440907e-01 -2.09979129e-01 -1.41304131e-01 3.91520661e+01] [ 2.07435763e-01 9.77703191e-01 -3.26630372e-02 5.48111463e+00] [ 1.45012056e-01 2.28802810e-03 9.89427243e-01 5.86770897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:5.49, Z:5.88 [[ 9.64980315e-01 -2.21014186e-01 -1.41300112e-01 3.92085718e+01] [ 2.18585643e-01 9.75270377e-01 -3.26804147e-02 5.49397541e+00] [ 1.45028648e-01 6.49781129e-04 9.89427243e-01 5.88147486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:39.26, Y:5.51, Z:5.89 [[ 9.63139682e-01 -2.28907183e-01 -1.41292092e-01 3.92632393e+01] [ 2.26557885e-01 9.73448124e-01 -3.27150495e-02 5.51068451e+00] [ 1.45029232e-01 -5.01675265e-04 9.89427244e-01 5.89209919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:5.53, Z:5.89 [[ 9.63788848e-01 -2.26163987e-01 -1.41283077e-01 3.93203395e+01] [ 2.23779648e-01 9.74089241e-01 -3.27539380e-02 5.52935371e+00] [ 1.45030086e-01 -4.83970186e-05 9.89427244e-01 5.89345861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:5.55, Z:5.90 [[ 9.65912713e-01 -2.16919221e-01 -1.41275198e-01 3.93753391e+01] [ 2.14431335e-01 9.76188587e-01 -3.27878872e-02 5.54638325e+00] [ 1.45023559e-01 1.37640780e-03 9.89427245e-01 5.90190323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:5.56, Z:5.92 [[ 9.67345610e-01 -2.10443250e-01 -1.41266093e-01 3.94307845e+01] [ 2.07880857e-01 9.77603157e-01 -3.28270693e-02 5.56071745e+00] [ 1.45010414e-01 2.38860501e-03 9.89427246e-01 5.91578155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:5.58, Z:5.93 [[ 9.69085558e-01 -2.02285295e-01 -1.41258061e-01 3.94858851e+01] [ 1.99631537e-01 9.79319848e-01 -3.28615969e-02 5.57791602e+00] [ 1.44984240e-01 3.64613521e-03 9.89427246e-01 5.92641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:5.59, Z:5.93 [[ 9.70072008e-01 -1.97506519e-01 -1.41249688e-01 3.95416086e+01] [ 1.94797121e-01 9.80291708e-01 -3.28975457e-02 5.59266954e+00] [ 1.44963378e-01 4.39795558e-03 9.89427247e-01 5.93191579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:39.60, Y:5.60, Z:5.94 [[ 9.70220340e-01 -1.96783454e-01 -1.41240095e-01 3.95965230e+01] [ 1.94060458e-01 9.80436424e-01 -3.29386808e-02 5.60456613e+00] [ 1.44958721e-01 4.54866057e-03 9.89427248e-01 5.94114910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:5.62, Z:5.95 [[ 9.69986571e-01 -1.97935496e-01 -1.41235945e-01 3.96529242e+01] [ 1.95222047e-01 9.80205195e-01 -3.29564666e-02 5.61745604e+00] [ 1.44963461e-01 4.39495969e-03 9.89427248e-01 5.95000638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:5.63, Z:5.96 [[ 9.69339778e-01 -2.01085782e-01 -1.41226423e-01 3.97091085e+01] [ 1.98399612e-01 9.79565606e-01 -3.29972202e-02 5.62997305e+00] [ 1.44975819e-01 3.96625053e-03 9.89427249e-01 5.95608868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:5.64, Z:5.96 [[ 9.68673788e-01 -2.04276430e-01 -1.41216967e-01 3.97648961e+01] [ 2.01618057e-01 9.78906877e-01 -3.30376405e-02 5.64141095e+00] [ 1.44987071e-01 3.53080589e-03 9.89427250e-01 5.96419083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:5.65, Z:5.98 [[ 9.67643988e-01 -2.09102891e-01 -1.41212939e-01 3.98216182e+01] [ 2.06493054e-01 9.77889562e-01 -3.30548473e-02 5.65196390e+00] [ 1.45002523e-01 2.82583314e-03 9.89427250e-01 5.97617512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:5.66, Z:5.98 [[ 9.67180838e-01 -2.11240186e-01 -1.41204851e-01 3.98783076e+01] [ 2.08647953e-01 9.77430880e-01 -3.30893618e-02 5.66452210e+00] [ 1.45007785e-01 2.54129349e-03 9.89427251e-01 5.98325691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:5.68, Z:5.99 [[ 9.66773333e-01 -2.13103605e-01 -1.41195526e-01 3.99339979e+01] [ 2.10525326e-01 9.77026893e-01 -3.31291068e-02 5.67602312e+00] [ 1.45011758e-01 2.30310280e-03 9.89427251e-01 5.99129433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:5.69, Z:6.00 [[ 9.66585660e-01 -2.13955122e-01 -1.41192661e-01 3.99903967e+01] [ 2.11384093e-01 9.76841041e-01 -3.31413136e-02 5.68758701e+00] [ 1.45013539e-01 2.18803592e-03 9.89427251e-01 5.99735277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:5.70, Z:6.01 [[ 9.66640806e-01 -2.13712211e-01 -1.41183014e-01 4.00462958e+01] [ 2.11132611e-01 9.76894033e-01 -3.31823606e-02 5.69986242e+00] [ 1.45012319e-01 2.26708548e-03 9.89427252e-01 6.00658333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:40.10, Y:5.71, Z:6.02 [[ 9.67164174e-01 -2.11338815e-01 -1.41171409e-01 4.01019406e+01] [ 2.08726862e-01 9.77409205e-01 -3.32316586e-02 5.71266771e+00] [ 1.45005374e-01 2.67420443e-03 9.89427254e-01 6.01741972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:40.16, Y:5.73, Z:6.03 [[ 9.68156238e-01 -2.06750178e-01 -1.41166082e-01 4.01588751e+01] [ 2.04086377e-01 9.78387911e-01 -3.32542742e-02 5.72752054e+00] [ 1.44990515e-01 3.38525892e-03 9.89427254e-01 6.02614684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:5.74, Z:6.03 [[ 9.69022288e-01 -2.02658417e-01 -1.41157255e-01 4.02143760e+01] [ 1.99945970e-01 9.79241172e-01 -3.32916996e-02 5.74257457e+00] [ 1.44973839e-01 4.03657475e-03 9.89427255e-01 6.03255517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:5.76, Z:6.04 [[ 9.69133822e-01 -2.02130970e-01 -1.41147814e-01 4.02717716e+01] [ 1.99407143e-01 9.79349677e-01 -3.33316775e-02 5.75538670e+00] [ 1.44970431e-01 4.15697356e-03 9.89427255e-01 6.04106711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:5.77, Z:6.05 [[ 9.68292258e-01 -2.06129913e-01 -1.41140223e-01 4.03283805e+01] [ 2.03443603e-01 9.78518042e-01 -3.33637930e-02 5.76802369e+00] [ 1.44985530e-01 3.59182694e-03 9.89427256e-01 6.05046200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:5.78, Z:6.06 [[ 9.66623938e-01 -2.13822082e-01 -1.41132132e-01 4.03846859e+01] [ 2.11212170e-01 9.76869487e-01 -3.33979814e-02 5.77885273e+00] [ 1.45008900e-01 2.47446436e-03 9.89427257e-01 6.05646627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:5.79, Z:6.07 [[ 9.65174789e-01 -2.20272903e-01 -1.41129285e-01 4.04406723e+01] [ 2.17729715e-01 9.75437103e-01 -3.34100098e-02 5.78882406e+00] [ 1.45022061e-01 1.51846019e-03 9.89427257e-01 6.06683026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:5.80, Z:6.07 [[ 9.64917968e-01 -2.21401187e-01 -1.41119911e-01 4.04962455e+01] [ 2.18864215e-01 9.75181820e-01 -3.34495564e-02 5.80089437e+00] [ 1.45023343e-01 1.38997939e-03 9.89427257e-01 6.07469400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:5.81, Z:6.08 [[ 9.65822828e-01 -2.17422559e-01 -1.41115892e-01 4.05521802e+01] [ 2.14840832e-01 9.76075514e-01 -3.34665044e-02 5.81409264e+00] [ 1.45016140e-01 2.00525829e-03 9.89427258e-01 6.08296927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:5.83, Z:6.09 [[ 9.67280759e-01 -2.10847946e-01 -1.41106615e-01 4.06085565e+01] [ 2.08190843e-01 9.77514169e-01 -3.35055723e-02 5.82878567e+00] [ 1.44998297e-01 3.03219025e-03 9.89427258e-01 6.09297427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:5.84, Z:6.10 [[ 9.68586007e-01 -2.04773883e-01 -1.41098559e-01 4.06640854e+01] [ 2.02047682e-01 9.78801225e-01 -3.35394646e-02 5.84236277e+00] [ 1.44975449e-01 3.97721920e-03 9.89427259e-01 6.10141503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:5.86, Z:6.11 [[ 9.68881183e-01 -2.03379314e-01 -1.41089008e-01 4.07196418e+01] [ 2.00632571e-01 9.79090896e-01 -3.35795967e-02 5.85634140e+00] [ 1.44968358e-01 4.22758902e-03 9.89427260e-01 6.10836983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:40.78, Y:5.87, Z:6.12 [[ 9.68085503e-01 -2.07140149e-01 -1.41079471e-01 4.07759991e+01] [ 2.04427245e-01 9.78304259e-01 -3.36196186e-02 5.86970671e+00] [ 1.44982620e-01 3.70617794e-03 9.89427261e-01 6.11521384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:5.88, Z:6.12 [[ 9.67618364e-01 -2.09317918e-01 -1.41069881e-01 4.08325242e+01] [ 2.06622158e-01 9.77841654e-01 -3.36598093e-02 5.88271587e+00] [ 1.44989607e-01 3.42168637e-03 9.89427262e-01 6.12327013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:5.89, Z:6.13 [[ 9.66149129e-01 -2.16004134e-01 -1.41060532e-01 4.08884974e+01] [ 2.13373421e-01 9.76389351e-01 -3.36989438e-02 5.89378546e+00] [ 1.45009113e-01 2.45963682e-03 9.89427262e-01 6.13275705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:5.91, Z:6.14 [[ 9.65434649e-01 -2.19181440e-01 -1.41051177e-01 4.09453455e+01] [ 2.16578717e-01 9.75682019e-01 -3.37380569e-02 5.90583076e+00] [ 1.45015853e-01 2.02320617e-03 9.89427263e-01 6.14328582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:5.92, Z:6.15 [[ 9.65424106e-01 -2.19233039e-01 -1.41043148e-01 4.10019516e+01] [ 2.16625966e-01 9.75670370e-01 -3.37715879e-02 5.91774094e+00] [ 1.45015468e-01 2.05029687e-03 9.89427264e-01 6.15225985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters Centerline goodness : 0.999899 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:5.93, Z:6.16 [[ 9.64831051e-01 -2.21834349e-01 -1.41033914e-01 4.10583270e+01] [ 2.19249272e-01 9.75082885e-01 -3.38101091e-02 5.93091088e+00] [ 1.45019999e-01 1.69946026e-03 9.89427265e-01 6.15973656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters Centerline goodness : 0.999924 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:5.94, Z:6.17 [[ 9.64066505e-01 -2.25139551e-01 -1.41024668e-01 4.11138808e+01] [ 2.22583988e-01 9.74325735e-01 -3.38486278e-02 5.94462263e+00] [ 1.45024629e-01 1.24249518e-03 9.89427265e-01 6.16824174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:5.96, Z:6.17 [[ 9.64614569e-01 -2.22785499e-01 -1.41015439e-01 4.11697309e+01] [ 2.20199286e-01 9.74866116e-01 -3.38870357e-02 5.96129068e+00] [ 1.45020713e-01 1.63642948e-03 9.89427266e-01 6.17379290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:5.98, Z:6.18 [[ 9.65208923e-01 -2.20202195e-01 -1.41006129e-01 4.12248029e+01] [ 2.17582893e-01 9.75452064e-01 -3.39257308e-02 5.97678686e+00] [ 1.45015240e-01 2.06489665e-03 9.89427267e-01 6.18174195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:5.99, Z:6.19 [[ 9.65842794e-01 -2.17411134e-01 -1.40996794e-01 4.12798966e+01] [ 2.14756577e-01 9.76076855e-01 -3.39644827e-02 5.99310210e+00] [ 1.45007964e-01 2.52436202e-03 9.89427268e-01 6.19133132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:41.34, Y:6.01, Z:6.20 [[ 9.66151139e-01 -2.16043013e-01 -1.40987208e-01 4.13351476e+01] [ 2.13368166e-01 9.76379915e-01 -3.40042316e-02 6.00888158e+00] [ 1.45003454e-01 2.77104520e-03 9.89427268e-01 6.20019797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:6.02, Z:6.21 [[ 9.66278644e-01 -2.15478331e-01 -1.40977552e-01 4.13905175e+01] [ 2.12791676e-01 9.76504324e-01 -3.40442148e-02 6.02455290e+00] [ 1.45000980e-01 2.89734809e-03 9.89427269e-01 6.20980576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:6.04, Z:6.22 [[ 9.65751912e-01 -2.17828856e-01 -1.40974586e-01 4.14465855e+01] [ 2.15165298e-01 9.75983632e-01 -3.40564941e-02 6.03995592e+00] [ 1.45007375e-01 2.55728550e-03 9.89427269e-01 6.21756292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:6.05, Z:6.23 [[ 9.65191189e-01 -2.20306220e-01 -1.40965024e-01 4.15018166e+01] [ 2.17663152e-01 9.75428220e-01 -3.40960261e-02 6.05409855e+00] [ 1.45012829e-01 2.22629253e-03 9.89427270e-01 6.22726030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:6.07, Z:6.23 [[ 9.64354210e-01 -2.23947650e-01 -1.40955343e-01 4.15578562e+01] [ 2.21337397e-01 9.74599656e-01 -3.41360030e-02 6.06963515e+00] [ 1.45019706e-01 1.72050951e-03 9.89427271e-01 6.23221862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:6.08, Z:6.24 [[ 9.63080079e-01 -2.29370965e-01 -1.40945814e-01 4.16128670e+01] [ 2.26812658e-01 9.73338619e-01 -3.41753022e-02 6.08314437e+00] [ 1.45026826e-01 9.45258067e-04 9.89427272e-01 6.23699548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:6.10, Z:6.25 [[ 9.61946486e-01 -2.34083400e-01 -1.40939420e-01 4.16691162e+01] [ 2.31571488e-01 9.72216485e-01 -3.42016527e-02 6.09624332e+00] [ 1.45029666e-01 2.62608420e-04 9.89427272e-01 6.24662735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:41.72, Y:6.11, Z:6.26 [[ 9.60587418e-01 -2.39604938e-01 -1.40930072e-01 4.17245664e+01] [ 2.37146414e-01 9.70870327e-01 -3.42401273e-02 6.10850358e+00] [ 1.45028929e-01 -5.30425669e-04 9.89427273e-01 6.25925326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:6.12, Z:6.27 [[ 9.60733556e-01 -2.39023937e-01 -1.40920514e-01 4.17794151e+01] [ 2.36553430e-01 9.71013592e-01 -3.42794195e-02 6.12247683e+00] [ 1.45029336e-01 -4.01842322e-04 9.89427274e-01 6.26624717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:6.14, Z:6.27 [[ 9.62235252e-01 -2.32907455e-01 -1.40916418e-01 4.18355436e+01] [ 2.30369138e-01 9.72498755e-01 -3.42962495e-02 6.13844596e+00] [ 1.45028893e-01 5.38266612e-04 9.89427274e-01 6.27259668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:41.89, Y:6.15, Z:6.28 [[ 9.63325250e-01 -2.28363011e-01 -1.40907057e-01 4.18913167e+01] [ 2.25770657e-01 9.73575236e-01 -3.43346683e-02 6.15323260e+00] [ 1.45024389e-01 1.26277412e-03 9.89427275e-01 6.28113906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:41.95, Y:6.17, Z:6.29 [[ 9.64657253e-01 -2.22675160e-01 -1.40897683e-01 4.19479549e+01] [ 2.20016763e-01 9.74890309e-01 -3.43730937e-02 6.16893914e+00] [ 1.45013820e-01 2.15840204e-03 9.89427275e-01 6.28914844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:6.18, Z:6.30 [[ 9.64735593e-01 -2.22340848e-01 -1.40889260e-01 4.20045115e+01] [ 2.19673869e-01 9.74966414e-01 -3.44075841e-02 6.18298256e+00] [ 1.45012508e-01 2.24453227e-03 9.89427276e-01 6.29949159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:6.20, Z:6.31 [[ 9.63583508e-01 -2.27287043e-01 -1.40880884e-01 4.20597950e+01] [ 2.24667575e-01 9.73826596e-01 -3.44418461e-02 6.19648317e+00] [ 1.45021737e-01 1.53622841e-03 9.89427277e-01 6.30823428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:6.21, Z:6.32 [[ 9.62715797e-01 -2.30936577e-01 -1.40877930e-01 4.21159404e+01] [ 2.28354173e-01 9.72968293e-01 -3.44539213e-02 6.20883417e+00] [ 1.45026430e-01 9.99271052e-04 9.89427277e-01 6.31810725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:6.22, Z:6.33 [[ 9.61402802e-01 -2.36348838e-01 -1.40868300e-01 4.21718276e+01] [ 2.33818390e-01 9.71668244e-01 -3.44932507e-02 6.22136579e+00] [ 1.45029694e-01 2.24308797e-04 9.89427278e-01 6.32898294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:6.24, Z:6.34 [[ 9.61245120e-01 -2.36995246e-01 -1.40858344e-01 4.22268980e+01] [ 2.34465749e-01 9.71510795e-01 -3.45338631e-02 6.23552969e+00] [ 1.45029763e-01 1.69050364e-04 9.89427278e-01 6.33567298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:6.25, Z:6.34 [[ 9.62229331e-01 -2.32969625e-01 -1.40854070e-01 4.22830059e+01] [ 2.30394630e-01 9.72483688e-01 -3.45512854e-02 6.24941033e+00] [ 1.45027685e-01 7.94238887e-04 9.89427279e-01 6.34112038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:6.26, Z:6.35 [[ 9.63317037e-01 -2.28432166e-01 -1.40851097e-01 4.23387102e+01] [ 2.25807101e-01 9.73558691e-01 -3.45633994e-02 6.26448928e+00] [ 1.45022202e-01 1.49033353e-03 9.89427279e-01 6.34743743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:42.39, Y:6.28, Z:6.36 [[ 9.64614147e-01 -2.22897391e-01 -1.40841403e-01 4.23938925e+01] [ 2.20207805e-01 9.74839046e-01 -3.46028584e-02 6.27787120e+00] [ 1.45010586e-01 2.36403050e-03 9.89427280e-01 6.35600862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:42.45, Y:6.29, Z:6.36 [[ 9.64866514e-01 -2.21805073e-01 -1.40837210e-01 4.24494631e+01] [ 2.19101424e-01 9.75087703e-01 -3.46199141e-02 6.29263805e+00] [ 1.45007504e-01 2.54596260e-03 9.89427280e-01 6.36420997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:42.51, Y:6.31, Z:6.37 [[ 9.64917442e-01 -2.21589534e-01 -1.40827585e-01 4.25061380e+01] [ 2.18877895e-01 9.75136513e-01 -3.46590258e-02 6.30643984e+00] [ 1.45006197e-01 2.61905326e-03 9.89427280e-01 6.37499161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:6.32, Z:6.38 [[ 9.65352597e-01 -2.19691414e-01 -1.40819197e-01 4.25614977e+01] [ 2.16954718e-01 9.75564986e-01 -3.46930718e-02 6.32143038e+00] [ 1.45000048e-01 2.93965774e-03 9.89427281e-01 6.38163164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:6.34, Z:6.39 [[ 9.65605901e-01 -2.18581590e-01 -1.40809561e-01 4.26178232e+01] [ 2.15827463e-01 9.75813602e-01 -3.47321366e-02 6.33574469e+00] [ 1.44995691e-01 3.14698569e-03 9.89427282e-01 6.38911157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:6.35, Z:6.40 [[ 9.66686738e-01 -2.13757127e-01 -1.40800007e-01 4.26736540e+01] [ 2.10946431e-01 9.76879006e-01 -3.47708253e-02 6.35060032e+00] [ 1.44977083e-01 3.91123667e-03 9.89427283e-01 6.39716257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:42.73, Y:6.36, Z:6.41 [[ 9.67450026e-01 -2.10277514e-01 -1.40797069e-01 4.27295620e+01] [ 2.07428435e-01 9.77631632e-01 -3.47827181e-02 6.36448471e+00] [ 1.44961692e-01 4.44522586e-03 9.89427283e-01 6.40645114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:6.38, Z:6.41 [[ 9.67731983e-01 -2.08982441e-01 -1.40787597e-01 4.27859384e+01] [ 2.06114171e-01 9.77908199e-01 -3.48210147e-02 6.37847236e+00] [ 1.44954326e-01 4.67909075e-03 9.89427284e-01 6.41418496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:6.39, Z:6.42 [[ 9.67756865e-01 -2.08873850e-01 -1.40777716e-01 4.28416266e+01] [ 2.05998640e-01 9.77931121e-01 -3.48609171e-02 6.39124650e+00] [ 1.44952444e-01 4.73687374e-03 9.89427284e-01 6.42332691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:6.40, Z:6.43 [[ 9.67923346e-01 -2.08107611e-01 -1.40767957e-01 4.28983962e+01] [ 2.05218628e-01 9.78093700e-01 -3.49002800e-02 6.40449466e+00] [ 1.44947266e-01 4.89258868e-03 9.89427285e-01 6.43422078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:6.42, Z:6.44 [[ 9.68301653e-01 -2.06346058e-01 -1.40759417e-01 4.29545123e+01] [ 2.03433579e-01 9.78465301e-01 -3.49346932e-02 6.41702041e+00] [ 1.44936841e-01 5.19212925e-03 9.89427286e-01 6.44444226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:6.43, Z:6.45 [[ 9.68319040e-01 -2.06271165e-01 -1.40749577e-01 4.30109867e+01] [ 2.03352152e-01 9.78480813e-01 -3.49742933e-02 6.42988389e+00] [ 1.44934948e-01 5.24454490e-03 9.89427287e-01 6.45219827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:6.44, Z:6.46 [[ 9.67866794e-01 -2.08389692e-01 -1.40739498e-01 4.30675401e+01] [ 2.05487039e-01 9.78033251e-01 -3.50148061e-02 6.44209263e+00] [ 1.44944633e-01 4.96952547e-03 9.89427287e-01 6.45771208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:6.45, Z:6.47 [[ 9.66500651e-01 -2.14638671e-01 -1.40736396e-01 4.31241813e+01] [ 2.11799950e-01 9.76685145e-01 -3.50272667e-02 6.45188455e+00] [ 1.44973354e-01 4.04591426e-03 9.89427288e-01 6.46937134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:6.46, Z:6.48 [[ 9.65001435e-01 -2.21287791e-01 -1.40726486e-01 4.31809158e+01] [ 2.18513459e-01 9.75203656e-01 -3.50670383e-02 6.46243799e+00] [ 1.44996891e-01 3.08911100e-03 9.89427288e-01 6.47685044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:6.47, Z:6.49 [[ 9.64118803e-01 -2.25104074e-01 -1.40723450e-01 4.32377001e+01] [ 2.22368352e-01 9.74331445e-01 -3.50792156e-02 6.47343164e+00] [ 1.45007757e-01 2.52808953e-03 9.89427288e-01 6.48540464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:43.30, Y:6.48, Z:6.49 [[ 9.63291097e-01 -2.28626117e-01 -1.40713753e-01 4.32953044e+01] [ 2.25922062e-01 9.73512169e-01 -3.51180730e-02 6.48299027e+00] [ 1.45015459e-01 2.03858594e-03 9.89427289e-01 6.49311308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:6.50, Z:6.50 [[ 9.58789345e-01 -2.46829882e-01 -1.40705367e-01 4.33506476e+01] [ 2.44314974e-01 9.69058593e-01 -3.51516385e-02 6.49927481e+00] [ 1.45028220e-01 -6.73411706e-04 9.89427290e-01 6.50372414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:6.52, Z:6.51 [[ 9.55791841e-01 -2.58198186e-01 -1.40697028e-01 4.34065716e+01] [ 2.55800496e-01 9.66089087e-01 -3.51849872e-02 6.51631928e+00] [ 1.45010563e-01 -2.36084578e-03 9.89427290e-01 6.51487547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:6.54, Z:6.52 [[ 9.54937546e-01 -2.61344586e-01 -1.40688632e-01 4.34610061e+01] [ 2.58975881e-01 9.65241497e-01 -3.52185272e-02 6.53536843e+00] [ 1.45002677e-01 -2.80346855e-03 9.89427291e-01 6.51846879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:6.55, Z:6.53 [[ 9.55780887e-01 -2.58245535e-01 -1.40684543e-01 4.35163739e+01] [ 2.55841016e-01 9.66076539e-01 -3.52348532e-02 6.55296609e+00] [ 1.45011280e-01 -2.31607714e-03 9.89427291e-01 6.52752250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:6.57, Z:6.54 [[ 9.57091861e-01 -2.53348251e-01 -1.40676343e-01 4.35716347e+01] [ 2.50886239e-01 9.67373916e-01 -3.52675622e-02 6.56902266e+00] [ 1.45021600e-01 -1.53946192e-03 9.89427292e-01 6.53717993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:6.59, Z:6.54 [[ 9.58787711e-01 -2.46858104e-01 -1.40666988e-01 4.36266996e+01] [ 2.44321019e-01 9.69051499e-01 -3.53048376e-02 6.58889628e+00] [ 1.45028840e-01 -5.18057350e-04 9.89427292e-01 6.54294628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:6.61, Z:6.56 [[ 9.60422993e-01 -2.40422846e-01 -1.40657488e-01 4.36817975e+01] [ 2.37811451e-01 9.70668126e-01 -3.53426437e-02 6.60543480e+00] [ 1.45028920e-01 4.93926281e-04 9.89427293e-01 6.55528685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:6.63, Z:6.56 [[ 9.61845935e-01 -2.34670674e-01 -1.40648753e-01 4.37355548e+01] [ 2.31992933e-01 9.72073927e-01 -3.53773738e-02 6.62523413e+00] [ 1.45023018e-01 1.39806652e-03 9.89427294e-01 6.56126958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:6.64, Z:6.57 [[ 9.63032389e-01 -2.29755855e-01 -1.40644459e-01 4.37905508e+01] [ 2.27023428e-01 9.73245908e-01 -3.53944354e-02 6.64271289e+00] [ 1.45013723e-01 2.15640044e-03 9.89427294e-01 6.56894958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:43.85, Y:6.66, Z:6.58 [[ 9.63321578e-01 -2.28546454e-01 -1.40634476e-01 4.38459849e+01] [ 2.25795422e-01 9.73530100e-01 -3.54340558e-02 6.65928754e+00] [ 1.45010224e-01 2.37976964e-03 9.89427295e-01 6.57641363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:6.68, Z:6.58 [[ 9.63626724e-01 -2.27262586e-01 -1.40624515e-01 4.39000516e+01] [ 2.24492192e-01 9.73830007e-01 -3.54735447e-02 6.67507344e+00] [ 1.45006182e-01 2.61414989e-03 9.89427296e-01 6.58452619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:43.96, Y:6.69, Z:6.59 [[ 9.63875621e-01 -2.26207285e-01 -1.40620238e-01 4.39551241e+01] [ 2.23423249e-01 9.74075191e-01 -3.54904923e-02 6.69102843e+00] [ 1.45002893e-01 2.79058993e-03 9.89427296e-01 6.59138385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:6.71, Z:6.60 [[ 9.64070057e-01 -2.25383398e-01 -1.40610271e-01 4.40106240e+01] [ 2.22584895e-01 9.74265666e-01 -3.55299388e-02 6.70672127e+00] [ 1.44999617e-01 2.95562780e-03 9.89427297e-01 6.59813787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:44.07, Y:6.72, Z:6.61 [[ 9.64014896e-01 -2.25625425e-01 -1.40600309e-01 4.40663181e+01] [ 2.22823741e-01 9.74209631e-01 -3.55693163e-02 6.72127620e+00] [ 1.44999517e-01 2.96026400e-03 9.89427297e-01 6.60680200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:6.74, Z:6.62 [[ 9.64293576e-01 -2.24433338e-01 -1.40597215e-01 4.41223257e+01] [ 2.21617269e-01 9.74484346e-01 -3.55815417e-02 6.73568289e+00] [ 1.44995469e-01 3.15228128e-03 9.89427298e-01 6.61773152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:6.75, Z:6.63 [[ 9.65099768e-01 -2.20946326e-01 -1.40588615e-01 4.41784387e+01] [ 2.18088498e-01 9.75278906e-01 -3.56154876e-02 6.75082063e+00] [ 1.44982222e-01 3.71173884e-03 9.89427298e-01 6.62506331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:6.77, Z:6.63 [[ 9.65908117e-01 -2.17391602e-01 -1.40578808e-01 4.42339611e+01] [ 2.14490694e-01 9.76075060e-01 -3.56541564e-02 6.76608229e+00] [ 1.44966383e-01 4.28579292e-03 9.89427299e-01 6.63201116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:6.78, Z:6.64 [[ 9.67106743e-01 -2.12002272e-01 -1.40568790e-01 4.42893488e+01] [ 2.09038991e-01 9.77255681e-01 -3.56936104e-02 6.78003035e+00] [ 1.44938775e-01 5.13517330e-03 9.89427300e-01 6.63859357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:6.79, Z:6.65 [[ 9.67926307e-01 -2.08231328e-01 -1.40564501e-01 4.43455834e+01] [ 2.05226065e-01 9.78062893e-01 -3.57104939e-02 6.79416744e+00] [ 1.44916966e-01 5.71762704e-03 9.89427300e-01 6.64618399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:44.40, Y:6.81, Z:6.65 [[ 9.68194564e-01 -2.06987378e-01 -1.40554305e-01 4.44004538e+01] [ 2.03963283e-01 9.78325547e-01 -3.57505817e-02 6.80796066e+00] [ 1.44907786e-01 5.94560148e-03 9.89427301e-01 6.65358841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:44.46, Y:6.82, Z:6.66 [[ 9.68901351e-01 -2.03656309e-01 -1.40549920e-01 4.44564831e+01] [ 2.00594894e-01 9.79021119e-01 -3.57678124e-02 6.82162257e+00] [ 1.44885680e-01 6.46188545e-03 9.89427301e-01 6.66237319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:6.84, Z:6.67 [[ 9.69409372e-01 -2.01231215e-01 -1.40539912e-01 4.45124569e+01] [ 1.98138806e-01 9.79519712e-01 -3.58070925e-02 6.83529006e+00] [ 1.44867119e-01 6.86532064e-03 9.89427302e-01 6.67149592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:44.57, Y:6.85, Z:6.68 [[ 9.69456687e-01 -2.01010156e-01 -1.40529891e-01 4.45688268e+01] [ 1.97909761e-01 9.79564579e-01 -3.58463792e-02 6.84873221e+00] [ 1.44863589e-01 6.93927502e-03 9.89427302e-01 6.68043860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:6.86, Z:6.69 [[ 9.69103534e-01 -2.02713041e-01 -1.40519619e-01 4.46249775e+01] [ 1.99624590e-01 9.79215081e-01 -3.58865999e-02 6.86191210e+00] [ 1.44873612e-01 6.72665945e-03 9.89427303e-01 6.68578037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:6.87, Z:6.69 [[ 9.68516754e-01 -2.05505246e-01 -1.40509400e-01 4.46814889e+01] [ 2.02440164e-01 9.78635408e-01 -3.59265672e-02 6.87420873e+00] [ 1.44890572e-01 6.35073632e-03 9.89427304e-01 6.69459731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:6.89, Z:6.70 [[ 9.67679565e-01 -2.09418915e-01 -1.40499030e-01 4.47374366e+01] [ 2.06388892e-01 9.77808772e-01 -3.59670760e-02 6.88666844e+00] [ 1.44913370e-01 5.80716528e-03 9.89427305e-01 6.70306336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:6.90, Z:6.71 [[ 9.67084073e-01 -2.12158774e-01 -1.40488611e-01 4.47939811e+01] [ 2.09151554e-01 9.77220073e-01 -3.60077275e-02 6.89928631e+00] [ 1.44927646e-01 5.43908840e-03 9.89427306e-01 6.71143913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:6.91, Z:6.72 [[ 9.66604952e-01 -2.14338095e-01 -1.40477926e-01 4.48493270e+01] [ 2.11347686e-01 9.76745923e-01 -3.60493645e-02 6.91043467e+00] [ 1.44937994e-01 5.15580949e-03 9.89427307e-01 6.71855573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:6.92, Z:6.73 [[ 9.66343720e-01 -2.15515794e-01 -1.40473336e-01 4.49057039e+01] [ 2.12535150e-01 9.76487565e-01 -3.60672412e-02 6.92298807e+00] [ 1.44943526e-01 4.99783038e-03 9.89427307e-01 6.72686310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:6.94, Z:6.73 [[ 9.66006688e-01 -2.17028275e-01 -1.40462831e-01 4.49619623e+01] [ 2.14057578e-01 9.76153450e-01 -3.61081087e-02 6.93555148e+00] [ 1.44949758e-01 4.81354111e-03 9.89427308e-01 6.73323738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:6.95, Z:6.74 [[ 9.65705448e-01 -2.18371581e-01 -1.40452267e-01 4.50178627e+01] [ 2.15409036e-01 9.75854593e-01 -3.61491528e-02 6.94781670e+00] [ 1.44954938e-01 4.65474628e-03 9.89427309e-01 6.74073202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:45.07, Y:6.96, Z:6.75 [[ 9.65648297e-01 -2.18630901e-01 -1.40441788e-01 4.50731059e+01] [ 2.15665173e-01 9.75796511e-01 -3.61898214e-02 6.95997002e+00] [ 1.44954820e-01 4.65823697e-03 9.89427310e-01 6.74980535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:45.13, Y:6.97, Z:6.76 [[ 9.65652961e-01 -2.18613175e-01 -1.40437312e-01 4.51288246e+01] [ 2.15644738e-01 9.75800383e-01 -3.62071833e-02 6.97377828e+00] [ 1.44954150e-01 4.67900649e-03 9.89427310e-01 6.75868343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:45.19, Y:6.99, Z:6.76 [[ 9.65513502e-01 -2.19234792e-01 -1.40427149e-01 4.51851530e+01] [ 2.16267168e-01 9.75661160e-01 -3.62465549e-02 6.98802348e+00] [ 1.44955821e-01 4.62675629e-03 9.89427311e-01 6.76420139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:7.00, Z:6.77 [[ 9.65179050e-01 -2.20709096e-01 -1.40416869e-01 4.52410049e+01] [ 2.17751192e-01 9.75329544e-01 -3.62863355e-02 7.00036522e+00] [ 1.44961445e-01 4.44687019e-03 9.89427311e-01 6.77222900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:7.01, Z:6.78 [[ 9.64175061e-01 -2.25061021e-01 -1.40406509e-01 4.52958567e+01] [ 2.22143111e-01 9.74337125e-01 -3.63263812e-02 7.01119914e+00] [ 1.44978926e-01 3.83465218e-03 9.89427312e-01 6.78218796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters Centerline goodness : 0.999926 with order 1 Centerline is valid? [True, True] Translation: X:45.35, Y:7.02, Z:6.79 [[ 9.62407371e-01 -2.32508130e-01 -1.40399508e-01 4.53520443e+01] [ 2.29664925e-01 9.72590588e-01 -3.63534202e-02 7.02329742e+00] [ 1.45003705e-01 2.74195716e-03 9.89427313e-01 6.79111537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:7.04, Z:6.80 [[ 9.61316566e-01 -2.36983724e-01 -1.40389369e-01 4.54085077e+01] [ 2.34182221e-01 9.71511333e-01 -3.63925317e-02 7.03541331e+00] [ 1.45014301e-01 2.10804928e-03 9.89427314e-01 6.80115314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:7.05, Z:6.81 [[ 9.60504336e-01 -2.40260477e-01 -1.40379211e-01 4.54644362e+01] [ 2.37488036e-01 9.70707044e-01 -3.64316729e-02 7.04839254e+00] [ 1.45020180e-01 1.65439670e-03 9.89427314e-01 6.81002835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:7.06, Z:6.82 [[ 9.60410128e-01 -2.40642642e-01 -1.40369175e-01 4.55203551e+01] [ 2.37868615e-01 9.70612404e-01 -3.64703025e-02 7.06249665e+00] [ 1.45020372e-01 1.63702675e-03 9.89427315e-01 6.81797040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:7.08, Z:6.83 [[ 9.60657248e-01 -2.39660201e-01 -1.40358971e-01 4.55747171e+01] [ 2.36870010e-01 9.70855114e-01 -3.65095308e-02 7.07673543e+00] [ 1.45018106e-01 1.82631458e-03 9.89427316e-01 6.82688177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:45.63, Y:7.09, Z:6.84 [[ 9.61191726e-01 -2.37510338e-01 -1.40354214e-01 4.56306853e+01] [ 2.34694670e-01 9.71382587e-01 -3.65278098e-02 7.09163533e+00] [ 1.45013372e-01 2.16984267e-03 9.89427316e-01 6.83565265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:45.69, Y:7.11, Z:6.84 [[ 9.62026533e-01 -2.34112047e-01 -1.40344213e-01 4.56858273e+01] [ 2.31254785e-01 9.72205810e-01 -3.65661921e-02 7.10850648e+00] [ 1.45004046e-01 2.72237614e-03 9.89427317e-01 6.84185119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:7.12, Z:6.85 [[ 9.62529600e-01 -2.32041189e-01 -1.40334085e-01 4.57409383e+01] [ 2.29156368e-01 9.72701101e-01 -3.66050233e-02 7.12396881e+00] [ 1.44996992e-01 3.07496929e-03 9.89427318e-01 6.84936610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:7.14, Z:6.86 [[ 9.63253988e-01 -2.29021640e-01 -1.40324066e-01 4.57960192e+01] [ 2.26099350e-01 9.73414786e-01 -3.66433911e-02 7.13917195e+00] [ 1.44985650e-01 3.56971246e-03 9.89427318e-01 6.85694051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:7.16, Z:6.86 [[ 9.63502483e-01 -2.27980030e-01 -1.40314188e-01 4.58513389e+01] [ 2.25041258e-01 9.73658525e-01 -3.66811757e-02 7.15555425e+00] [ 1.44980681e-01 3.76592252e-03 9.89427319e-01 6.86279337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:7.17, Z:6.87 [[ 9.62734675e-01 -2.31207137e-01 -1.40303977e-01 4.59082834e+01] [ 2.28296728e-01 9.72898880e-01 -3.67201932e-02 7.17071093e+00] [ 1.44991552e-01 3.32086451e-03 9.89427320e-01 6.87053811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:7.18, Z:6.88 [[ 9.62674671e-01 -2.31461900e-01 -1.40295639e-01 4.59630740e+01] [ 2.28549545e-01 9.72838319e-01 -3.67520193e-02 7.18493186e+00] [ 1.44991666e-01 3.31573351e-03 9.89427321e-01 6.88065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:46.02, Y:7.20, Z:6.89 [[ 9.63011461e-01 -2.30058570e-01 -1.40292480e-01 4.60182192e+01] [ 2.27129649e-01 9.73170347e-01 -3.67640755e-02 7.20020417e+00] [ 1.44986372e-01 3.53964427e-03 9.89427321e-01 6.89085319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:7.22, Z:6.90 [[ 9.63578089e-01 -2.27679948e-01 -1.40282243e-01 4.60739065e+01] [ 2.24720275e-01 9.73728058e-01 -3.68030964e-02 7.21707527e+00] [ 1.44976083e-01 3.93839304e-03 9.89427321e-01 6.89738733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:7.23, Z:6.91 [[ 9.64315027e-01 -2.24544548e-01 -1.40272146e-01 4.61294731e+01] [ 2.21546289e-01 9.74453664e-01 -3.68415402e-02 7.23171982e+00] [ 1.44961274e-01 4.45007734e-03 9.89427322e-01 6.90821839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:7.25, Z:6.92 [[ 9.64383799e-01 -2.24255451e-01 -1.40261827e-01 4.61847422e+01] [ 2.21248451e-01 9.74519846e-01 -3.68807848e-02 7.24637258e+00] [ 1.44958651e-01 4.53451943e-03 9.89427323e-01 6.91818463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:7.26, Z:6.93 [[ 9.64539172e-01 -2.23592872e-01 -1.40251249e-01 4.62403234e+01] [ 2.20573072e-01 9.74671412e-01 -3.69209685e-02 7.26141424e+00] [ 1.44954148e-01 4.67607160e-03 9.89427324e-01 6.92701077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:7.28, Z:6.93 [[ 9.64803970e-01 -2.22454259e-01 -1.40240517e-01 4.62963397e+01] [ 2.19416589e-01 9.74930866e-01 -3.69616902e-02 7.27762560e+00] [ 1.44947094e-01 4.88968962e-03 9.89427325e-01 6.93157170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:7.29, Z:6.94 [[ 9.64660145e-01 -2.23079186e-01 -1.40237236e-01 4.63533036e+01] [ 2.20046270e-01 9.74788465e-01 -3.69741348e-02 7.29100391e+00] [ 1.44949800e-01 4.80879355e-03 9.89427325e-01 6.94201491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:7.30, Z:6.95 [[ 9.64257586e-01 -2.24818689e-01 -1.40227906e-01 4.64082715e+01] [ 2.21798911e-01 9.74389830e-01 -3.70094835e-02 7.30498541e+00] [ 1.44957069e-01 4.58427834e-03 9.89427325e-01 6.95072234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:7.32, Z:6.96 [[ 9.60520996e-01 -2.40284536e-01 -1.40223958e-01 4.64643470e+01] [ 2.37425782e-01 9.70699845e-01 -3.70244363e-02 7.31741458e+00] [ 1.45011774e-01 2.26996553e-03 9.89427326e-01 6.96252071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:7.33, Z:6.97 [[ 9.57924140e-01 -2.50441951e-01 -1.40214731e-01 4.65202698e+01] [ 2.47686031e-01 9.68131311e-01 -3.70593463e-02 7.33104495e+00] [ 1.45027487e-01 7.70812141e-04 9.89427326e-01 6.97255920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:7.35, Z:6.98 [[ 9.55373743e-01 -2.60004278e-01 -1.40209796e-01 4.65753138e+01] [ 2.57347782e-01 9.65607239e-01 -3.70780097e-02 7.34513327e+00] [ 1.45028035e-01 -6.59323100e-04 9.89427326e-01 6.97988134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:7.36, Z:6.99 [[ 9.54598860e-01 -2.62837360e-01 -1.40205347e-01 4.66311354e+01] [ 2.60208764e-01 9.64839558e-01 -3.70948265e-02 7.35946125e+00] [ 1.45025571e-01 -1.07198089e-03 9.89427327e-01 6.98932565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:7.38, Z:7.00 [[ 9.55459880e-01 -2.59695454e-01 -1.40195183e-01 4.66858936e+01] [ 2.57027551e-01 9.65690408e-01 -3.71331995e-02 7.37521731e+00] [ 1.45028467e-01 -5.54742251e-04 9.89427327e-01 6.99952565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:7.39, Z:7.01 [[ 9.56515269e-01 -2.55786428e-01 -1.40185030e-01 4.67412387e+01] [ 2.53071103e-01 9.66733312e-01 -3.71714889e-02 7.39201425e+00] [ 1.45029501e-01 7.83163678e-05 9.89427328e-01 7.00651978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:7.41, Z:7.01 [[ 9.58190216e-01 -2.49444388e-01 -1.40174917e-01 4.67965405e+01] [ 2.46655860e-01 9.68388524e-01 -3.72095878e-02 7.40940668e+00] [ 1.45025504e-01 1.07889833e-03 9.89427329e-01 7.01231738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:7.43, Z:7.02 [[ 9.59175172e-01 -2.45635642e-01 -1.40164621e-01 4.68514323e+01] [ 2.42800959e-01 9.69360746e-01 -3.72483307e-02 7.42616736e+00] [ 1.45019600e-01 1.69556955e-03 9.89427330e-01 7.02163983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:7.44, Z:7.03 [[ 9.60483447e-01 -2.40471030e-01 -1.40161451e-01 4.69059214e+01] [ 2.37579842e-01 9.70653126e-01 -3.72602566e-02 7.44347786e+00] [ 1.45008163e-01 2.48832420e-03 9.89427330e-01 7.03011887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:7.46, Z:7.04 [[ 9.60977297e-01 -2.38495800e-01 -1.40151303e-01 4.69610881e+01] [ 2.35578150e-01 9.71139416e-01 -3.72983891e-02 7.45974314e+00] [ 1.45001964e-01 2.82632045e-03 9.89427331e-01 7.03546470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:7.47, Z:7.04 [[ 9.60626240e-01 -2.39911776e-01 -1.40141242e-01 4.70164210e+01] [ 2.37003598e-01 9.70791072e-01 -3.73361524e-02 7.47414208e+00] [ 1.45005249e-01 2.65210901e-03 9.89427331e-01 7.04477402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:7.49, Z:7.06 [[ 9.59770057e-01 -2.43320293e-01 -1.40130917e-01 4.70728600e+01] [ 2.40442565e-01 9.69943551e-01 -3.73748674e-02 7.48805899e+00] [ 1.45013142e-01 2.17784157e-03 9.89427332e-01 7.05670609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters Centerline goodness : 0.999878 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:7.50, Z:7.07 [[ 9.59211675e-01 -2.45517454e-01 -1.40121882e-01 4.71283078e+01] [ 2.42658088e-01 9.69390345e-01 -3.74087079e-02 7.50285208e+00] [ 1.45017290e-01 1.88116132e-03 9.89427333e-01 7.06503309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:47.18, Y:7.52, Z:7.07 [[ 9.59147862e-01 -2.45772460e-01 -1.40111657e-01 4.71834598e+01] [ 2.42910211e-01 9.69325721e-01 -3.74469682e-02 7.51754225e+00] [ 1.45017266e-01 1.88262734e-03 9.89427333e-01 7.07333388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:47.24, Y:7.53, Z:7.08 [[ 9.59562265e-01 -2.44155357e-01 -1.40101468e-01 4.72388511e+01] [ 2.41270398e-01 9.69733709e-01 -3.74850471e-02 7.53342481e+00] [ 1.45013292e-01 2.16689967e-03 9.89427334e-01 7.08135471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:7.55, Z:7.09 [[ 9.59563129e-01 -2.44157757e-01 -1.40091370e-01 4.72947184e+01] [ 2.41267321e-01 9.69733017e-01 -3.75227490e-02 7.54914719e+00] [ 1.45012697e-01 2.20597686e-03 9.89427335e-01 7.08924674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:7.56, Z:7.10 [[ 9.59293522e-01 -2.45220903e-01 -1.40080861e-01 4.73503769e+01] [ 2.42336015e-01 9.69464985e-01 -3.75619430e-02 7.56259475e+00] [ 1.45014463e-01 2.08629108e-03 9.89427336e-01 7.09940723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:7.58, Z:7.11 [[ 9.58969461e-01 -2.46491066e-01 -1.40070440e-01 4.74046394e+01] [ 2.43613981e-01 9.69143132e-01 -3.76007613e-02 7.57727771e+00] [ 1.45016557e-01 1.93486408e-03 9.89427337e-01 7.10640073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:7.59, Z:7.11 [[ 9.58984680e-01 -2.46434398e-01 -1.40065954e-01 4.74613668e+01] [ 2.43554273e-01 9.69157491e-01 -3.76174682e-02 7.59208249e+00] [ 1.45016206e-01 1.96091421e-03 9.89427337e-01 7.11247034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:7.61, Z:7.12 [[ 9.58981768e-01 -2.46450889e-01 -1.40056870e-01 4.75188859e+01] [ 2.43566005e-01 9.69153230e-01 -3.76512562e-02 7.60512587e+00] [ 1.45015754e-01 1.99377583e-03 9.89427337e-01 7.12032997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:47.57, Y:7.62, Z:7.13 [[ 9.58974893e-01 -2.46482453e-01 -1.40048400e-01 4.75748599e+01] [ 2.43593308e-01 9.69145145e-01 -3.76827355e-02 7.61842961e+00] [ 1.45015360e-01 2.02194415e-03 9.89427338e-01 7.12992518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:47.63, Y:7.63, Z:7.14 [[ 9.58879474e-01 -2.46855220e-01 -1.40045186e-01 4.76315309e+01] [ 2.43968284e-01 9.69050353e-01 -3.76946774e-02 7.63115330e+00] [ 1.45015965e-01 1.97806863e-03 9.89427338e-01 7.13908696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:7.64, Z:7.15 [[ 9.58826183e-01 -2.47067320e-01 -1.40036035e-01 4.76878165e+01] [ 2.44177674e-01 9.68996292e-01 -3.77286447e-02 7.64470949e+00] [ 1.45015913e-01 1.98153919e-03 9.89427339e-01 7.14825868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:7.66, Z:7.15 [[ 9.59493075e-01 -2.44470586e-01 -1.40025612e-01 4.77434359e+01] [ 2.41547778e-01 9.69653702e-01 -3.77672894e-02 7.65963423e+00] [ 1.45009344e-01 2.41457726e-03 9.89427339e-01 7.15454105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:47.80, Y:7.67, Z:7.16 [[ 9.59991482e-01 -2.42512093e-01 -1.40015137e-01 4.77990272e+01] [ 2.39562901e-01 9.70144482e-01 -3.78060831e-02 7.67399303e+00] [ 1.45003345e-01 2.75108527e-03 9.89427340e-01 7.16099443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:7.69, Z:7.17 [[ 9.59723777e-01 -2.43575470e-01 -1.40004510e-01 4.78539463e+01] [ 2.40631795e-01 9.69878376e-01 -3.78453978e-02 7.68751496e+00] [ 1.45005557e-01 2.63159160e-03 9.89427341e-01 7.16840434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:7.70, Z:7.18 [[ 9.59554355e-01 -2.44246175e-01 -1.39997303e-01 4.79100252e+01] [ 2.41305713e-01 9.69709885e-01 -3.78720388e-02 7.70131560e+00] [ 1.45006869e-01 2.55813083e-03 9.89427341e-01 7.17851833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:7.71, Z:7.19 [[ 9.58828390e-01 -2.47086638e-01 -1.39986827e-01 4.79665293e+01] [ 2.44170615e-01 9.68990964e-01 -3.79107233e-02 7.71402545e+00] [ 1.45013203e-01 2.16920820e-03 9.89427342e-01 7.18620083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:7.73, Z:7.20 [[ 9.58227023e-01 -2.49414669e-01 -1.39976052e-01 4.80226249e+01] [ 2.46517532e-01 9.68394996e-01 -3.79504659e-02 7.72719853e+00] [ 1.45017511e-01 1.85861112e-03 9.89427343e-01 7.19554603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:7.74, Z:7.20 [[ 9.58139886e-01 -2.49751046e-01 -1.39972761e-01 4.80794055e+01] [ 2.46855706e-01 9.68308371e-01 -3.79626002e-02 7.74076041e+00] [ 1.45017995e-01 1.82040670e-03 9.89427343e-01 7.20380022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:7.76, Z:7.21 [[ 9.58648392e-01 -2.47797210e-01 -1.39963578e-01 4.81349452e+01] [ 2.44876209e-01 9.68809534e-01 -3.79964243e-02 7.75805523e+00] [ 1.45013457e-01 2.15146059e-03 9.89427344e-01 7.21150678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:7.77, Z:7.22 [[ 9.59103325e-01 -2.46036620e-01 -1.39952822e-01 4.81897889e+01] [ 2.43091194e-01 9.69257414e-01 -3.80360011e-02 7.77390312e+00] [ 1.45008560e-01 2.45915640e-03 9.89427345e-01 7.21980375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:7.79, Z:7.23 [[ 9.59517134e-01 -2.44419722e-01 -1.39949520e-01 4.82462223e+01] [ 2.41455415e-01 9.69665727e-01 -3.80481481e-02 7.79093411e+00] [ 1.45003971e-01 2.71628063e-03 9.89427345e-01 7.22771181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:7.81, Z:7.24 [[ 9.60061819e-01 -2.42276368e-01 -1.39940935e-01 4.83013288e+01] [ 2.39284808e-01 9.70202410e-01 -3.80796984e-02 7.80685907e+00] [ 1.44996843e-01 3.07312481e-03 9.89427345e-01 7.23675134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:7.82, Z:7.24 [[ 9.60258205e-01 -2.41503011e-01 -1.39930250e-01 4.83566084e+01] [ 2.38497572e-01 9.70394691e-01 -3.81189212e-02 7.82247026e+00] [ 1.44993406e-01 3.23098198e-03 9.89427346e-01 7.24452874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:7.84, Z:7.26 [[ 9.60295309e-01 -2.41361667e-01 -1.39919498e-01 4.84118339e+01] [ 2.38348993e-01 9.70429646e-01 -3.81583498e-02 7.83723766e+00] [ 1.44991991e-01 3.29361299e-03 9.89427347e-01 7.25584834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:7.85, Z:7.27 [[ 9.60114412e-01 -2.42083116e-01 -1.39914548e-01 4.84670535e+01] [ 2.39075415e-01 9.70250226e-01 -3.81764889e-02 7.85247556e+00] [ 1.44994005e-01 3.20366854e-03 9.89427347e-01 7.26526125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:7.87, Z:7.27 [[ 9.59679257e-01 -2.43808632e-01 -1.39903803e-01 4.85222843e+01] [ 2.40813424e-01 9.69818769e-01 -3.82158275e-02 7.86749397e+00] [ 1.44998682e-01 2.98422320e-03 9.89427348e-01 7.27394393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:7.88, Z:7.28 [[ 9.58407253e-01 -2.48767872e-01 -1.39893111e-01 4.85782312e+01] [ 2.45819430e-01 9.68560462e-01 -3.82549268e-02 7.88212279e+00] [ 1.45011533e-01 2.27535465e-03 9.89427349e-01 7.28092499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.63, Y:7.90, Z:7.29 [[ 9.57348621e-01 -2.52817167e-01 -1.39882445e-01 4.86334489e+01] [ 2.49905980e-01 9.67512573e-01 -3.82938877e-02 7.89768496e+00] [ 1.45019377e-01 1.70314107e-03 9.89427349e-01 7.28779535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.69, Y:7.91, Z:7.30 [[ 9.56551862e-01 -2.55821072e-01 -1.39871780e-01 4.86893436e+01] [ 2.52936114e-01 9.66723289e-01 -3.83328037e-02 7.91197036e+00] [ 1.45023646e-01 1.28869030e-03 9.89427350e-01 7.29800210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:7.93, Z:7.30 [[ 9.55197392e-01 -2.60838579e-01 -1.39861280e-01 4.87453628e+01] [ 2.58001447e-01 9.65382263e-01 -3.83710763e-02 7.92657190e+00] [ 1.45028256e-01 5.67539404e-04 9.89427351e-01 7.30137419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.80, Y:7.94, Z:7.31 [[ 9.54979136e-01 -2.61642645e-01 -1.39849834e-01 4.88006204e+01] [ 2.58807986e-01 9.65164694e-01 -3.84127498e-02 7.93982906e+00] [ 1.45028535e-01 4.89120834e-04 9.89427352e-01 7.31447690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:48.86, Y:7.95, Z:7.32 [[ 9.54592908e-01 -2.63050151e-01 -1.39846336e-01 4.88559600e+01] [ 2.60228645e-01 9.64782118e-01 -3.84254789e-02 7.95417535e+00] [ 1.45029072e-01 2.88667108e-04 9.89427352e-01 7.32364678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:7.97, Z:7.34 [[ 9.54775067e-01 -2.62393891e-01 -1.39835679e-01 4.89122510e+01] [ 2.59559707e-01 9.64960757e-01 -3.84642228e-02 7.96869480e+00] [ 1.45028720e-01 4.28972987e-04 9.89427353e-01 7.33573721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:7.98, Z:7.34 [[ 9.54882722e-01 -2.62006780e-01 -1.39826442e-01 4.89673750e+01] [ 2.59163554e-01 9.65065891e-01 -3.84977731e-02 7.98378997e+00] [ 1.45028407e-01 5.22940884e-04 9.89427353e-01 7.34431264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:8.00, Z:7.35 [[ 9.54875989e-01 -2.62037022e-01 -1.39815751e-01 4.90230359e+01] [ 2.59188438e-01 9.65057660e-01 -3.85365623e-02 7.99798613e+00] [ 1.45028267e-01 5.59011951e-04 9.89427354e-01 7.35358453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:8.01, Z:7.36 [[ 9.55560539e-01 -2.59535621e-01 -1.39804570e-01 4.90779786e+01] [ 2.56654457e-01 9.65733037e-01 -3.85770815e-02 8.01412750e+00] [ 1.45026019e-01 9.81270657e-04 9.89427355e-01 7.35953980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.13, Y:8.03, Z:7.37 [[ 9.56354611e-01 -2.56598219e-01 -1.39797036e-01 4.91340700e+01] [ 2.53681823e-01 9.66517064e-01 -3.86043655e-02 8.02919578e+00] [ 1.45022032e-01 1.45549606e-03 9.89427355e-01 7.36746693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:8.04, Z:7.37 [[ 9.56537348e-01 -2.55921993e-01 -1.39786393e-01 4.91894638e+01] [ 2.52992787e-01 9.66696115e-01 -3.86428665e-02 8.04383541e+00] [ 1.45020522e-01 1.59839599e-03 9.89427356e-01 7.37481660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:8.06, Z:7.38 [[ 9.56173039e-01 -2.57285628e-01 -1.39775624e-01 4.92447207e+01] [ 2.54365222e-01 9.66334339e-01 -3.86817788e-02 8.05923343e+00] [ 1.45022251e-01 1.43241635e-03 9.89427357e-01 7.38178554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:8.07, Z:7.39 [[ 9.54283857e-01 -2.64212196e-01 -1.39764929e-01 4.93009581e+01] [ 2.61359893e-01 9.64464483e-01 -3.87203835e-02 8.07357457e+00] [ 1.45028708e-01 4.21289883e-04 9.89427358e-01 7.38878866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.36, Y:8.09, Z:7.40 [[ 9.53648839e-01 -2.66500707e-01 -1.39754299e-01 4.93561929e+01] [ 2.63667218e-01 9.63834716e-01 -3.87587126e-02 8.08861052e+00] [ 1.45029270e-01 1.13573997e-04 9.89427359e-01 7.39724911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.41, Y:8.10, Z:7.41 [[ 9.53993440e-01 -2.65270093e-01 -1.39743675e-01 4.94110268e+01] [ 2.62417859e-01 9.64174083e-01 -3.87969802e-02 8.10410711e+00] [ 1.45028908e-01 3.40828525e-04 9.89427359e-01 7.40626478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:8.12, Z:7.42 [[ 9.54136335e-01 -2.64761345e-01 -1.39732901e-01 4.94651979e+01] [ 2.61898005e-01 9.64313859e-01 -3.88357464e-02 8.11925213e+00] [ 1.45028578e-01 4.58828621e-04 9.89427360e-01 7.41510272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.52, Y:8.14, Z:7.42 [[ 9.54271791e-01 -2.64276562e-01 -1.39725618e-01 4.95206151e+01] [ 2.61404217e-01 9.64446777e-01 -3.88619310e-02 8.13535931e+00] [ 1.45028220e-01 5.59978529e-04 9.89427361e-01 7.42374319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:8.15, Z:7.43 [[ 9.54393249e-01 -2.63843335e-01 -1.39714784e-01 4.95752302e+01] [ 2.60960676e-01 9.64565317e-01 -3.89008451e-02 8.15047620e+00] [ 1.45027763e-01 6.66639642e-04 9.89427361e-01 7.42956043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.63, Y:8.17, Z:7.44 [[ 9.54443214e-01 -2.63665009e-01 -1.39710109e-01 4.96307231e+01] [ 2.60777993e-01 9.64614046e-01 -3.89176259e-02 8.16519268e+00] [ 1.45027550e-01 7.11342097e-04 9.89427362e-01 7.43782661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:8.18, Z:7.45 [[ 9.54509613e-01 -2.63430218e-01 -1.39699386e-01 4.96863972e+01] [ 2.60535071e-01 9.64678133e-01 -3.89560804e-02 8.18053139e+00] [ 1.45027152e-01 7.87363657e-04 9.89427362e-01 7.44615269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:8.20, Z:7.45 [[ 9.54373616e-01 -2.63928240e-01 -1.39688530e-01 4.97409962e+01] [ 2.61032707e-01 9.64542025e-01 -3.89949684e-02 8.19675248e+00] [ 1.45027331e-01 7.52493774e-04 9.89427363e-01 7.45191064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.80, Y:8.21, Z:7.46 [[ 9.54192952e-01 -2.64584533e-01 -1.39681192e-01 4.97964166e+01] [ 2.61692149e-01 9.64362257e-01 -3.90212370e-02 8.21147219e+00] [ 1.45027685e-01 6.80317942e-04 9.89427364e-01 7.46328057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:8.23, Z:7.47 [[ 9.54418976e-01 -2.63769806e-01 -1.39677874e-01 4.98518517e+01] [ 2.60867003e-01 9.64585311e-01 -3.90331122e-02 8.22795999e+00] [ 1.45026982e-01 8.16594705e-04 9.89427364e-01 7.47256764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:8.24, Z:7.48 [[ 9.55084072e-01 -2.61357053e-01 -1.39667126e-01 4.99067968e+01] [ 2.58422951e-01 9.65241417e-01 -3.90715303e-02 8.24427714e+00] [ 1.45024115e-01 1.22340539e-03 9.89427364e-01 7.47950151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:8.26, Z:7.49 [[ 9.55682699e-01 -2.59165464e-01 -1.39656154e-01 4.99626207e+01] [ 2.56202344e-01 9.65831616e-01 -3.91107091e-02 8.25970227e+00] [ 1.45020474e-01 1.59719391e-03 9.89427365e-01 7.48541321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:8.27, Z:7.50 [[ 9.55363868e-01 -2.60340123e-01 -1.39652784e-01 5.00180624e+01] [ 2.57387723e-01 9.65515909e-01 -3.91227417e-02 8.27495426e+00] [ 1.45022204e-01 1.43154186e-03 9.89427365e-01 7.49501564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:8.29, Z:7.50 [[ 9.55178094e-01 -2.61026813e-01 -1.39641724e-01 5.00727560e+01] [ 2.58075947e-01 9.65330580e-01 -3.91621778e-02 8.28928122e+00] [ 1.45022805e-01 1.36868418e-03 9.89427366e-01 7.50308512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:8.30, Z:7.51 [[ 9.55282578e-01 -2.60646713e-01 -1.39636981e-01 5.01282826e+01] [ 2.57689337e-01 9.65433170e-01 -3.91790813e-02 8.30418287e+00] [ 1.45022072e-01 1.44413276e-03 9.89427366e-01 7.51147092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:8.32, Z:7.52 [[ 9.55446535e-01 -2.60050834e-01 -1.39626222e-01 5.01839672e+01] [ 2.57081529e-01 9.65593643e-01 -3.92173886e-02 8.32004096e+00] [ 1.45020707e-01 1.57479542e-03 9.89427367e-01 7.51854170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:8.34, Z:7.53 [[ 9.55464924e-01 -2.59989158e-01 -1.39615242e-01 5.02396092e+01] [ 2.57013493e-01 9.65610168e-01 -3.92564386e-02 8.33580348e+00] [ 1.45020146e-01 1.62514914e-03 9.89427368e-01 7.52601227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters Centerline goodness : 0.999949 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:8.35, Z:7.54 [[ 9.54941154e-01 -2.61912238e-01 -1.39604338e-01 5.02948174e+01] [ 2.58951341e-01 9.65090717e-01 -3.92951784e-02 8.35061122e+00] [ 1.45022739e-01 1.37385261e-03 9.89427369e-01 7.53599613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:8.37, Z:7.55 [[ 9.54173283e-01 -2.64701847e-01 -1.39593263e-01 5.03473175e+01] [ 2.61764873e-01 9.64329793e-01 -3.93344819e-02 8.37359870e+00] [ 1.45025852e-01 9.91298965e-04 9.89427369e-01 7.55098181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:8.40, Z:7.56 [[ 9.52410754e-01 -2.70976795e-01 -1.39589870e-01 5.04009937e+01] [ 2.68104974e-01 9.62585879e-01 -3.93465199e-02 8.39735511e+00] [ 1.45029231e-01 4.93102988e-05 9.89427370e-01 7.55536667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:8.42, Z:7.55 [[ 9.50971839e-01 -2.75989660e-01 -1.39578903e-01 5.04562913e+01] [ 2.73165769e-01 9.61160368e-01 -3.93853868e-02 8.42356324e+00] [ 1.45027669e-01 -6.73784622e-04 9.89427370e-01 7.55107253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:8.44, Z:7.56 [[ 9.49779767e-01 -2.80069320e-01 -1.39569227e-01 5.05117574e+01] [ 2.77284158e-01 9.59978952e-01 -3.94196447e-02 8.44055510e+00] [ 1.45023753e-01 -1.26035466e-03 9.89427371e-01 7.56376552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:8.46, Z:7.58 [[ 9.49431723e-01 -2.81251685e-01 -1.39559638e-01 5.05664656e+01] [ 2.78474239e-01 9.59633010e-01 -3.94535632e-02 8.45867811e+00] [ 1.45022417e-01 -1.40529962e-03 9.89427372e-01 7.57518073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.62, Y:8.48, Z:7.59 [[ 9.50047325e-01 -2.79169914e-01 -1.39550133e-01 5.06210143e+01] [ 2.76365179e-01 9.60241143e-01 -3.94871560e-02 8.48058601e+00] [ 1.45025405e-01 -1.05213069e-03 9.89427372e-01 7.58502682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:8.50, Z:7.60 [[ 9.51205002e-01 -2.75204476e-01 -1.39540460e-01 5.06766536e+01] [ 2.72352234e-01 9.61385629e-01 -3.95213087e-02 8.49770354e+00] [ 1.45028634e-01 -4.11289502e-04 9.89427373e-01 7.59768441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:8.52, Z:7.60 [[ 9.53661699e-01 -2.66571789e-01 -1.39530807e-01 5.07309981e+01] [ 2.63622407e-01 9.63814609e-01 -3.95553617e-02 8.51769220e+00] [ 1.45026173e-01 9.38986213e-04 9.89427373e-01 7.60494975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:8.54, Z:7.61 [[ 9.55096349e-01 -2.61386806e-01 -1.39527426e-01 5.07855473e+01] [ 2.58380568e-01 9.65232569e-01 -3.95672843e-02 8.53728972e+00] [ 1.45018782e-01 1.73939327e-03 9.89427374e-01 7.61165122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:8.55, Z:7.62 [[ 9.56387295e-01 -2.56629055e-01 -1.39516560e-01 5.08413767e+01] [ 2.53566813e-01 9.66506736e-01 -3.96055615e-02 8.55436715e+00] [ 1.45007633e-01 2.50148632e-03 9.89427374e-01 7.62286404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:8.57, Z:7.63 [[ 9.56759620e-01 -2.55242722e-01 -1.39506926e-01 5.08953577e+01] [ 2.52160875e-01 9.66873107e-01 -3.96394672e-02 8.57108748e+00] [ 1.45003181e-01 2.74725300e-03 9.89427375e-01 7.63004683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:8.59, Z:7.64 [[ 9.56929146e-01 -2.54610509e-01 -1.39499458e-01 5.09505771e+01] [ 2.51518153e-01 9.67039424e-01 -3.96657324e-02 8.58653722e+00] [ 1.45000788e-01 2.87064946e-03 9.89427375e-01 7.63890651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:8.60, Z:7.65 [[ 9.56834546e-01 -2.54971716e-01 -1.39488621e-01 5.10065125e+01] [ 2.51877629e-01 9.66944294e-01 -3.97038045e-02 8.60123901e+00] [ 1.45001073e-01 2.85590864e-03 9.89427376e-01 7.64686445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:8.62, Z:7.65 [[ 9.56539683e-01 -2.56081652e-01 -1.39477679e-01 5.10626694e+01] [ 2.52993698e-01 9.66651305e-01 -3.97422071e-02 8.61560940e+00] [ 1.45003530e-01 2.72802436e-03 9.89427377e-01 7.65311530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:8.63, Z:7.66 [[ 9.56270663e-01 -2.57090395e-01 -1.39466657e-01 5.11184244e+01] [ 2.54007474e-01 9.66383820e-01 -3.97808488e-02 8.62931414e+00] [ 1.45005595e-01 2.61568530e-03 9.89427378e-01 7.66160874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:51.17, Y:8.64, Z:7.67 [[ 9.56394773e-01 -2.56634210e-01 -1.39455800e-01 5.11749676e+01] [ 2.53540923e-01 9.66504763e-01 -3.98188719e-02 8.64366029e+00] [ 1.45003580e-01 2.72480860e-03 9.89427378e-01 7.66952269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:8.66, Z:7.68 [[ 9.56831779e-01 -2.55005297e-01 -1.39446209e-01 5.12293946e+01] [ 2.51889911e-01 9.66934981e-01 -3.98524324e-02 8.65816099e+00] [ 1.44997999e-01 3.00698058e-03 9.89427379e-01 7.67734810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:8.67, Z:7.69 [[ 9.57832959e-01 -2.51222690e-01 -1.39438814e-01 5.12858895e+01] [ 2.48063646e-01 9.67922595e-01 -3.98782908e-02 8.67318477e+00] [ 1.44984310e-01 3.60704069e-03 9.89427379e-01 7.68650946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:8.69, Z:7.69 [[ 9.58399039e-01 -2.49059756e-01 -1.39429264e-01 5.13416995e+01] [ 2.45873094e-01 9.68479985e-01 -3.99116523e-02 8.68845772e+00] [ 1.44974838e-01 3.96938456e-03 9.89427380e-01 7.69452570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:8.70, Z:7.70 [[ 9.58642166e-01 -2.48128461e-01 -1.39418310e-01 5.13975644e+01] [ 2.44926450e-01 9.68718247e-01 -3.99498802e-02 8.70199274e+00] [ 1.44969763e-01 4.15040782e-03 9.89427381e-01 7.70350970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:51.45, Y:8.72, Z:7.71 [[ 9.58401525e-01 -2.49062531e-01 -1.39407219e-01 5.14533844e+01] [ 2.45864721e-01 9.68478939e-01 -3.99885467e-02 8.71704225e+00] [ 1.44972604e-01 4.04976706e-03 9.89427382e-01 7.71202522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.51, Y:8.73, Z:7.72 [[ 9.57461437e-01 -2.52658545e-01 -1.39396041e-01 5.15098529e+01] [ 2.49492924e-01 9.67549008e-01 -4.00274745e-02 8.73007201e+00] [ 1.44985785e-01 3.54643739e-03 9.89427382e-01 7.72245153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:8.74, Z:7.73 [[ 9.56696400e-01 -2.55545608e-01 -1.39385938e-01 5.15646040e+01] [ 2.52405311e-01 9.66791883e-01 -4.00626269e-02 8.74387470e+00] [ 1.44995022e-01 3.14601996e-03 9.89427383e-01 7.72973360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:8.76, Z:7.74 [[ 9.55982608e-01 -2.58205713e-01 -1.39380996e-01 5.16208432e+01] [ 2.55091005e-01 9.66086015e-01 -4.00798123e-02 8.75748836e+00] [ 1.45002867e-01 2.76076516e-03 9.89427383e-01 7.73987537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:8.77, Z:7.75 [[ 9.56229695e-01 -2.57294409e-01 -1.39371294e-01 5.16769809e+01] [ 2.54165160e-01 9.66328607e-01 -4.01135227e-02 8.77235380e+00] [ 1.44999453e-01 2.93441443e-03 9.89427384e-01 7.74764678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:8.79, Z:7.75 [[ 9.56693323e-01 -2.55571198e-01 -1.39360140e-01 5.17330526e+01] [ 2.52418123e-01 9.66784820e-01 -4.01522362e-02 8.78787973e+00] [ 1.44993023e-01 3.23635140e-03 9.89427385e-01 7.75483913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:8.80, Z:7.76 [[ 9.57080167e-01 -2.54124760e-01 -1.39349060e-01 5.17885863e+01] [ 2.50950844e-01 9.67165128e-01 -4.01906534e-02 8.80312965e+00] [ 1.44986991e-01 3.49591307e-03 9.89427385e-01 7.76093944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:8.82, Z:7.77 [[ 9.57390166e-01 -2.52960401e-01 -1.39338098e-01 5.18448055e+01] [ 2.49768699e-01 9.67469511e-01 -4.02286224e-02 8.81665108e+00] [ 1.44981610e-01 3.71219213e-03 9.89427386e-01 7.77171026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:8.83, Z:7.78 [[ 9.57266577e-01 -2.53433317e-01 -1.39327867e-01 5.18998045e+01] [ 2.50241445e-01 9.67345868e-01 -4.02640254e-02 8.83020633e+00] [ 1.44982482e-01 3.67779913e-03 9.89427387e-01 7.78139356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:8.84, Z:7.79 [[ 9.56925121e-01 -2.54723858e-01 -1.39320022e-01 5.19545539e+01] [ 2.51541632e-01 9.67007461e-01 -4.02911502e-02 8.84473969e+00] [ 1.44986618e-01 3.51082799e-03 9.89427387e-01 7.78916557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:8.86, Z:7.80 [[ 9.56750835e-01 -2.55381838e-01 -1.39312440e-01 5.20095975e+01] [ 2.52202734e-01 9.66834160e-01 -4.03173494e-02 8.86041902e+00] [ 1.44988345e-01 3.43867941e-03 9.89427388e-01 7.79771631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.06, Y:8.88, Z:7.80 [[ 9.56379541e-01 -2.56774934e-01 -1.39301141e-01 5.20647239e+01] [ 2.53604840e-01 9.66465700e-01 -4.03563537e-02 8.87609489e+00] [ 1.44992274e-01 3.26854752e-03 9.89427388e-01 7.80459034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:8.89, Z:7.82 [[ 9.54942339e-01 -2.62075329e-01 -1.39289808e-01 5.21201420e+01] [ 2.58955527e-01 9.65044167e-01 -4.03954297e-02 8.89074753e+00] [ 1.45007463e-01 2.50544044e-03 9.89427389e-01 7.81612143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.18, Y:8.91, Z:7.83 [[ 9.53795318e-01 -2.66221394e-01 -1.39286254e-01 5.21760996e+01] [ 2.63143717e-01 9.63910060e-01 -4.04076799e-02 8.90710197e+00] [ 1.45016811e-01 1.88835311e-03 9.89427389e-01 7.82701119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:8.92, Z:7.83 [[ 9.52871894e-01 -2.69513076e-01 -1.39276183e-01 5.22302778e+01] [ 2.66465273e-01 9.62995677e-01 -4.04423638e-02 8.92461055e+00] [ 1.45022108e-01 1.42412567e-03 9.89427390e-01 7.83343926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:8.94, Z:7.84 [[ 9.51888939e-01 -2.72966965e-01 -1.39271258e-01 5.22852984e+01] [ 2.69953415e-01 9.62022971e-01 -4.04593186e-02 8.94238389e+00] [ 1.45026207e-01 9.16026170e-04 9.89427390e-01 7.84218962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:8.96, Z:7.85 [[ 9.50842148e-01 -2.76596999e-01 -1.39259866e-01 5.23403134e+01] [ 2.73616402e-01 9.60985919e-01 -4.04984901e-02 8.96012891e+00] [ 1.45028531e-01 4.03887768e-04 9.89427391e-01 7.84946788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:8.98, Z:7.86 [[ 9.49976661e-01 -2.79560653e-01 -1.39248647e-01 5.23952920e+01] [ 2.76606052e-01 9.60128034e-01 -4.05370301e-02 8.97801233e+00] [ 1.45029088e-01 -7.78593596e-06 9.89427392e-01 7.85913855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:9.00, Z:7.87 [[ 9.47131624e-01 -2.89058134e-01 -1.39237504e-01 5.24485930e+01] [ 2.86199699e-01 9.57310493e-01 -4.05752671e-02 8.99792136e+00] [ 1.45022135e-01 -1.41961330e-03 9.89427393e-01 7.87326307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.50, Y:9.02, Z:7.88 [[ 9.45996415e-01 -2.92754379e-01 -1.39232380e-01 5.25033423e+01] [ 2.89933127e-01 9.56185653e-01 -4.05928431e-02 9.01905320e+00] [ 1.45015737e-01 -1.96739528e-03 9.89427393e-01 7.87780395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.56, Y:9.04, Z:7.88 [[ 9.45421779e-01 -2.94610141e-01 -1.39221137e-01 5.25572553e+01] [ 2.91803217e-01 9.55614972e-01 -4.06313663e-02 9.03973191e+00] [ 1.45012216e-01 -2.21139717e-03 9.89427393e-01 7.88317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.61, Y:9.06, Z:7.89 [[ 9.45943515e-01 -2.92935894e-01 -1.39210012e-01 5.26094770e+01] [ 2.90105325e-01 9.56130167e-01 -4.06694475e-02 9.06119497e+00] [ 1.45016433e-01 -1.91456579e-03 9.89427394e-01 7.89233528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:9.08, Z:7.90 [[ 9.46910679e-01 -2.89797909e-01 -1.39202509e-01 5.26628671e+01] [ 2.86929808e-01 9.57086826e-01 -4.06951133e-02 9.08288597e+00] [ 1.45022246e-01 -1.40671182e-03 9.89427395e-01 7.90283969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:9.11, Z:7.91 [[ 9.49688159e-01 -2.80567564e-01 -1.39191389e-01 5.27155507e+01] [ 2.77594981e-01 9.59834277e-01 -4.07331133e-02 9.10771405e+00] [ 1.45029057e-01 4.49243847e-05 9.89427395e-01 7.90876494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.77, Y:9.13, Z:7.92 [[ 9.51660810e-01 -2.73807559e-01 -1.39180183e-01 5.27695063e+01] [ 2.70757312e-01 9.61783850e-01 -4.07713660e-02 9.12995349e+00] [ 1.45024761e-01 1.11645891e-03 9.89427396e-01 7.91604240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:9.15, Z:7.93 [[ 9.53264055e-01 -2.68178371e-01 -1.39168973e-01 5.28235822e+01] [ 2.65062768e-01 9.63367171e-01 -4.08095974e-02 9.15131410e+00] [ 1.45015071e-01 2.01380923e-03 9.89427397e-01 7.92514851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:9.17, Z:7.94 [[ 9.55069269e-01 -2.61682656e-01 -1.39157749e-01 5.28776803e+01] [ 2.58492777e-01 9.65149179e-01 -4.08478348e-02 9.17389211e+00] [ 1.44997157e-01 3.04123879e-03 9.89427398e-01 7.93663443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:9.19, Z:7.95 [[ 9.55668497e-01 -2.59491282e-01 -1.39147398e-01 5.29320154e+01] [ 2.56273164e-01 9.65739427e-01 -4.08830629e-02 9.19409331e+00] [ 1.44988927e-01 3.41091121e-03 9.89427398e-01 7.94515348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:9.21, Z:7.95 [[ 9.56097989e-01 -2.57910629e-01 -1.39135698e-01 5.29857867e+01] [ 2.54670077e-01 9.66161722e-01 -4.09228435e-02 9.21403154e+00] [ 1.44982022e-01 3.69254945e-03 9.89427399e-01 7.95223193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:9.23, Z:7.96 [[ 9.56471242e-01 -2.56529298e-01 -1.39123981e-01 5.30399930e+01] [ 2.53268429e-01 9.66528409e-01 -4.09626405e-02 9.23496476e+00] [ 1.44975397e-01 3.94387560e-03 9.89427400e-01 7.95809433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.09, Y:9.25, Z:7.97 [[ 9.56836022e-01 -2.55171815e-01 -1.39112081e-01 5.30945940e+01] [ 2.51890814e-01 9.66886638e-01 -4.10030142e-02 9.25404851e+00] [ 1.44968426e-01 4.19210585e-03 9.89427401e-01 7.96701338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:53.15, Y:9.27, Z:7.98 [[ 9.56938593e-01 -2.54793308e-01 -1.39100324e-01 5.31477816e+01] [ 2.51502544e-01 9.66986016e-01 -4.10428583e-02 9.27151811e+00] [ 1.44965514e-01 4.29140957e-03 9.89427402e-01 7.97566675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.20, Y:9.29, Z:7.98 [[ 9.57398920e-01 -2.53060886e-01 -1.39095275e-01 5.32024964e+01] [ 2.49749459e-01 9.67439552e-01 -4.10599646e-02 9.28988943e+00] [ 1.44956941e-01 4.57179608e-03 9.89427402e-01 7.98484473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.26, Y:9.31, Z:7.99 [[ 9.57900927e-01 -2.51160238e-01 -1.39083965e-01 5.32568270e+01] [ 2.47823339e-01 9.67933121e-01 -4.10982405e-02 9.30819434e+00] [ 1.44946220e-01 4.89979011e-03 9.89427403e-01 7.99153702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:9.33, Z:8.00 [[ 9.58059891e-01 -2.50559622e-01 -1.39072360e-01 5.33117899e+01] [ 2.47210747e-01 9.68088093e-01 -4.11374731e-02 9.32570696e+00] [ 1.44941685e-01 5.03198096e-03 9.89427404e-01 7.99947782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:9.34, Z:8.01 [[ 9.58164786e-01 -2.50164699e-01 -1.39060657e-01 5.33667732e+01] [ 2.46805962e-01 9.68189688e-01 -4.11769946e-02 9.34125423e+00] [ 1.44938125e-01 5.13334688e-03 9.89427404e-01 8.00752495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:9.36, Z:8.02 [[ 9.57885424e-01 -2.51238767e-01 -1.39048896e-01 5.34220192e+01] [ 2.47885519e-01 9.67912163e-01 -4.12166727e-02 9.35648049e+00] [ 1.44942344e-01 5.01264220e-03 9.89427405e-01 8.01633298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:9.37, Z:8.02 [[ 9.57621108e-01 -2.52250953e-01 -1.39036939e-01 5.34779763e+01] [ 2.48902460e-01 9.67649434e-01 -4.12569694e-02 9.37180175e+00] [ 1.44946125e-01 4.90190862e-03 9.89427406e-01 8.02457894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:9.38, Z:8.03 [[ 9.57128997e-01 -2.54118387e-01 -1.39024918e-01 5.35345861e+01] [ 2.50783589e-01 9.67161886e-01 -4.12974390e-02 9.38480212e+00] [ 1.44954040e-01 4.66180863e-03 9.89427407e-01 8.03106498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:9.40, Z:8.04 [[ 9.56890111e-01 -2.55018464e-01 -1.39021217e-01 5.35909881e+01] [ 2.51691296e-01 9.66925532e-01 -4.13098926e-02 9.39781936e+00] [ 1.44957950e-01 4.53859746e-03 9.89427407e-01 8.03856784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:9.41, Z:8.05 [[ 9.56971305e-01 -2.54720105e-01 -1.39009314e-01 5.36458422e+01] [ 2.51384002e-01 9.67003758e-01 -4.13499073e-02 9.41028695e+00] [ 1.44955182e-01 4.62595706e-03 9.89427408e-01 8.04604068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.70, Y:9.42, Z:8.05 [[ 9.57132967e-01 -2.54114772e-01 -1.39004193e-01 5.37027520e+01] [ 2.50769828e-01 9.67162476e-01 -4.13671150e-02 9.41916646e+00] [ 1.44951635e-01 4.73577193e-03 9.89427408e-01 8.05482517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:9.43, Z:8.06 [[ 9.57269830e-01 -2.53605319e-01 -1.38992143e-01 5.37597997e+01] [ 2.50249171e-01 9.67295594e-01 -4.14075649e-02 9.43031708e+00] [ 1.44947666e-01 4.85554405e-03 9.89427409e-01 8.06229560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:9.44, Z:8.07 [[ 9.57587514e-01 -2.52409675e-01 -1.38980247e-01 5.38162580e+01] [ 2.49035228e-01 9.67607133e-01 -4.14474528e-02 9.43818724e+00] [ 1.44940017e-01 5.07858569e-03 9.89427410e-01 8.06824474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:9.45, Z:8.08 [[ 9.57599696e-01 -2.52366285e-01 -1.38975108e-01 5.38732205e+01] [ 2.48988887e-01 9.67618321e-01 -4.14646799e-02 9.44961062e+00] [ 1.44939147e-01 5.10330759e-03 9.89427410e-01 8.07643516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:9.46, Z:8.09 [[ 9.57193432e-01 -2.53909089e-01 -1.38963696e-01 5.39306692e+01] [ 2.50542299e-01 9.67215626e-01 -4.15028913e-02 9.46046904e+00] [ 1.44945819e-01 4.91001121e-03 9.89427411e-01 8.08677810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:9.47, Z:8.10 [[ 9.56275313e-01 -2.57350906e-01 -1.38953363e-01 5.39883753e+01] [ 2.54015175e-01 9.66307886e-01 -4.15374561e-02 9.46943726e+00] [ 1.44961433e-01 4.42498098e-03 9.89427411e-01 8.09645137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.04, Y:9.48, Z:8.10 [[ 9.55341891e-01 -2.60800270e-01 -1.38942758e-01 5.40442925e+01] [ 2.57495615e-01 9.65384743e-01 -4.15728990e-02 9.48064834e+00] [ 1.44975442e-01 3.93918096e-03 9.89427412e-01 8.10342715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:9.49, Z:8.11 [[ 9.53948403e-01 -2.65854834e-01 -1.38937584e-01 5.41007556e+01] [ 2.62600883e-01 9.64007797e-01 -4.15901838e-02 9.49190038e+00] [ 1.44993866e-01 3.18975700e-03 9.89427412e-01 8.11192459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:54.16, Y:9.50, Z:8.12 [[ 9.52028118e-01 -2.72657233e-01 -1.38926222e-01 5.41582399e+01] [ 2.69469636e-01 9.62108734e-01 -4.16281024e-02 9.50112189e+00] [ 1.45012335e-01 2.19472541e-03 9.89427413e-01 8.12175206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:9.52, Z:8.12 [[ 9.50481759e-01 -2.78005660e-01 -1.38914645e-01 5.42147268e+01] [ 2.74869150e-01 9.60578386e-01 -4.16667014e-02 9.51913580e+00] [ 1.45021984e-01 1.42008930e-03 9.89427414e-01 8.12113715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:9.53, Z:8.14 [[ 9.50978276e-01 -2.76307803e-01 -1.38903985e-01 5.42698004e+01] [ 2.73148081e-01 9.61067662e-01 -4.17022077e-02 9.53041347e+00] [ 1.45018774e-01 1.71653654e-03 9.89427415e-01 8.13747596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:9.55, Z:8.15 [[ 9.50870095e-01 -2.76681747e-01 -1.38900230e-01 5.43245742e+01] [ 2.73524166e-01 9.60960152e-01 -4.17147130e-02 9.54531815e+00] [ 1.45019285e-01 1.67270356e-03 9.89427415e-01 8.14678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:9.56, Z:8.16 [[ 9.51049148e-01 -2.76068174e-01 -1.38895215e-01 5.43795648e+01] [ 2.72901647e-01 9.61136401e-01 -4.17314026e-02 9.56232146e+00] [ 1.45017959e-01 1.78388186e-03 9.89427415e-01 8.15576420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:9.58, Z:8.17 [[ 9.51796258e-01 -2.73487133e-01 -1.38883660e-01 5.44341329e+01] [ 2.70287648e-01 9.61873105e-01 -4.17698232e-02 9.57937024e+00] [ 1.45011967e-01 2.21782352e-03 9.89427416e-01 8.16571864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:9.60, Z:8.17 [[ 9.53125392e-01 -2.68824446e-01 -1.38871897e-01 5.44874052e+01] [ 2.65569978e-01 9.63184615e-01 -4.18088950e-02 9.59828272e+00] [ 1.44998528e-01 2.96891273e-03 9.89427416e-01 8.17177089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:9.62, Z:8.18 [[ 9.53549033e-01 -2.67320508e-01 -1.38866799e-01 5.45422588e+01] [ 2.64047712e-01 9.63602307e-01 -4.18258228e-02 9.61669298e+00] [ 1.44993268e-01 3.21551238e-03 9.89427417e-01 8.18046808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:9.63, Z:8.19 [[ 9.53642161e-01 -2.66994315e-01 -1.38854829e-01 5.45955644e+01] [ 2.63712303e-01 9.63692430e-01 -4.18655231e-02 9.63345553e+00] [ 1.44991204e-01 3.30700125e-03 9.89427417e-01 8.18983406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.65, Y:9.65, Z:8.20 [[ 9.53286377e-01 -2.68264512e-01 -1.38849685e-01 5.46506213e+01] [ 2.64993408e-01 9.63340201e-01 -4.18825766e-02 9.65168129e+00] [ 1.44995093e-01 3.13183845e-03 9.89427418e-01 8.19689926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.71, Y:9.67, Z:8.20 [[ 9.52499060e-01 -2.71052735e-01 -1.38837872e-01 5.47061883e+01] [ 2.67805363e-01 9.62560574e-01 -4.19217004e-02 9.66940414e+00] [ 1.45002853e-01 2.74885353e-03 9.89427418e-01 8.20220464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:9.69, Z:8.21 [[ 9.51514124e-01 -2.74496222e-01 -1.38826132e-01 5.47613188e+01] [ 2.71279599e-01 9.61585510e-01 -4.19605434e-02 9.68550444e+00] [ 1.45011207e-01 2.26535242e-03 9.89427419e-01 8.20922454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:9.70, Z:8.22 [[ 9.49726097e-01 -2.80625846e-01 -1.38814534e-01 5.48160114e+01] [ 2.77468626e-01 9.59816261e-01 -4.19988764e-02 9.70102170e+00] [ 1.45022417e-01 1.37075093e-03 9.89427420e-01 8.21938624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:9.72, Z:8.23 [[ 9.48646572e-01 -2.84259376e-01 -1.38803058e-01 5.48709249e+01] [ 2.81135261e-01 9.58747034e-01 -4.20367704e-02 9.71784281e+00] [ 1.45026366e-01 8.55604200e-04 9.89427421e-01 8.22990067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:9.73, Z:8.24 [[ 9.48104696e-01 -2.86067099e-01 -1.38791569e-01 5.49249707e+01] [ 2.82956694e-01 9.58209388e-01 -4.20746702e-02 9.73466126e+00] [ 1.45027563e-01 6.19188994e-04 9.89427422e-01 8.23791240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:9.75, Z:8.24 [[ 9.46591925e-01 -2.91037414e-01 -1.38783833e-01 5.49798872e+01] [ 2.87976327e-01 9.56711665e-01 -4.21001707e-02 9.75236588e+00] [ 1.45028837e-01 -1.14776847e-04 9.89427422e-01 8.24467025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:9.77, Z:8.25 [[ 9.45872876e-01 -2.93371418e-01 -1.38772161e-01 5.50348291e+01] [ 2.90329663e-01 9.55998444e-01 -4.21386107e-02 9.77002438e+00] [ 1.45028234e-01 -4.31905721e-04 9.89427423e-01 8.25234555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:9.79, Z:8.26 [[ 9.45623064e-01 -2.94181044e-01 -1.38760706e-01 5.50899002e+01] [ 2.91142427e-01 9.55749573e-01 -4.21762987e-02 9.78727857e+00] [ 1.45027953e-01 -5.16247788e-04 9.89427424e-01 8.26223516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:9.81, Z:8.27 [[ 9.45492803e-01 -2.94604863e-01 -1.38749178e-01 5.51440812e+01] [ 2.91565226e-01 9.55619004e-01 -4.22141869e-02 9.80683691e+00] [ 1.45027856e-01 -5.41225609e-04 9.89427424e-01 8.27067439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.20, Y:9.83, Z:8.28 [[ 9.45410264e-01 -2.94875082e-01 -1.38737590e-01 5.51978575e+01] [ 2.91832754e-01 9.55535657e-01 -4.22522372e-02 9.82533654e+00] [ 1.45027846e-01 -5.42474374e-04 9.89427425e-01 8.27931496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.25, Y:9.84, Z:8.29 [[ 9.45475148e-01 -2.94669346e-01 -1.38732553e-01 5.52521625e+01] [ 2.91622389e-01 9.55599149e-01 -4.22687719e-02 9.84345930e+00] [ 1.45028021e-01 -4.93445087e-04 9.89427425e-01 8.28883007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:9.86, Z:8.30 [[ 9.46774564e-01 -2.90472875e-01 -1.38720704e-01 5.53046011e+01] [ 2.87375351e-01 9.56883207e-01 -4.23076231e-02 9.86385548e+00] [ 1.45028729e-01 1.90870400e-04 9.89427426e-01 8.29647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:9.88, Z:8.30 [[ 9.47926709e-01 -2.86693107e-01 -1.38715596e-01 5.53592763e+01] [ 2.83552827e-01 9.58022152e-01 -4.23243629e-02 9.88361370e+00] [ 1.45026717e-01 7.87194708e-04 9.89427426e-01 8.30251786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:9.90, Z:8.31 [[ 9.49004764e-01 -2.83109750e-01 -1.38704097e-01 5.54139149e+01] [ 2.79925848e-01 9.59086534e-01 -4.23620138e-02 9.90325183e+00] [ 1.45022331e-01 1.37489082e-03 9.89427427e-01 8.30752985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:9.92, Z:8.31 [[ 9.49722550e-01 -2.80698260e-01 -1.38692337e-01 5.54692171e+01] [ 2.77483143e-01 9.59794408e-01 -4.24004820e-02 9.92104527e+00] [ 1.45017871e-01 1.78390842e-03 9.89427428e-01 8.31487265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:9.94, Z:8.32 [[ 9.50063501e-01 -2.79547941e-01 -1.38680541e-01 5.55238237e+01] [ 2.76315003e-01 9.60129651e-01 -4.24390295e-02 9.93874456e+00] [ 1.45015043e-01 2.00025884e-03 9.89427429e-01 8.32399450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:9.96, Z:8.33 [[ 9.50690956e-01 -2.77412501e-01 -1.38668710e-01 5.55781636e+01] [ 2.74151321e-01 9.60747991e-01 -4.24776523e-02 9.95631215e+00] [ 1.45009516e-01 2.36690984e-03 9.89427429e-01 8.33314288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:9.97, Z:8.35 [[ 9.52170315e-01 -2.72297541e-01 -1.38656915e-01 5.56334533e+01] [ 2.68976743e-01 9.62207821e-01 -4.25161199e-02 9.97396055e+00] [ 1.44993803e-01 3.18710207e-03 9.89427430e-01 8.34560548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:9.99, Z:8.35 [[ 9.53285034e-01 -2.68374355e-01 -1.38646489e-01 5.56883083e+01] [ 2.65007315e-01 9.63307123e-01 -4.25500914e-02 9.99171939e+00] [ 1.44978504e-01 3.82003157e-03 9.89427431e-01 8.35284123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:10.01, Z:8.36 [[ 9.54294810e-01 -2.64767621e-01 -1.38634491e-01 5.57421753e+01] [ 2.61357038e-01 9.64302164e-01 -4.25891483e-02 1.00079825e+01] [ 1.44961767e-01 4.40950339e-03 9.89427432e-01 8.35988448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:10.03, Z:8.37 [[ 9.55487367e-01 -2.60433881e-01 -1.38629309e-01 5.57975904e+01] [ 2.56975472e-01 9.65478293e-01 -4.26060096e-02 1.00252699e+01] [ 1.44939637e-01 5.08517190e-03 9.89427432e-01 8.36690422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:10.04, Z:8.38 [[ 9.55865134e-01 -2.59050525e-01 -1.38616993e-01 5.58532307e+01] [ 2.55571861e-01 9.65849025e-01 -4.26460403e-02 1.00411786e+01] [ 1.44930567e-01 5.33726005e-03 9.89427433e-01 8.37574015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:10.06, Z:8.38 [[ 9.56298809e-01 -2.57451616e-01 -1.38604663e-01 5.59095934e+01] [ 2.53950466e-01 9.66274836e-01 -4.26860774e-02 1.00576536e+01] [ 1.44919798e-01 5.62192612e-03 9.89427434e-01 8.38200671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:10.07, Z:8.39 [[ 9.56140073e-01 -2.58046189e-01 -1.38594104e-01 5.59654453e+01] [ 2.54546286e-01 9.66116536e-01 -4.27203329e-02 1.00724141e+01] [ 1.44921875e-01 5.56800771e-03 9.89427434e-01 8.38840836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:10.09, Z:8.40 [[ 9.55812002e-01 -2.59260905e-01 -1.38590045e-01 5.60202319e+01] [ 2.55771776e-01 9.65792238e-01 -4.27334966e-02 1.00875832e+01] [ 1.44928315e-01 5.39776697e-03 9.89427434e-01 8.39832590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:10.10, Z:8.41 [[ 9.55451594e-01 -2.60592358e-01 -1.38578046e-01 5.60745936e+01] [ 2.57111506e-01 9.65434719e-01 -4.27723730e-02 1.01029861e+01] [ 1.44934211e-01 5.23692174e-03 9.89427435e-01 8.40891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:10.12, Z:8.42 [[ 9.54905549e-01 -2.62589152e-01 -1.38572475e-01 5.61301706e+01] [ 2.59126562e-01 9.64895023e-01 -4.27904163e-02 1.01186329e+01] [ 1.44944190e-01 4.95299702e-03 9.89427435e-01 8.41776514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:10.13, Z:8.43 [[ 9.54224114e-01 -2.65056725e-01 -1.38568654e-01 5.61855929e+01] [ 2.61618176e-01 9.64221889e-01 -4.28027842e-02 1.01337250e+01] [ 1.44956095e-01 4.59137039e-03 9.89427435e-01 8.42656993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:10.15, Z:8.43 [[ 9.53282725e-01 -2.68424693e-01 -1.38564893e-01 5.62411655e+01] [ 2.65019702e-01 9.63291979e-01 -4.28149560e-02 1.01483074e+01] [ 1.44971042e-01 4.09233118e-03 9.89427435e-01 8.43495469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:10.16, Z:8.44 [[ 9.52686829e-01 -2.70538180e-01 -1.38552876e-01 5.62975103e+01] [ 2.67149749e-01 9.62701700e-01 -4.28538115e-02 1.01624321e+01] [ 1.44978681e-01 3.81189587e-03 9.89427436e-01 8.44072728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:10.18, Z:8.45 [[ 9.52882042e-01 -2.69851691e-01 -1.38549195e-01 5.63525702e+01] [ 2.66454316e-01 9.62893882e-01 -4.28657073e-02 1.01783634e+01] [ 1.44975556e-01 3.92893162e-03 9.89427436e-01 8.44676254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:10.19, Z:8.45 [[ 9.53293720e-01 -2.68395588e-01 -1.38545629e-01 5.64078519e+01] [ 2.64981249e-01 9.63299788e-01 -4.28772289e-02 1.01945012e+01] [ 1.44969034e-01 4.16259912e-03 9.89427436e-01 8.45464991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.46, Y:10.21, Z:8.47 [[ 9.54528359e-01 -2.63977033e-01 -1.38534249e-01 5.64622223e+01] [ 2.60511056e-01 9.64516657e-01 -4.29139682e-02 1.02099866e+01] [ 1.44946892e-01 4.87289623e-03 9.89427437e-01 8.46693553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:10.23, Z:8.48 [[ 9.55249378e-01 -2.61357721e-01 -1.38530745e-01 5.65174177e+01] [ 2.57862721e-01 9.65227557e-01 -4.29252753e-02 1.02283432e+01] [ 1.44932545e-01 5.28242762e-03 9.89427437e-01 8.47735943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:56.57, Y:10.25, Z:8.49 [[ 9.55848016e-01 -2.59165022e-01 -1.38520976e-01 5.65714340e+01] [ 2.55642577e-01 9.65816540e-01 -4.29567778e-02 1.02462819e+01] [ 1.44918744e-01 5.64829154e-03 9.89427438e-01 8.48780215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.63, Y:10.27, Z:8.49 [[ 9.56069056e-01 -2.58354767e-01 -1.38509110e-01 5.66265364e+01] [ 2.54818346e-01 9.66032629e-01 -4.29950040e-02 1.02654442e+01] [ 1.44912284e-01 5.81153057e-03 9.89427438e-01 8.49274509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:10.28, Z:8.50 [[ 9.56057092e-01 -2.58405587e-01 -1.38496892e-01 5.66812958e+01] [ 2.54864009e-01 9.66018832e-01 -4.30343266e-02 1.02831535e+01] [ 1.44910916e-01 5.84540015e-03 9.89427439e-01 8.49892962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:10.30, Z:8.50 [[ 9.55707003e-01 -2.59703936e-01 -1.38484623e-01 5.67368105e+01] [ 2.56170186e-01 9.65671521e-01 -4.30737710e-02 1.03003417e+01] [ 1.44917085e-01 5.69027295e-03 9.89427440e-01 8.50460027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:10.32, Z:8.52 [[ 9.54706104e-01 -2.63362504e-01 -1.38479047e-01 5.67919657e+01] [ 2.59864349e-01 9.64683174e-01 -4.30916923e-02 1.03173429e+01] [ 1.44937142e-01 5.15413439e-03 9.89427440e-01 8.51623432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:10.34, Z:8.52 [[ 9.53721951e-01 -2.66909885e-01 -1.38468602e-01 5.68467780e+01] [ 2.63443981e-01 9.63710270e-01 -4.31252282e-02 1.03355672e+01] [ 1.44954164e-01 4.65075700e-03 9.89427441e-01 8.52488912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.90, Y:10.35, Z:8.53 [[ 9.52671844e-01 -2.70636965e-01 -1.38462960e-01 5.69019505e+01] [ 2.67207513e-01 9.62672736e-01 -4.31433369e-02 1.03527498e+01] [ 1.44970698e-01 4.10309917e-03 9.89427441e-01 8.53475675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.96, Y:10.37, Z:8.55 [[ 9.50852878e-01 -2.76965152e-01 -1.38452553e-01 5.69571156e+01] [ 2.73597413e-01 9.60874720e-01 -4.31767088e-02 1.03685682e+01] [ 1.44994002e-01 3.17443752e-03 9.89427442e-01 8.54598224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.01, Y:10.39, Z:8.55 [[ 9.49410592e-01 -2.81875499e-01 -1.38440353e-01 5.70117909e+01] [ 2.78553901e-01 9.59447820e-01 -4.32157917e-02 1.03853535e+01] [ 1.45007767e-01 2.46643007e-03 9.89427443e-01 8.55463266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.07, Y:10.40, Z:8.56 [[ 9.48166017e-01 -2.86039966e-01 -1.38428109e-01 5.70660270e+01] [ 2.82756736e-01 9.58215861e-01 -4.32549756e-02 1.04029754e+01] [ 1.45016661e-01 1.87141782e-03 9.89427443e-01 8.56007025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:10.42, Z:8.57 [[ 9.46564598e-01 -2.91298079e-01 -1.38422869e-01 5.71212987e+01] [ 2.88068226e-01 9.56631723e-01 -4.32717390e-02 1.04195697e+01] [ 1.45024682e-01 1.08426601e-03 9.89427444e-01 8.56739361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.18, Y:10.44, Z:8.58 [[ 9.45651867e-01 -2.94253269e-01 -1.38410837e-01 5.71759852e+01] [ 2.91049249e-01 9.55727243e-01 -4.33101888e-02 1.04362630e+01] [ 1.45027173e-01 6.71990610e-04 9.89427444e-01 8.57792915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:10.45, Z:8.59 [[ 9.45072068e-01 -2.96115685e-01 -1.38399019e-01 5.72309173e+01] [ 2.92925994e-01 9.55151988e-01 -4.33479238e-02 1.04531348e+01] [ 1.45028098e-01 4.26241834e-04 9.89427445e-01 8.58645299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:10.47, Z:8.59 [[ 9.45354531e-01 -2.95218148e-01 -1.38387340e-01 5.72861703e+01] [ 2.92013434e-01 9.55429684e-01 -4.33851757e-02 1.04718900e+01] [ 1.45027464e-01 6.03410113e-04 9.89427446e-01 8.59088084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.34, Y:10.49, Z:8.60 [[ 9.46126507e-01 -2.92740256e-01 -1.38375485e-01 5.73408315e+01] [ 2.89503630e-01 9.56191453e-01 -4.34229529e-02 1.04897566e+01] [ 1.45025103e-01 1.02340143e-03 9.89427447e-01 8.60007115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.39, Y:10.51, Z:8.61 [[ 9.47241734e-01 -2.89117007e-01 -1.38363481e-01 5.73940908e+01] [ 2.85836302e-01 9.57292398e-01 -4.34611705e-02 1.05072591e+01] [ 1.45019672e-01 1.61892880e-03 9.89427447e-01 8.60887209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.45, Y:10.53, Z:8.62 [[ 9.48667542e-01 -2.84406178e-01 -1.38358304e-01 5.74480307e+01] [ 2.81073165e-01 9.58700981e-01 -4.34776460e-02 1.05259795e+01] [ 1.45009553e-01 2.35702526e-03 9.89427448e-01 8.61912561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:10.54, Z:8.63 [[ 9.49269364e-01 -2.82396794e-01 -1.38346393e-01 5.75026821e+01] [ 2.79037026e-01 9.59293875e-01 -4.35155129e-02 1.05448008e+01] [ 1.45003489e-01 2.70417714e-03 9.89427448e-01 8.62643512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:10.56, Z:8.63 [[ 9.49296271e-01 -2.82312114e-01 -1.38334597e-01 5.75574954e+01] [ 2.78945994e-01 9.59318649e-01 -4.35529802e-02 1.05634844e+01] [ 1.45002493e-01 2.75679996e-03 9.89427449e-01 8.63448716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:10.58, Z:8.64 [[ 9.49421137e-01 -2.81897935e-01 -1.38322300e-01 5.76130737e+01] [ 2.78521760e-01 9.59440132e-01 -4.35920012e-02 1.05818540e+01] [ 1.45000461e-01 2.86139686e-03 9.89427450e-01 8.64056560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.67, Y:10.60, Z:8.65 [[ 9.49325544e-01 -2.82224865e-01 -1.38311739e-01 5.76685839e+01] [ 2.78847264e-01 9.59344057e-01 -4.36254846e-02 1.05996405e+01] [ 1.45000741e-01 2.84693693e-03 9.89427451e-01 8.64772914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:10.62, Z:8.66 [[ 9.49533602e-01 -2.81529236e-01 -1.38301225e-01 5.77222129e+01] [ 2.78139446e-01 9.59547997e-01 -4.36587913e-02 1.06195279e+01] [ 1.44997889e-01 2.98846326e-03 9.89427451e-01 8.65588930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:10.64, Z:8.66 [[ 9.49613963e-01 -2.81264083e-01 -1.38288963e-01 5.77770420e+01] [ 2.77865848e-01 9.59625495e-01 -4.36975959e-02 1.06386469e+01] [ 1.44996179e-01 3.07006718e-03 9.89427452e-01 8.66409195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:10.66, Z:8.67 [[ 9.49451118e-01 -2.81818512e-01 -1.38278346e-01 5.78311237e+01] [ 2.78421237e-01 9.59462975e-01 -4.37311663e-02 1.06568799e+01] [ 1.44997206e-01 3.02097644e-03 9.89427453e-01 8.67397685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:57.89, Y:10.68, Z:8.68 [[ 9.49567042e-01 -2.81429498e-01 -1.38274616e-01 5.78850439e+01] [ 2.78026405e-01 9.59576923e-01 -4.37429572e-02 1.06753561e+01] [ 1.44995689e-01 3.09287596e-03 9.89427453e-01 8.68275163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:10.70, Z:8.69 [[ 9.49638729e-01 -2.81193393e-01 -1.38262652e-01 5.79399433e+01] [ 2.77782312e-01 9.59645890e-01 -4.37807435e-02 1.06957848e+01] [ 1.44994041e-01 3.16897048e-03 9.89427453e-01 8.69244477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.99, Y:10.71, Z:8.70 [[ 9.49569268e-01 -2.81433164e-01 -1.38251866e-01 5.79941890e+01] [ 2.78019658e-01 9.59575602e-01 -4.38147757e-02 1.07147346e+01] [ 1.44994049e-01 3.16842787e-03 9.89427454e-01 8.69981971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:10.73, Z:8.71 [[ 9.49145094e-01 -2.82866519e-01 -1.38239369e-01 5.80491199e+01] [ 2.79462389e-01 9.59154620e-01 -4.38541696e-02 1.07333239e+01] [ 1.44997806e-01 2.99126558e-03 9.89427455e-01 8.70772851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:10.75, Z:8.72 [[ 9.49335870e-01 -2.82231660e-01 -1.38226974e-01 5.81026820e+01] [ 2.78815155e-01 9.59341178e-01 -4.38932062e-02 1.07517027e+01] [ 1.44994880e-01 3.12961996e-03 9.89427456e-01 8.71812546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.16, Y:10.77, Z:8.73 [[ 9.49497853e-01 -2.81688086e-01 -1.38223188e-01 5.81566292e+01] [ 2.78264120e-01 9.59500610e-01 -4.39051251e-02 1.07711782e+01] [ 1.44992783e-01 3.22526843e-03 9.89427456e-01 8.72617659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:10.79, Z:8.73 [[ 9.49872498e-01 -2.80428276e-01 -1.38210782e-01 5.82110411e+01] [ 2.76985369e-01 9.59868750e-01 -4.39441432e-02 1.07902514e+01] [ 1.44987391e-01 3.45896869e-03 9.89427457e-01 8.73365666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:10.81, Z:8.74 [[ 9.50412944e-01 -2.78597398e-01 -1.38198141e-01 5.82653222e+01] [ 2.75129464e-01 9.60400540e-01 -4.39838605e-02 1.08089657e+01] [ 1.44979359e-01 3.78044977e-03 9.89427458e-01 8.74185778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:10.83, Z:8.75 [[ 9.50505815e-01 -2.78282303e-01 -1.38194265e-01 5.83195200e+01] [ 2.74809289e-01 9.60491647e-01 -4.39960371e-02 1.08275427e+01] [ 1.44977755e-01 3.84142142e-03 9.89427458e-01 8.75048122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:10.85, Z:8.76 [[ 9.51133873e-01 -2.76134142e-01 -1.38182093e-01 5.83737582e+01] [ 2.72633032e-01 9.61109888e-01 -4.40342320e-02 1.08478499e+01] [ 1.44967531e-01 4.20944653e-03 9.89427458e-01 8.75843772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:10.87, Z:8.77 [[ 9.51194267e-01 -2.75932226e-01 -1.38169726e-01 5.84278265e+01] [ 2.72423372e-01 9.61167559e-01 -4.40730032e-02 1.08660133e+01] [ 1.44965421e-01 4.28132517e-03 9.89427459e-01 8.76683681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:10.89, Z:8.77 [[ 9.50986137e-01 -2.76655097e-01 -1.38156885e-01 5.84815625e+01] [ 2.73147986e-01 9.60960041e-01 -4.41132201e-02 1.08853860e+01] [ 1.44967393e-01 4.21378572e-03 9.89427460e-01 8.77467126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:10.90, Z:8.79 [[ 9.49992984e-01 -2.80048384e-01 -1.38152931e-01 5.85358286e+01] [ 2.76575103e-01 9.59978720e-01 -4.41256011e-02 1.09029721e+01] [ 1.44981177e-01 3.70935033e-03 9.89427460e-01 8.78504777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.59, Y:10.92, Z:8.79 [[ 9.49148597e-01 -2.82903131e-01 -1.38140362e-01 5.85905818e+01] [ 2.79454169e-01 9.59142757e-01 -4.41649139e-02 1.09216279e+01] [ 1.44990720e-01 3.31516593e-03 9.89427461e-01 8.79399351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:10.94, Z:8.80 [[ 9.48615316e-01 -2.84692225e-01 -1.38127906e-01 5.86443775e+01] [ 2.81256448e-01 9.58614016e-01 -4.42038377e-02 1.09417883e+01] [ 1.44995836e-01 3.08307327e-03 9.89427462e-01 8.80049243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:10.96, Z:8.81 [[ 9.48414705e-01 -2.85365870e-01 -1.38115412e-01 5.86981675e+01] [ 2.81931517e-01 9.58413893e-01 -4.42428427e-02 1.09618083e+01] [ 1.44997127e-01 3.02147518e-03 9.89427463e-01 8.80642614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:10.98, Z:8.81 [[ 9.48437606e-01 -2.85292559e-01 -1.38109608e-01 5.87524483e+01] [ 2.81854797e-01 9.58435622e-01 -4.42609514e-02 1.09816479e+01] [ 1.44996488e-01 3.05189513e-03 9.89427463e-01 8.81433939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:11.00, Z:8.82 [[ 9.48555030e-01 -2.84907787e-01 -1.38097459e-01 5.88064369e+01] [ 2.81460458e-01 9.58549751e-01 -4.42988261e-02 1.09999229e+01] [ 1.44994365e-01 3.15090029e-03 9.89427464e-01 8.82482483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:11.02, Z:8.83 [[ 9.49144684e-01 -2.82943240e-01 -1.38085086e-01 5.88602219e+01] [ 2.79469622e-01 9.59130298e-01 -4.43373599e-02 1.10195720e+01] [ 1.44986546e-01 3.49198260e-03 9.89427464e-01 8.83482858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:11.04, Z:8.84 [[ 9.49712918e-01 -2.81036214e-01 -1.38072514e-01 5.89153807e+01] [ 2.77536862e-01 9.59689543e-01 -4.43764763e-02 1.10384492e+01] [ 1.44978145e-01 3.82470042e-03 9.89427465e-01 8.84043451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:11.06, Z:8.85 [[ 9.49737746e-01 -2.80957604e-01 -1.38061719e-01 5.89697814e+01] [ 2.77452552e-01 9.59712368e-01 -4.44100381e-02 1.10564180e+01] [ 1.44976877e-01 3.87231334e-03 9.89427466e-01 8.85010580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:11.07, Z:8.86 [[ 9.50307926e-01 -2.79029149e-01 -1.38049193e-01 5.90244370e+01] [ 2.75498210e-01 9.60273413e-01 -4.44489397e-02 1.10737149e+01] [ 1.44967520e-01 4.20787395e-03 9.89427467e-01 8.86003727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:11.09, Z:8.87 [[ 9.50831104e-01 -2.77243023e-01 -1.38045345e-01 5.90794809e+01] [ 2.73691632e-01 9.60789321e-01 -4.44608900e-02 1.10911594e+01] [ 1.44958964e-01 4.49294153e-03 9.89427467e-01 8.86959626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.13, Y:11.11, Z:8.88 [[ 9.51685059e-01 -2.74303677e-01 -1.38032754e-01 5.91345814e+01] [ 2.70715875e-01 9.61630215e-01 -4.44999429e-02 1.11076935e+01] [ 1.44942965e-01 4.98227288e-03 9.89427468e-01 8.87521297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.19, Y:11.12, Z:8.88 [[ 9.52410249e-01 -2.71777009e-01 -1.38028893e-01 5.91911005e+01] [ 2.68161094e-01 9.62345217e-01 -4.45119184e-02 1.11232281e+01] [ 1.44928761e-01 5.37962845e-03 9.89427468e-01 8.88272709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.25, Y:11.14, Z:8.89 [[ 9.52852986e-01 -2.70226198e-01 -1.38018074e-01 5.92475847e+01] [ 2.66589267e-01 9.62780280e-01 -4.45454401e-02 1.11382168e+01] [ 1.44918424e-01 5.65111860e-03 9.89427468e-01 8.89361872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:11.15, Z:8.90 [[ 9.52998572e-01 -2.69717950e-01 -1.38007066e-01 5.93025613e+01] [ 2.66070798e-01 9.62922114e-01 -4.45795179e-02 1.11532931e+01] [ 1.44913952e-01 5.76456682e-03 9.89427469e-01 8.90029961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:11.17, Z:8.91 [[ 9.52972269e-01 -2.69815226e-01 -1.37998547e-01 5.93577580e+01] [ 2.66165277e-01 9.62894782e-01 -4.46058725e-02 1.11685430e+01] [ 1.44913425e-01 5.77773796e-03 9.89427469e-01 8.90996452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:11.18, Z:8.92 [[ 9.52998385e-01 -2.69729287e-01 -1.37986194e-01 5.94143435e+01] [ 2.66072924e-01 9.62918536e-01 -4.46440540e-02 1.11817757e+01] [ 1.44911273e-01 5.83132119e-03 9.89427470e-01 8.91947215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:11.20, Z:8.93 [[ 9.52786624e-01 -2.70482006e-01 -1.37975122e-01 5.94696136e+01] [ 2.66828537e-01 9.62707840e-01 -4.46782453e-02 1.11970616e+01] [ 1.44914394e-01 5.75313437e-03 9.89427471e-01 8.92741841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:11.21, Z:8.94 [[ 9.51682052e-01 -2.74349453e-01 -1.37962491e-01 5.95260988e+01] [ 2.70730668e-01 9.61615971e-01 -4.47172167e-02 1.12101290e+01] [ 1.44935079e-01 5.20589523e-03 9.89427472e-01 8.93726108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:11.22, Z:8.95 [[ 9.50252937e-01 -2.79265575e-01 -1.37949611e-01 5.95820711e+01] [ 2.75692434e-01 9.60203364e-01 -4.47569165e-02 1.12222351e+01] [ 1.44958746e-01 4.49872729e-03 9.89427472e-01 8.94547717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:11.24, Z:8.96 [[ 9.49063667e-01 -2.83282805e-01 -1.37945670e-01 5.96387946e+01] [ 2.79750024e-01 9.59028496e-01 -4.47690599e-02 1.12351434e+01] [ 1.44976133e-01 3.89838375e-03 9.89427473e-01 8.95605057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.70, Y:11.25, Z:8.96 [[ 9.48334230e-01 -2.85720509e-01 -1.37934692e-01 5.96951599e+01] [ 2.82208432e-01 9.58306373e-01 -4.48028569e-02 1.12475122e+01] [ 1.44984790e-01 3.56174959e-03 9.89427473e-01 8.96491994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:11.26, Z:8.97 [[ 9.48103236e-01 -2.86492081e-01 -1.37922228e-01 5.97512144e+01] [ 2.82982546e-01 9.58076274e-01 -4.48411936e-02 1.12620771e+01] [ 1.44986661e-01 3.48449751e-03 9.89427474e-01 8.97357975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:11.27, Z:8.98 [[ 9.45494349e-01 -2.94993899e-01 -1.37909520e-01 5.98067042e+01] [ 2.91568362e-01 9.55496548e-01 -4.48802447e-02 1.12745838e+01] [ 1.45011469e-01 2.22396493e-03 9.89427475e-01 8.98040467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:11.29, Z:8.99 [[ 9.44410964e-01 -2.98448074e-01 -1.37900974e-01 5.98620589e+01] [ 2.95055291e-01 9.54424320e-01 -4.49064868e-02 1.12890356e+01] [ 1.45018298e-01 1.72176631e-03 9.89427475e-01 8.99069860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:11.31, Z:9.00 [[ 9.44328566e-01 -2.98714316e-01 -1.37888783e-01 5.99185107e+01] [ 2.95318895e-01 9.54341027e-01 -4.49438900e-02 1.13056408e+01] [ 1.45018306e-01 1.72063602e-03 9.89427476e-01 8.99591795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:11.32, Z:9.00 [[ 9.44715841e-01 -2.97492271e-01 -1.37877947e-01 5.99751762e+01] [ 2.94079052e-01 9.54722248e-01 -4.49771090e-02 1.13215523e+01] [ 1.45015486e-01 1.94357155e-03 9.89427477e-01 9.00362981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:11.34, Z:9.02 [[ 9.44863728e-01 -2.97027258e-01 -1.37867119e-01 6.00297582e+01] [ 2.93604276e-01 9.54866799e-01 -4.50102752e-02 1.13389966e+01] [ 1.45014013e-01 2.05020085e-03 9.89427477e-01 9.01518067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:11.36, Z:9.03 [[ 9.44964894e-01 -2.96707057e-01 -1.37863236e-01 6.00845999e+01] [ 2.93278950e-01 9.54966210e-01 -4.50221643e-02 1.13583227e+01] [ 1.45013126e-01 2.11197945e-03 9.89427477e-01 9.02593280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:11.38, Z:9.03 [[ 9.44977378e-01 -2.96672375e-01 -1.37852298e-01 6.01398249e+01] [ 2.93239021e-01 9.54976893e-01 -4.50556312e-02 1.13766815e+01] [ 1.45012521e-01 2.15287932e-03 9.89427478e-01 9.03475060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:11.40, Z:9.05 [[ 9.45638043e-01 -2.94564828e-01 -1.37841407e-01 6.01934600e+01] [ 2.91104336e-01 9.55628199e-01 -4.50889281e-02 1.13950420e+01] [ 1.45006747e-01 2.51157464e-03 9.89427478e-01 9.04589421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:11.42, Z:9.05 [[ 9.46909651e-01 -2.90452948e-01 -1.37837577e-01 6.02474811e+01] [ 2.86947375e-01 9.56884077e-01 -4.51006319e-02 1.14154486e+01] [ 1.44994194e-01 3.15409260e-03 9.89427479e-01 9.05365400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:11.44, Z:9.06 [[ 9.48022150e-01 -2.86807056e-01 -1.37824944e-01 6.03036118e+01] [ 2.83257523e-01 9.57981016e-01 -4.51392041e-02 1.14356457e+01] [ 1.44979923e-01 3.75301287e-03 9.89427479e-01 9.05708662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:11.46, Z:9.07 [[ 9.48697701e-01 -2.84569478e-01 -1.37814678e-01 6.03576807e+01] [ 2.80991912e-01 9.58646530e-01 -4.51705278e-02 1.14561049e+01] [ 1.44969716e-01 4.12836606e-03 9.89427480e-01 9.06605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:11.47, Z:9.08 [[ 9.48778550e-01 -2.84305982e-01 -1.37801932e-01 6.04123216e+01] [ 2.80720015e-01 9.58724353e-01 -4.52093786e-02 1.14748073e+01] [ 1.44967365e-01 4.20992824e-03 9.89427481e-01 9.07762197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:11.49, Z:9.09 [[ 9.48711838e-01 -2.84534001e-01 -1.37790604e-01 6.04663168e+01] [ 2.80945419e-01 9.58656697e-01 -4.52438782e-02 1.14944568e+01] [ 1.44967307e-01 4.21176394e-03 9.89427481e-01 9.08914980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.52, Y:11.51, Z:9.10 [[ 9.48269700e-01 -2.86009502e-01 -1.37779318e-01 6.05190693e+01] [ 2.82431409e-01 9.58218337e-01 -4.52782203e-02 1.15143716e+01] [ 1.44972671e-01 4.02275735e-03 9.89427482e-01 9.09549685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:11.53, Z:9.11 [[ 9.47242775e-01 -2.89395095e-01 -1.37773743e-01 6.05736525e+01] [ 2.85850099e-01 9.57203253e-01 -4.52951780e-02 1.15331828e+01] [ 1.44985678e-01 3.52289197e-03 9.89427482e-01 9.10623926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:11.55, Z:9.11 [[ 9.46184043e-01 -2.92843304e-01 -1.37762678e-01 6.06273462e+01] [ 2.89329715e-01 9.56155644e-01 -4.53288068e-02 1.15520219e+01] [ 1.44996800e-01 3.03055718e-03 9.89427483e-01 9.11342838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:11.57, Z:9.12 [[ 9.44652550e-01 -2.97750477e-01 -1.37754179e-01 6.06814538e+01] [ 2.94284929e-01 9.54640948e-01 -4.53546219e-02 1.15715530e+01] [ 1.45010140e-01 2.30538053e-03 9.89427483e-01 9.12166161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:11.59, Z:9.13 [[ 9.43901246e-01 -3.00129536e-01 -1.37741421e-01 6.07364514e+01] [ 2.96683517e-01 9.53896397e-01 -4.53933337e-02 1.15904210e+01] [ 1.45014926e-01 1.98121500e-03 9.89427484e-01 9.12920666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:11.61, Z:9.14 [[ 9.44121961e-01 -2.99439535e-01 -1.37730493e-01 6.07905089e+01] [ 2.95981377e-01 9.54112918e-01 -4.54264670e-02 1.16094031e+01] [ 1.45012923e-01 2.12246397e-03 9.89427485e-01 9.13773859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:11.63, Z:9.15 [[ 9.44776749e-01 -2.97372976e-01 -1.37717856e-01 6.08452179e+01] [ 2.93887388e-01 9.54758168e-01 -4.54647469e-02 1.16280198e+01] [ 1.45007235e-01 2.48049477e-03 9.89427485e-01 9.14563221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:11.64, Z:9.16 [[ 9.43480869e-01 -3.01464948e-01 -1.37705246e-01 6.09010905e+01] [ 2.98017084e-01 9.53475381e-01 -4.55029097e-02 1.16443879e+01] [ 1.45016094e-01 1.89260895e-03 9.89427486e-01 9.15599114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.96, Y:11.66, Z:9.16 [[ 9.41973268e-01 -3.06148162e-01 -1.37694103e-01 6.09556162e+01] [ 3.02745065e-01 9.51983111e-01 -4.55366032e-02 1.16603853e+01] [ 1.45023408e-01 1.20805272e-03 9.89427487e-01 9.16494946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:11.68, Z:9.17 [[ 9.42196458e-01 -3.05462335e-01 -1.37690216e-01 6.10103454e+01] [ 3.02050235e-01 9.52203236e-01 -4.55483548e-02 1.16782584e+01] [ 1.45022376e-01 1.32613657e-03 9.89427487e-01 9.17176621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:11.70, Z:9.18 [[ 9.43812165e-01 -3.00438826e-01 -1.37677552e-01 6.10648699e+01] [ 2.96967889e-01 9.53798687e-01 -4.55866008e-02 1.16962917e+01] [ 1.45012653e-01 2.13937647e-03 9.89427488e-01 9.17807471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:11.72, Z:9.19 [[ 9.45615725e-01 -2.94714890e-01 -1.37673654e-01 6.11183705e+01] [ 2.91181797e-01 9.55580426e-01 -4.55983709e-02 1.17156677e+01] [ 1.44996768e-01 3.03047459e-03 9.89427488e-01 9.18765418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:11.74, Z:9.20 [[ 9.46916711e-01 -2.90513734e-01 -1.37660859e-01 6.11717460e+01] [ 2.86930828e-01 9.56863609e-01 -4.56369669e-02 1.17353456e+01] [ 1.44980832e-01 3.71526234e-03 9.89427489e-01 9.19624294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:11.75, Z:9.20 [[ 9.47590645e-01 -2.88309799e-01 -1.37656923e-01 6.12262267e+01] [ 2.84702037e-01 9.57528555e-01 -4.56488370e-02 1.17539166e+01] [ 1.44971441e-01 4.06520468e-03 9.89427489e-01 9.20482517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.28, Y:11.77, Z:9.21 [[ 9.47876024e-01 -2.87376311e-01 -1.37644106e-01 6.12807833e+01] [ 2.83753160e-01 9.57808332e-01 -4.56874514e-02 1.17725881e+01] [ 1.44966162e-01 4.24908984e-03 9.89427490e-01 9.21366663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:11.79, Z:9.22 [[ 9.47994036e-01 -2.86993123e-01 -1.37630861e-01 6.13351741e+01] [ 2.83360175e-01 9.57922765e-01 -4.57273160e-02 1.17902006e+01] [ 1.44963160e-01 4.35011796e-03 9.89427490e-01 9.22238293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.39, Y:11.81, Z:9.23 [[ 9.48511724e-01 -2.85283810e-01 -1.37617793e-01 6.13905600e+01] [ 2.81627275e-01 9.58431790e-01 -4.57666095e-02 1.18097414e+01] [ 1.44953741e-01 4.65324152e-03 9.89427491e-01 9.22833413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.45, Y:11.83, Z:9.24 [[ 9.48586749e-01 -2.85039717e-01 -1.37606466e-01 6.14460011e+01] [ 2.81375699e-01 9.58504052e-01 -4.58006413e-02 1.18275744e+01] [ 1.44951357e-01 4.72676573e-03 9.89427492e-01 9.23688170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.50, Y:11.85, Z:9.24 [[ 9.45898185e-01 -2.93843821e-01 -1.37595176e-01 6.15016923e+01] [ 2.90267207e-01 9.55847343e-01 -4.58345345e-02 1.18492631e+01] [ 1.44988178e-01 3.41543539e-03 9.89427492e-01 9.23717336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.56, Y:11.86, Z:9.26 [[ 9.44106360e-01 -2.99556913e-01 -1.37582106e-01 6.15563180e+01] [ 2.96034802e-01 9.54074943e-01 -4.58737337e-02 1.18634387e+01] [ 1.45005434e-01 2.58059207e-03 9.89427493e-01 9.25632298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.61, Y:11.88, Z:9.27 [[ 9.42923269e-01 -3.03266336e-01 -1.37569032e-01 6.16115142e+01] [ 2.99777729e-01 9.52903625e-01 -4.59129088e-02 1.18827404e+01] [ 1.45013869e-01 2.05221798e-03 9.89427494e-01 9.26589356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.67, Y:11.90, Z:9.27 [[ 9.42719126e-01 -3.03905460e-01 -1.37557702e-01 6.16653323e+01] [ 3.00418671e-01 9.52700116e-01 -4.59468304e-02 1.19012799e+01] [ 1.45014731e-01 1.99005387e-03 9.89427495e-01 9.27414240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:11.92, Z:9.28 [[ 9.43454107e-01 -3.01618548e-01 -1.37552167e-01 6.17194466e+01] [ 2.98105152e-01 9.53425763e-01 -4.59633933e-02 1.19208943e+01] [ 1.45009192e-01 2.35934258e-03 9.89427495e-01 9.27962575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:11.94, Z:9.29 [[ 9.44032600e-01 -2.99804797e-01 -1.37548297e-01 6.17741538e+01] [ 2.96270556e-01 9.53996887e-01 -4.59749731e-02 1.19396906e+01] [ 1.45004164e-01 2.65036302e-03 9.89427495e-01 9.28776507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:11.96, Z:9.30 [[ 9.44861149e-01 -2.97189203e-01 -1.37535400e-01 6.18288255e+01] [ 2.93621772e-01 9.54813600e-01 -4.60135208e-02 1.19595157e+01] [ 1.44995392e-01 3.09300010e-03 9.89427496e-01 9.29758015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:11.98, Z:9.31 [[ 9.44929540e-01 -2.96976908e-01 -1.37524105e-01 6.18829070e+01] [ 2.93402334e-01 9.54879427e-01 -4.60472544e-02 1.19776754e+01] [ 1.44993910e-01 3.16151743e-03 9.89427496e-01 9.30686934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.94, Y:12.00, Z:9.32 [[ 9.44563084e-01 -2.98142238e-01 -1.37520132e-01 6.19373716e+01] [ 2.94578213e-01 9.54516754e-01 -4.60591187e-02 1.19951040e+01] [ 1.44997439e-01 2.99530847e-03 9.89427497e-01 9.31669637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.99, Y:12.01, Z:9.33 [[ 9.44081679e-01 -2.99669084e-01 -1.37507173e-01 6.19923312e+01] [ 2.96115530e-01 9.54039092e-01 -4.60977740e-02 1.20120546e+01] [ 1.45001296e-01 2.80205452e-03 9.89427497e-01 9.32504874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:12.03, Z:9.33 [[ 9.43167329e-01 -3.02540409e-01 -1.37494326e-01 6.20475412e+01] [ 2.99011589e-01 9.53133534e-01 -4.61360605e-02 1.20285534e+01] [ 1.45008476e-01 2.40162792e-03 9.89427498e-01 9.33135368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.10, Y:12.04, Z:9.34 [[ 9.41697139e-01 -3.07091724e-01 -1.37481530e-01 6.21028149e+01] [ 3.03605514e-01 9.51678327e-01 -4.61741613e-02 1.20432030e+01] [ 1.45017895e-01 1.74192505e-03 9.89427499e-01 9.34057731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:62.16, Y:12.06, Z:9.35 [[ 9.40813423e-01 -3.09794242e-01 -1.37468651e-01 6.21574568e+01] [ 3.06331106e-01 9.50802640e-01 -4.62124725e-02 1.20597440e+01] [ 1.45021914e-01 1.36639050e-03 9.89427500e-01 9.34913385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:12.08, Z:9.36 [[ 9.40750978e-01 -3.09989523e-01 -1.37455783e-01 6.22122621e+01] [ 3.06522873e-01 9.50738975e-01 -4.62507164e-02 1.20764125e+01] [ 1.45021808e-01 1.37706510e-03 9.89427501e-01 9.35734768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:12.09, Z:9.36 [[ 9.40884533e-01 -3.09589665e-01 -1.37442846e-01 6.22657748e+01] [ 3.06113159e-01 9.50869103e-01 -4.62891308e-02 1.20939199e+01] [ 1.45020792e-01 1.47966356e-03 9.89427501e-01 9.36479526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:12.11, Z:9.37 [[ 9.41071723e-01 -3.09022671e-01 -1.37437260e-01 6.23207947e+01] [ 3.05537729e-01 9.51053352e-01 -4.63057098e-02 1.21107147e+01] [ 1.45019681e-01 1.58472591e-03 9.89427502e-01 9.37385426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.38, Y:12.13, Z:9.38 [[ 9.41389274e-01 -3.08059618e-01 -1.37424545e-01 6.23750136e+01] [ 3.04558962e-01 9.51365401e-01 -4.63434130e-02 1.21288257e+01] [ 1.45017492e-01 1.77331509e-03 9.89427502e-01 9.38211301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.43, Y:12.15, Z:9.39 [[ 9.41892502e-01 -3.06523291e-01 -1.37411745e-01 6.24289681e+01] [ 3.03000831e-01 9.51860950e-01 -4.63813364e-02 1.21465113e+01] [ 1.45013834e-01 2.05036006e-03 9.89427503e-01 9.38944240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.48, Y:12.16, Z:9.40 [[ 9.41998768e-01 -3.06199039e-01 -1.37406218e-01 6.24839907e+01] [ 3.02670761e-01 9.51965159e-01 -4.63977049e-02 1.21632125e+01] [ 1.45012865e-01 2.11773638e-03 9.89427503e-01 9.39683065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.54, Y:12.18, Z:9.41 [[ 9.41953124e-01 -3.06345068e-01 -1.37393635e-01 6.25393137e+01] [ 3.02812905e-01 9.51918138e-01 -4.64349348e-02 1.21795599e+01] [ 1.45012607e-01 2.13496605e-03 9.89427504e-01 9.40565021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.60, Y:12.20, Z:9.41 [[ 9.41984305e-01 -3.06254832e-01 -1.37381030e-01 6.25951980e+01] [ 3.02716281e-01 9.51947051e-01 -4.64722002e-02 1.21953943e+01] [ 1.45011802e-01 2.18860879e-03 9.89427505e-01 9.41250694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.65, Y:12.21, Z:9.42 [[ 9.39150916e-01 -3.14842133e-01 -1.37368072e-01 6.26490370e+01] [ 3.11389089e-01 9.49143620e-01 -4.65104700e-02 1.22117425e+01] [ 1.45025485e-01 9.05431558e-04 9.89427506e-01 9.41902793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:12.23, Z:9.43 [[ 9.37031304e-01 -3.21097927e-01 -1.37362499e-01 6.27041082e+01] [ 3.17709184e-01 9.47045997e-01 -4.65269245e-02 1.22267620e+01] [ 1.45028304e-01 -4.41426751e-05 9.89427506e-01 9.42819211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:12.25, Z:9.43 [[ 9.37176767e-01 -3.20678722e-01 -1.37349423e-01 6.27589603e+01] [ 3.17279847e-01 9.47188024e-01 -4.65654937e-02 1.22457011e+01] [ 1.45028292e-01 6.18949136e-05 9.89427507e-01 9.43455069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:12.27, Z:9.45 [[ 9.37840157e-01 -3.18735128e-01 -1.37345396e-01 6.28138833e+01] [ 3.15313767e-01 9.47843752e-01 -4.65773679e-02 1.22655485e+01] [ 1.45027819e-01 3.75231832e-04 9.89427507e-01 9.44604814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:12.29, Z:9.45 [[ 9.39016876e-01 -3.15256578e-01 -1.37333887e-01 6.28660906e+01] [ 3.11793199e-01 9.49006001e-01 -4.66112795e-02 1.22868507e+01] [ 1.45025195e-01 9.49006223e-04 9.89427507e-01 9.45283556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:12.31, Z:9.46 [[ 9.39935529e-01 -3.12509447e-01 -1.37328245e-01 6.29196126e+01] [ 3.09014446e-01 9.49913634e-01 -4.66278952e-02 1.23084322e+01] [ 1.45021630e-01 1.39080379e-03 9.89427507e-01 9.45981379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:12.33, Z:9.47 [[ 9.41277943e-01 -3.08448283e-01 -1.37315299e-01 6.29716079e+01] [ 3.04904678e-01 9.51238888e-01 -4.66659907e-02 1.23306000e+01] [ 1.45013697e-01 2.05759087e-03 9.89427508e-01 9.46591871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:12.35, Z:9.48 [[ 9.41918916e-01 -3.06487830e-01 -1.37309740e-01 6.30254667e+01] [ 3.02921111e-01 9.51871609e-01 -4.66823413e-02 1.23508880e+01] [ 1.45008812e-01 2.37696146e-03 9.89427508e-01 9.47529285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:12.37, Z:9.48 [[ 9.41707283e-01 -3.07143187e-01 -1.37296963e-01 6.30793806e+01] [ 3.03577920e-01 9.51660495e-01 -4.67198902e-02 1.23707856e+01] [ 1.45009791e-01 2.31613461e-03 9.89427509e-01 9.48372765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.13, Y:12.39, Z:9.49 [[ 9.41160380e-01 -3.08820773e-01 -1.37283897e-01 6.31332739e+01] [ 3.05267654e-01 9.51117935e-01 -4.67582510e-02 1.23889095e+01] [ 1.45013096e-01 2.09868012e-03 9.89427510e-01 9.49368831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:12.41, Z:9.50 [[ 9.40846065e-01 -3.09782839e-01 -1.37270812e-01 6.31885316e+01] [ 3.06234302e-01 9.50805252e-01 -4.67966360e-02 1.24075327e+01] [ 1.45014603e-01 1.99139963e-03 9.89427511e-01 9.50089861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:12.42, Z:9.51 [[ 9.40870648e-01 -3.09713181e-01 -1.37259497e-01 6.32438730e+01] [ 3.06159069e-01 9.50827847e-01 -4.68297995e-02 1.24246613e+01] [ 1.45013958e-01 2.03754391e-03 9.89427511e-01 9.50997155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:12.44, Z:9.52 [[ 9.40866132e-01 -3.09731943e-01 -1.37248113e-01 6.32983516e+01] [ 3.06173168e-01 9.50821664e-01 -4.68631414e-02 1.24423603e+01] [ 1.45013491e-01 2.07025328e-03 9.89427512e-01 9.51829128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.35, Y:12.46, Z:9.53 [[ 9.41580633e-01 -3.07558816e-01 -1.37235152e-01 6.33539234e+01] [ 3.03971538e-01 9.51525929e-01 -4.69010655e-02 1.24597387e+01] [ 1.45007642e-01 2.44555477e-03 9.89427513e-01 9.52923526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:63.41, Y:12.48, Z:9.53 [[ 9.42226292e-01 -3.05580151e-01 -1.37223856e-01 6.34083698e+01] [ 3.01967181e-01 9.52162283e-01 -4.69340912e-02 1.24825362e+01] [ 1.45001507e-01 2.78543358e-03 9.89427513e-01 9.53205304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:12.50, Z:9.54 [[ 9.43876793e-01 -3.00449598e-01 -1.37210200e-01 6.34634817e+01] [ 2.96776831e-01 9.53790835e-01 -4.69739822e-02 1.24973258e+01] [ 1.44983145e-01 3.61684338e-03 9.89427514e-01 9.54403418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.52, Y:12.52, Z:9.55 [[ 9.44851312e-01 -2.97374070e-01 -1.37202990e-01 6.35194254e+01] [ 2.93665982e-01 9.54752197e-01 -4.69950307e-02 1.25164296e+01] [ 1.44969960e-01 4.11146557e-03 9.89427515e-01 9.54922911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.57, Y:12.53, Z:9.56 [[ 9.44958330e-01 -2.97039148e-01 -1.37191470e-01 6.35746709e+01] [ 2.93322675e-01 9.54856071e-01 -4.70286383e-02 1.25349812e+01] [ 1.44967454e-01 4.19873455e-03 9.89427515e-01 9.55644598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:63.63, Y:12.56, Z:9.55 [[ 9.42269919e-01 -3.05465312e-01 -1.37179969e-01 6.36297381e+01] [ 3.01832491e-01 9.52198666e-01 -4.70621617e-02 1.25633381e+01] [ 1.44998441e-01 2.93988748e-03 9.89427516e-01 9.55178132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.69, Y:12.57, Z:9.57 [[ 9.44035160e-01 -2.99968134e-01 -1.37174108e-01 6.36860550e+01] [ 2.96275025e-01 9.53941641e-01 -4.70792400e-02 1.25701093e+01] [ 1.44978365e-01 3.80319562e-03 9.89427516e-01 9.57406765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:12.59, Z:9.59 [[ 9.43091361e-01 -3.02924145e-01 -1.37170142e-01 6.37413979e+01] [ 2.99260411e-01 9.53008743e-01 -4.70907911e-02 1.25863904e+01] [ 1.44989282e-01 3.36132508e-03 9.89427516e-01 9.58616412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:12.60, Z:9.60 [[ 9.42246834e-01 -3.05546096e-01 -1.37158621e-01 6.37965006e+01] [ 3.01905081e-01 9.52172579e-01 -4.71243239e-02 1.26039311e+01] [ 1.44997331e-01 2.99386038e-03 9.89427517e-01 9.59671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:12.62, Z:9.61 [[ 9.40627760e-01 -3.10499806e-01 -1.37146958e-01 6.38519291e+01] [ 3.06906125e-01 9.50570739e-01 -4.71582421e-02 1.26218189e+01] [ 1.45010511e-01 2.26710998e-03 9.89427517e-01 9.60592824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:12.64, Z:9.61 [[ 9.39992834e-01 -3.12421773e-01 -1.37135362e-01 6.39080310e+01] [ 3.08843508e-01 9.49941371e-01 -4.71919398e-02 1.26400686e+01] [ 1.45014344e-01 2.00671891e-03 9.89427518e-01 9.61282489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:12.66, Z:9.62 [[ 9.40009275e-01 -3.12377356e-01 -1.37123847e-01 6.39628060e+01] [ 3.08793744e-01 9.49955887e-01 -4.72253759e-02 1.26590887e+01] [ 1.45013744e-01 2.04930525e-03 9.89427519e-01 9.62124467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:12.68, Z:9.63 [[ 9.40609498e-01 -3.10570492e-01 -1.37112152e-01 6.40161393e+01] [ 3.06962828e-01 9.50547411e-01 -4.72593079e-02 1.26792080e+01] [ 1.45008947e-01 2.36422008e-03 9.89427519e-01 9.63011983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:12.70, Z:9.64 [[ 9.41288514e-01 -3.08508224e-01 -1.37108018e-01 6.40698503e+01] [ 3.04877043e-01 9.51217858e-01 -4.72712978e-02 1.26996103e+01] [ 1.45003179e-01 2.69484273e-03 9.89427519e-01 9.63708768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.12, Y:12.72, Z:9.65 [[ 9.41944203e-01 -3.06502224e-01 -1.37103996e-01 6.41237256e+01] [ 3.02848201e-01 9.51865163e-01 -4.72829589e-02 1.27203453e+01] [ 1.44996850e-01 3.01621045e-03 9.89427519e-01 9.64531945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.18, Y:12.74, Z:9.65 [[ 9.41977154e-01 -3.06406809e-01 -1.37090874e-01 6.41779485e+01] [ 3.02746251e-01 9.51895705e-01 -4.73209738e-02 1.27407298e+01] [ 1.44995683e-01 3.07152800e-03 9.89427520e-01 9.65291666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:12.76, Z:9.66 [[ 9.41457882e-01 -3.08004541e-01 -1.37077564e-01 6.42318150e+01] [ 3.04355209e-01 9.51380568e-01 -4.73594990e-02 1.27613262e+01] [ 1.44999872e-01 2.86670289e-03 9.89427521e-01 9.66083931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:12.78, Z:9.67 [[ 9.40871999e-01 -3.09795523e-01 -1.37064275e-01 6.42862714e+01] [ 3.06159483e-01 9.50799562e-01 -4.73979277e-02 1.27811048e+01] [ 1.45004319e-01 2.63185532e-03 9.89427522e-01 9.66897571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:12.80, Z:9.68 [[ 9.38621392e-01 -3.16554756e-01 -1.37050973e-01 6.43405017e+01] [ 3.12984603e-01 9.48572838e-01 -4.74363621e-02 1.28010756e+01] [ 1.45019036e-01 1.62993995e-03 9.89427523e-01 9.67710725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:12.82, Z:9.69 [[ 9.36605955e-01 -3.22474664e-01 -1.37037863e-01 6.43947855e+01] [ 3.18961876e-01 9.46577795e-01 -4.74742045e-02 1.28196522e+01] [ 1.45026226e-01 7.54768794e-04 9.89427523e-01 9.68560397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:12.84, Z:9.69 [[ 9.34526907e-01 -3.28456600e-01 -1.37024527e-01 6.44495682e+01] [ 3.25002004e-01 9.44519055e-01 -4.75126637e-02 1.28388693e+01] [ 1.45028125e-01 -1.31383305e-04 9.89427524e-01 9.69220387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:12.86, Z:9.70 [[ 9.33503316e-01 -3.31360190e-01 -1.37010892e-01 6.45030556e+01] [ 3.27930906e-01 9.43504177e-01 -4.75519527e-02 1.28564243e+01] [ 1.45027173e-01 -5.40200354e-04 9.89427525e-01 9.69952510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:12.88, Z:9.70 [[ 9.32026381e-01 -3.35494324e-01 -1.37005052e-01 6.45579816e+01] [ 3.32106927e-01 9.42041507e-01 -4.75687711e-02 1.28818060e+01] [ 1.45023499e-01 -1.16497738e-03 9.89427525e-01 9.69750752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:12.90, Z:9.72 [[ 9.35465214e-01 -3.25787842e-01 -1.36993120e-01 6.46116941e+01] [ 3.22291492e-01 9.45442826e-01 -4.76031097e-02 1.28954053e+01] [ 1.45027677e-01 3.79336019e-04 9.89427526e-01 9.71791461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.67, Y:12.92, Z:9.73 [[ 9.37383768e-01 -3.20227595e-01 -1.36988904e-01 6.46657463e+01] [ 3.16670290e-01 9.47339810e-01 -4.76152396e-02 1.29156041e+01] [ 1.45022756e-01 1.25343675e-03 9.89427526e-01 9.72692336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:12.94, Z:9.73 [[ 9.39535436e-01 -3.13864299e-01 -1.36975787e-01 6.47182238e+01] [ 3.10234073e-01 9.49465121e-01 -4.76529444e-02 1.29365068e+01] [ 1.45010290e-01 2.27707358e-03 9.89427527e-01 9.73350364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:12.96, Z:9.74 [[ 9.38409019e-01 -3.17218691e-01 -1.36970125e-01 6.47721061e+01] [ 3.13621587e-01 9.48350751e-01 -4.76692127e-02 1.29562373e+01] [ 1.45017286e-01 1.77643109e-03 9.89427527e-01 9.74070841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:12.98, Z:9.75 [[ 9.37439707e-01 -3.20077721e-01 -1.36956377e-01 6.48251545e+01] [ 3.16505173e-01 9.47390288e-01 -4.77086803e-02 1.29756674e+01] [ 1.45021627e-01 1.37660956e-03 9.89427528e-01 9.75014161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:13.00, Z:9.76 [[ 9.37595669e-01 -3.19624534e-01 -1.36947139e-01 6.48786356e+01] [ 3.16043305e-01 9.47543129e-01 -4.77351819e-02 1.29958724e+01] [ 1.45020656e-01 1.47507326e-03 9.89427528e-01 9.76015151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:13.01, Z:9.77 [[ 9.38532658e-01 -3.16868269e-01 -1.36934108e-01 6.49327131e+01] [ 3.13252379e-01 9.48467570e-01 -4.77725351e-02 1.30147713e+01] [ 1.45015161e-01 1.94114930e-03 9.89427529e-01 9.76796650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.99, Y:13.03, Z:9.78 [[ 9.40620688e-01 -3.10620809e-01 -1.36921268e-01 6.49862511e+01] [ 3.06933590e-01 9.50529348e-01 -4.78093075e-02 1.30346548e+01] [ 1.44998249e-01 2.94468737e-03 9.89427530e-01 9.77682753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:13.05, Z:9.79 [[ 9.42385325e-01 -3.05231087e-01 -1.36908303e-01 6.50404115e+01] [ 3.01481819e-01 9.52270673e-01 -4.78464058e-02 1.30541268e+01] [ 1.44977972e-01 3.81438638e-03 9.89427530e-01 9.78671214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:13.07, Z:9.79 [[ 9.42757933e-01 -3.04084240e-01 -1.36895053e-01 6.50955924e+01] [ 3.00317451e-01 9.52636617e-01 -4.78842854e-02 1.30727447e+01] [ 1.44972097e-01 4.03131634e-03 9.89427531e-01 9.79307325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.15, Y:13.09, Z:9.80 [[ 9.42056924e-01 -3.06255611e-01 -1.36880434e-01 6.51481571e+01] [ 3.02505531e-01 9.51941962e-01 -4.79260391e-02 1.30940058e+01] [ 1.44979848e-01 3.74196847e-03 9.89427532e-01 9.79830099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:13.11, Z:9.81 [[ 9.41017059e-01 -3.09439016e-01 -1.36873624e-01 6.52019879e+01] [ 3.05719554e-01 9.50913658e-01 -4.79454799e-02 1.31124350e+01] [ 1.44991201e-01 3.27257111e-03 9.89427532e-01 9.80983358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:13.13, Z:9.82 [[ 9.40183700e-01 -3.11967704e-01 -1.36860374e-01 6.52566293e+01] [ 3.08269362e-01 9.50088210e-01 -4.79832733e-02 1.31322448e+01] [ 1.44998660e-01 2.92323121e-03 9.89427533e-01 9.81647609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:13.15, Z:9.82 [[ 9.39267284e-01 -3.14721938e-01 -1.36846889e-01 6.53104445e+01] [ 3.11047043e-01 9.49180517e-01 -4.80217013e-02 1.31500202e+01] [ 1.45005884e-01 2.53939266e-03 9.89427534e-01 9.82273889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.36, Y:13.17, Z:9.83 [[ 9.39010567e-01 -3.15489568e-01 -1.36841104e-01 6.53649812e+01] [ 3.11820376e-01 9.48925912e-01 -4.80381803e-02 1.31681919e+01] [ 1.45007615e-01 2.43851419e-03 9.89427534e-01 9.83258611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.42, Y:13.18, Z:9.84 [[ 9.38205204e-01 -3.17882327e-01 -1.36827711e-01 6.54195930e+01] [ 3.14232865e-01 9.48127827e-01 -4.80762995e-02 1.31838024e+01] [ 1.45012766e-01 2.10967068e-03 9.89427535e-01 9.84268329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:13.20, Z:9.85 [[ 9.37678169e-01 -3.19436117e-01 -1.36821852e-01 6.54746664e+01] [ 3.15800667e-01 9.47605934e-01 -4.80929679e-02 1.32002789e+01] [ 1.45015830e-01 1.88729405e-03 9.89427535e-01 9.85199288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:13.22, Z:9.86 [[ 9.36931610e-01 -3.21624932e-01 -1.36808485e-01 6.55304352e+01] [ 3.18007128e-01 9.46865818e-01 -4.81309634e-02 1.32153554e+01] [ 1.45019396e-01 1.58934777e-03 9.89427536e-01 9.85956180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:13.23, Z:9.87 [[ 9.36398804e-01 -3.23178499e-01 -1.36795240e-01 6.55850902e+01] [ 3.19571682e-01 9.46337006e-01 -4.81685785e-02 1.32316758e+01] [ 1.45021446e-01 1.38911444e-03 9.89427537e-01 9.86959931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.64, Y:13.25, Z:9.88 [[ 9.35828991e-01 -3.24830589e-01 -1.36781531e-01 6.56389152e+01] [ 3.21235632e-01 9.45771488e-01 -4.82074759e-02 1.32473107e+01] [ 1.45023335e-01 1.17485199e-03 9.89427538e-01 9.87930777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:13.27, Z:9.89 [[ 9.36478721e-01 -3.22955147e-01 -1.36775652e-01 6.56927021e+01] [ 3.19337843e-01 9.46413109e-01 -4.82241488e-02 1.32671027e+01] [ 1.45020507e-01 1.48324726e-03 9.89427538e-01 9.88702370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:13.29, Z:9.89 [[ 9.37581927e-01 -3.19743933e-01 -1.36762377e-01 6.57473242e+01] [ 3.16087119e-01 9.47501839e-01 -4.82617678e-02 1.32860217e+01] [ 1.45014011e-01 2.02053545e-03 9.89427539e-01 9.89227978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:13.30, Z:9.90 [[ 9.37859377e-01 -3.18934992e-01 -1.36748896e-01 6.58022193e+01] [ 3.15264058e-01 9.47774071e-01 -4.82999380e-02 1.33044949e+01] [ 1.45011598e-01 2.18653797e-03 9.89427539e-01 9.89925742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:13.32, Z:9.91 [[ 9.37171255e-01 -3.20957086e-01 -1.36735468e-01 6.58561480e+01] [ 3.17302003e-01 9.47091803e-01 -4.83379223e-02 1.33217880e+01] [ 1.45015439e-01 1.91447350e-03 9.89427540e-01 9.90747060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:13.34, Z:9.92 [[ 9.36017518e-01 -3.24308795e-01 -1.36729700e-01 6.59111584e+01] [ 3.20686855e-01 9.45950215e-01 -4.83542313e-02 1.33398903e+01] [ 1.45021192e-01 1.41299000e-03 9.89427540e-01 9.91568342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:13.36, Z:9.92 [[ 9.36084856e-01 -3.24119869e-01 -1.36716688e-01 6.59670342e+01] [ 3.20490556e-01 9.46014860e-01 -4.83909953e-02 1.33588788e+01] [ 1.45020501e-01 1.48167068e-03 9.89427541e-01 9.92179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:13.38, Z:9.93 [[ 9.35895330e-01 -3.24671635e-01 -1.36705016e-01 6.60213402e+01] [ 3.21043363e-01 9.45825713e-01 -4.84239460e-02 1.33775907e+01] [ 1.45021001e-01 1.43150687e-03 9.89427542e-01 9.93049599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.08, Y:13.40, Z:9.94 [[ 9.36233370e-01 -3.23697290e-01 -1.36700917e-01 6.60752362e+01] [ 3.20056995e-01 9.46159353e-01 -4.84355133e-02 1.33971558e+01] [ 1.45019296e-01 1.59485901e-03 9.89427542e-01 9.94054762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:13.42, Z:9.95 [[ 9.37396971e-01 -3.20317362e-01 -1.36688356e-01 6.61285373e+01] [ 3.16636115e-01 9.47307838e-01 -4.84709361e-02 1.34191483e+01] [ 1.45012033e-01 2.15603871e-03 9.89427542e-01 9.95061765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:13.44, Z:9.96 [[ 9.35846597e-01 -3.24824727e-01 -1.36674958e-01 6.61812923e+01] [ 3.21185705e-01 9.45773044e-01 -4.85086873e-02 1.34409216e+01] [ 1.45020312e-01 1.49864741e-03 9.89427543e-01 9.96136902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.24, Y:13.46, Z:9.97 [[ 9.35314328e-01 -3.26356776e-01 -1.36668806e-01 6.62355166e+01] [ 3.22731482e-01 9.45245797e-01 -4.85260131e-02 1.34634067e+01] [ 1.45022408e-01 1.27974914e-03 9.89427543e-01 9.96714869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:13.49, Z:9.97 [[ 9.35516978e-01 -3.25780355e-01 -1.36657030e-01 6.62895335e+01] [ 3.22144101e-01 9.45444439e-01 -4.85591536e-02 1.34868824e+01] [ 1.45021247e-01 1.40465664e-03 9.89427544e-01 9.97204472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:13.51, Z:9.98 [[ 9.36212449e-01 -3.23781249e-01 -1.36645356e-01 6.63424295e+01] [ 3.20119005e-01 9.46130351e-01 -4.85919832e-02 1.35081387e+01] [ 1.45017491e-01 1.74964435e-03 9.89427545e-01 9.98159686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:13.53, Z:9.99 [[ 9.37161182e-01 -3.21030597e-01 -1.36631892e-01 6.63953317e+01] [ 3.17333731e-01 9.47066230e-01 -4.86298122e-02 1.35309981e+01] [ 1.45011108e-01 2.21606443e-03 9.89427545e-01 9.99011127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:13.55, Z:10.00 [[ 9.38054757e-01 -3.18415898e-01 -1.36618408e-01 6.64482965e+01] [ 3.14685913e-01 9.47947380e-01 -4.86676647e-02 1.35547395e+01] [ 1.45003620e-01 2.66104612e-03 9.89427546e-01 1.00005190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:13.58, Z:10.01 [[ 9.38497685e-01 -3.17113116e-01 -1.36606610e-01 6.65026868e+01] [ 3.13364584e-01 9.48383295e-01 -4.87007568e-02 1.35765309e+01] [ 1.44999076e-01 2.89787395e-03 9.89427547e-01 1.00107083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:13.60, Z:10.02 [[ 9.38438351e-01 -3.17293729e-01 -1.36594843e-01 6.65557922e+01] [ 3.13542301e-01 9.48322861e-01 -4.87337384e-02 1.35993431e+01] [ 1.44998922e-01 2.90534764e-03 9.89427547e-01 1.00210269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:13.62, Z:10.03 [[ 9.37637926e-01 -3.19657069e-01 -1.36581398e-01 6.66091790e+01] [ 3.15925073e-01 9.47529788e-01 -4.87713925e-02 1.36195080e+01] [ 1.45005063e-01 2.58041925e-03 9.89427548e-01 1.00287249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.66, Y:13.64, Z:10.04 [[ 9.34558125e-01 -3.28554039e-01 -1.36577287e-01 6.66627244e+01] [ 3.24914543e-01 9.44484393e-01 -4.87829006e-02 1.36395681e+01] [ 1.45022935e-01 1.21450928e-03 9.89427548e-01 1.00386789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:13.66, Z:10.05 [[ 9.30739310e-01 -3.39226579e-01 -1.36563775e-01 6.67169079e+01] [ 3.35695360e-01 9.40704611e-01 -4.88206975e-02 1.36600138e+01] [ 1.45027451e-01 -4.04483365e-04 9.89427549e-01 1.00474378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:13.68, Z:10.06 [[ 9.28561776e-01 -3.45148004e-01 -1.36549930e-01 6.67702458e+01] [ 3.41674640e-01 9.38547388e-01 -4.88593921e-02 1.36793075e+01] [ 1.45022302e-01 -1.28668420e-03 9.89427550e-01 1.00579458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:13.70, Z:10.07 [[ 9.25915563e-01 -3.52186943e-01 -1.36545693e-01 6.68231361e+01] [ 3.48787738e-01 9.35926662e-01 -4.88712293e-02 1.37013542e+01] [ 1.45008564e-01 -2.37483160e-03 9.89427550e-01 1.00658665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:13.72, Z:10.08 [[ 9.25236626e-01 -3.53971952e-01 -1.36532205e-01 6.68763447e+01] [ 3.50586504e-01 9.35252385e-01 -4.89088829e-02 1.37243816e+01] [ 1.45004443e-01 -2.61405860e-03 9.89427551e-01 1.00750464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:13.75, Z:10.08 [[ 9.25974765e-01 -3.52041706e-01 -1.36518759e-01 6.69306339e+01] [ 3.48629851e-01 9.35981559e-01 -4.89463863e-02 1.37475938e+01] [ 1.45010210e-01 -2.27139603e-03 9.89427552e-01 1.00814066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:13.77, Z:10.09 [[ 9.28657372e-01 -3.44907722e-01 -1.36506956e-01 6.69830293e+01] [ 3.41414151e-01 9.38635929e-01 -4.89792821e-02 1.37716630e+01] [ 1.45023666e-01 -1.12043495e-03 9.89427552e-01 1.00892854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:13.79, Z:10.10 [[ 9.29692027e-01 -3.42110685e-01 -1.36502798e-01 6.70365417e+01] [ 3.38585391e-01 9.39659421e-01 -4.89908668e-02 1.37926862e+01] [ 1.45026439e-01 -6.71434912e-04 9.89427552e-01 1.00998356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:13.82, Z:10.11 [[ 9.33896352e-01 -3.30466928e-01 -1.36488874e-01 6.70880786e+01] [ 3.26811695e-01 9.43816831e-01 -4.90296289e-02 1.38176522e+01] [ 1.45023167e-01 1.18243123e-03 9.89427553e-01 1.01071284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:13.84, Z:10.11 [[ 9.36737332e-01 -3.22329037e-01 -1.36481366e-01 6.71419257e+01] [ 3.18584586e-01 9.46624481e-01 -4.90505205e-02 1.38402653e+01] [ 1.45007009e-01 2.46659428e-03 9.89427553e-01 1.01126493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:13.86, Z:10.12 [[ 9.39485097e-01 -3.14236031e-01 -1.36467833e-01 6.71948089e+01] [ 3.10400964e-01 9.49337451e-01 -4.90881433e-02 1.38622077e+01] [ 1.44979288e-01 3.75783217e-03 9.89427554e-01 1.01199402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:13.88, Z:10.13 [[ 9.40451049e-01 -3.11339259e-01 -1.36453989e-01 6.72486219e+01] [ 3.07468274e-01 9.50289345e-01 -4.91265954e-02 1.38825664e+01] [ 1.44965810e-01 4.24588561e-03 9.89427555e-01 1.01265689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:13.90, Z:10.13 [[ 9.40732729e-01 -3.10488983e-01 -1.36449713e-01 6.73039841e+01] [ 3.06607385e-01 9.50566843e-01 -4.91384709e-02 1.39026108e+01] [ 1.44961526e-01 4.38967832e-03 9.89427555e-01 1.01299453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:13.92, Z:10.14 [[ 9.40521547e-01 -3.11133309e-01 -1.36437835e-01 6.73583697e+01] [ 3.07253672e-01 9.50356434e-01 -4.91714288e-02 1.39209764e+01] [ 1.44963444e-01 4.32576249e-03 9.89427556e-01 1.01374299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:13.94, Z:10.15 [[ 9.40548159e-01 -3.11058888e-01 -1.36424078e-01 6.74127897e+01] [ 3.07172946e-01 9.50380555e-01 -4.92095678e-02 1.39377643e+01] [ 1.44961864e-01 4.37818243e-03 9.89427556e-01 1.01466699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:67.47, Y:13.96, Z:10.16 [[ 9.40501231e-01 -3.11202599e-01 -1.36419852e-01 6.74674509e+01] [ 3.07316463e-01 9.50333551e-01 -4.92212807e-02 1.39561625e+01] [ 1.44962153e-01 4.36860881e-03 9.89427556e-01 1.01565753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:13.97, Z:10.17 [[ 9.40821470e-01 -3.10239210e-01 -1.36405993e-01 6.75222360e+01] [ 3.06337447e-01 9.50647597e-01 -4.92596588e-02 1.39740457e+01] [ 1.44956307e-01 4.55828094e-03 9.89427557e-01 1.01651563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:13.99, Z:10.17 [[ 9.41335525e-01 -3.08681966e-01 -1.36392349e-01 6.75770066e+01] [ 3.04758485e-01 9.51153001e-01 -4.92974083e-02 1.39926378e+01] [ 1.44947213e-01 4.83867615e-03 9.89427558e-01 1.01725961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:14.01, Z:10.18 [[ 9.41566732e-01 -3.07982075e-01 -1.36378629e-01 6.76316416e+01] [ 3.04045810e-01 9.51379088e-01 -4.93353341e-02 1.40111397e+01] [ 1.44942174e-01 4.98715856e-03 9.89427559e-01 1.01824109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:14.03, Z:10.19 [[ 9.41586051e-01 -3.07928365e-01 -1.36366533e-01 6.76864523e+01] [ 3.03986708e-01 9.51396241e-01 -4.93687469e-02 1.40303527e+01] [ 1.44940644e-01 5.03131004e-03 9.89427560e-01 1.01935725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:14.05, Z:10.20 [[ 9.41090112e-01 -3.09446060e-01 -1.36354452e-01 6.77398619e+01] [ 3.05515399e-01 9.50904714e-01 -4.94020905e-02 1.40500714e+01] [ 1.44947374e-01 4.83343395e-03 9.89427560e-01 1.02003641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:14.07, Z:10.21 [[ 9.40339466e-01 -3.11723741e-01 -1.36345146e-01 6.77937779e+01] [ 3.07813137e-01 9.50162075e-01 -4.94277618e-02 1.40694117e+01] [ 1.44957794e-01 4.51004803e-03 9.89427561e-01 1.02083532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:14.09, Z:10.22 [[ 9.39619058e-01 -3.13894661e-01 -1.36331098e-01 6.78481987e+01] [ 3.10001141e-01 9.49448450e-01 -4.94664790e-02 1.40882989e+01] [ 1.44966613e-01 4.21685055e-03 9.89427561e-01 1.02172880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:14.11, Z:10.22 [[ 9.38742521e-01 -3.16512378e-01 -1.36317252e-01 6.79013132e+01] [ 3.12640737e-01 9.48580552e-01 -4.95046066e-02 1.41091330e+01] [ 1.44976715e-01 3.85375317e-03 9.89427562e-01 1.02244230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:14.13, Z:10.23 [[ 9.37690533e-01 -3.19619495e-01 -1.36307893e-01 6.79559542e+01] [ 3.15776715e-01 9.47539872e-01 -4.95303618e-02 1.41281675e+01] [ 1.44988033e-01 3.40129271e-03 9.89427563e-01 1.02332505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:14.15, Z:10.24 [[ 9.35842414e-01 -3.24996832e-01 -1.36293932e-01 6.80101251e+01] [ 3.21205064e-01 9.45711502e-01 -4.95687501e-02 1.41466003e+01] [ 1.45004426e-01 2.61023759e-03 9.89427563e-01 1.02417444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:14.16, Z:10.25 [[ 9.34484780e-01 -3.28885912e-01 -1.36280049e-01 6.80656362e+01] [ 3.25129659e-01 9.44367440e-01 -4.96068899e-02 1.41646825e+01] [ 1.45013448e-01 2.04819789e-03 9.89427564e-01 1.02480821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:14.18, Z:10.26 [[ 9.33918922e-01 -3.30495030e-01 -1.36266216e-01 6.81198196e+01] [ 3.26750266e-01 9.43805940e-01 -4.96448574e-02 1.41836050e+01] [ 1.45016243e-01 1.83924927e-03 9.89427565e-01 1.02604783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:14.20, Z:10.27 [[ 9.32981311e-01 -3.33138450e-01 -1.36252140e-01 6.81742983e+01] [ 3.29416062e-01 9.42876775e-01 -4.96834597e-02 1.42017960e+01] [ 1.45020449e-01 1.47009593e-03 9.89427566e-01 1.02683355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:14.22, Z:10.28 [[ 9.32195622e-01 -3.35336271e-01 -1.36238422e-01 6.82288805e+01] [ 3.31631720e-01 9.42097776e-01 -4.97210503e-02 1.42195597e+01] [ 1.45023186e-01 1.16876328e-03 9.89427567e-01 1.02767771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:68.28, Y:14.24, Z:10.29 [[ 9.31025134e-01 -3.38574129e-01 -1.36234210e-01 6.82846234e+01] [ 3.34902327e-01 9.40939478e-01 -4.97325883e-02 1.42357812e+01] [ 1.45026314e-01 6.77135803e-04 9.89427567e-01 1.02862922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:68.34, Y:14.25, Z:10.30 [[ 9.30264934e-01 -3.40662083e-01 -1.36222235e-01 6.83396385e+01] [ 3.37007734e-01 9.40185724e-01 -4.97653658e-02 1.42531841e+01] [ 1.45027374e-01 3.87027848e-04 9.89427567e-01 1.02960188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:14.27, Z:10.30 [[ 9.30249605e-01 -3.40709401e-01 -1.36208577e-01 6.83943348e+01] [ 3.37050087e-01 9.40168564e-01 -4.98027225e-02 1.42723342e+01] [ 1.45027278e-01 4.19850435e-04 9.89427568e-01 1.03034235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:68.45, Y:14.29, Z:10.31 [[ 9.30882017e-01 -3.38983230e-01 -1.36194857e-01 6.84490283e+01] [ 3.35300038e-01 9.40792133e-01 -4.98402123e-02 1.42916755e+01] [ 1.45026047e-01 7.29216531e-04 9.89427569e-01 1.03117226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:14.31, Z:10.32 [[ 9.31693044e-01 -3.36753262e-01 -1.36181178e-01 6.85041582e+01] [ 3.33040891e-01 9.41592265e-01 -4.98775615e-02 1.43115038e+01] [ 1.45023575e-01 1.11667624e-03 9.89427570e-01 1.03211494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:14.33, Z:10.33 [[ 9.32645737e-01 -3.34110557e-01 -1.36169251e-01 6.85583297e+01] [ 3.30365386e-01 9.42532595e-01 -4.99101009e-02 1.43318283e+01] [ 1.45019450e-01 1.56283547e-03 9.89427570e-01 1.03289663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:14.35, Z:10.33 [[ 9.32212266e-01 -3.35323693e-01 -1.36155470e-01 6.86137209e+01] [ 3.31585902e-01 9.42101916e-01 -4.99476686e-02 1.43537269e+01] [ 1.45020966e-01 1.41459493e-03 9.89427571e-01 1.03303605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:14.37, Z:10.35 [[ 9.32370218e-01 -3.34889885e-01 -1.36141623e-01 6.86679012e+01] [ 3.31141986e-01 9.42256041e-01 -4.99853838e-02 1.43711570e+01] [ 1.45019866e-01 1.52267582e-03 9.89427572e-01 1.03482567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:14.39, Z:10.36 [[ 9.31798808e-01 -3.36482239e-01 -1.36127454e-01 6.87228251e+01] [ 3.32745601e-01 9.41688892e-01 -5.00239411e-02 1.43913830e+01] [ 1.45021879e-01 1.31643714e-03 9.89427573e-01 1.03581292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:14.41, Z:10.37 [[ 9.31613989e-01 -3.36998498e-01 -1.36115349e-01 6.87772283e+01] [ 3.33262533e-01 9.41504326e-01 -5.00568569e-02 1.44111775e+01] [ 1.45022276e-01 1.27152206e-03 9.89427573e-01 1.03660987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:14.43, Z:10.37 [[ 9.31557512e-01 -3.37160163e-01 -1.36101527e-01 6.88319337e+01] [ 3.33420428e-01 9.41446424e-01 -5.00944097e-02 1.44311018e+01] [ 1.45022136e-01 1.28679413e-03 9.89427574e-01 1.03729114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:14.45, Z:10.38 [[ 9.31847917e-01 -3.36361586e-01 -1.36089469e-01 6.88854005e+01] [ 3.32608595e-01 9.41731805e-01 -5.01271482e-02 1.44507166e+01] [ 1.45020628e-01 1.44635170e-03 9.89427575e-01 1.03821091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:14.47, Z:10.39 [[ 9.32491709e-01 -3.34578251e-01 -1.36075735e-01 6.89397438e+01] [ 3.30800923e-01 9.42366321e-01 -5.01644025e-02 1.44712742e+01] [ 1.45017108e-01 1.76391077e-03 9.89427575e-01 1.03910245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:14.49, Z:10.40 [[ 9.32874706e-01 -3.33513778e-01 -1.36063748e-01 6.89937004e+01] [ 3.29720443e-01 9.42743179e-01 -5.01968956e-02 1.44906985e+01] [ 1.45014526e-01 1.96441505e-03 9.89427576e-01 1.04000443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:14.51, Z:10.41 [[ 9.33266276e-01 -3.32418216e-01 -1.36059501e-01 6.90470145e+01] [ 3.28611620e-01 9.43129641e-01 -5.02084040e-02 1.45102075e+01] [ 1.45011936e-01 2.14707734e-03 9.89427576e-01 1.04103006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:14.53, Z:10.42 [[ 9.33811687e-01 -3.30888533e-01 -1.36045990e-01 6.91011319e+01] [ 3.27060451e-01 9.43666733e-01 -5.02449877e-02 1.45309742e+01] [ 1.45007565e-01 2.42409400e-03 9.89427577e-01 1.04189403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:14.55, Z:10.43 [[ 9.33853036e-01 -3.30777569e-01 -1.36032006e-01 6.91551707e+01] [ 3.26942807e-01 9.43705483e-01 -5.02828172e-02 1.45514881e+01] [ 1.45006578e-01 2.48207544e-03 9.89427578e-01 1.04263968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:14.57, Z:10.43 [[ 9.33763384e-01 -3.31036348e-01 -1.36017935e-01 6.92089897e+01] [ 3.27198777e-01 9.43614737e-01 -5.03208519e-02 1.45719900e+01] [ 1.45006559e-01 2.48286676e-03 9.89427579e-01 1.04343762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:14.59, Z:10.44 [[ 9.33602163e-01 -3.31496493e-01 -1.36003956e-01 6.92629497e+01] [ 3.27658280e-01 9.43453264e-01 -5.03586058e-02 1.45916582e+01] [ 1.45007078e-01 2.45208084e-03 9.89427579e-01 1.04446582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:14.61, Z:10.45 [[ 9.33675767e-01 -3.31294847e-01 -1.35990022e-01 6.93166942e+01] [ 3.27449031e-01 9.43523902e-01 -5.03962079e-02 1.46130947e+01] [ 1.45005840e-01 2.52391724e-03 9.89427580e-01 1.04513128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.37, Y:14.63, Z:10.46 [[ 9.33727358e-01 -3.31155093e-01 -1.35976196e-01 6.93708542e+01] [ 3.27302376e-01 9.43572794e-01 -5.04334831e-02 1.46332960e+01] [ 1.45004744e-01 2.58579079e-03 9.89427581e-01 1.04601403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:14.65, Z:10.47 [[ 9.33457511e-01 -3.31920571e-01 -1.35962531e-01 6.94247704e+01] [ 3.28070568e-01 9.43304008e-01 -5.04702954e-02 1.46532670e+01] [ 1.45006130e-01 2.50657132e-03 9.89427582e-01 1.04706535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.48, Y:14.67, Z:10.48 [[ 9.33430033e-01 -3.32003566e-01 -1.35948544e-01 6.94778942e+01] [ 3.28148956e-01 9.43274727e-01 -5.05079442e-02 1.46736580e+01] [ 1.45005643e-01 2.53425912e-03 9.89427582e-01 1.04801541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:69.53, Y:14.70, Z:10.48 [[ 9.32874499e-01 -3.33563087e-01 -1.35944240e-01 6.95321957e+01] [ 3.29723249e-01 9.42724963e-01 -5.05195261e-02 1.46974183e+01] [ 1.45009478e-01 2.30440106e-03 9.89427583e-01 1.04828985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:14.72, Z:10.50 [[ 9.33922915e-01 -3.30621969e-01 -1.35930505e-01 6.95849403e+01] [ 3.26745738e-01 9.43759115e-01 -5.05564556e-02 1.47154134e+01] [ 1.45000728e-01 2.80111912e-03 9.89427583e-01 1.04992938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:14.74, Z:10.51 [[ 9.33840331e-01 -3.30857170e-01 -1.35925606e-01 6.96385771e+01] [ 3.26981500e-01 9.43676752e-01 -5.05696251e-02 1.47366322e+01] [ 1.45001157e-01 2.77879701e-03 9.89427583e-01 1.05059717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.69, Y:14.76, Z:10.51 [[ 9.33497563e-01 -3.31828553e-01 -1.35912145e-01 6.96916371e+01] [ 3.27957857e-01 9.43335942e-01 -5.06057763e-02 1.47567472e+01] [ 1.45003253e-01 2.66691303e-03 9.89427584e-01 1.05143113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:14.78, Z:10.52 [[ 9.31918703e-01 -3.36239486e-01 -1.35906358e-01 6.97447251e+01] [ 3.32413096e-01 9.41774398e-01 -5.06213142e-02 1.47779499e+01] [ 1.45014013e-01 1.99789643e-03 9.89427584e-01 1.05231625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:14.80, Z:10.53 [[ 9.30482111e-01 -3.40196432e-01 -1.35902278e-01 6.97982425e+01] [ 3.36410356e-01 9.40353362e-01 -5.06322633e-02 1.47980526e+01] [ 1.45021080e-01 1.39348139e-03 9.89427584e-01 1.05316740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:14.82, Z:10.54 [[ 9.27737023e-01 -3.47617684e-01 -1.35889519e-01 6.98509489e+01] [ 3.43905561e-01 9.37636322e-01 -5.06664848e-02 1.48191689e+01] [ 1.45027515e-01 2.72012416e-04 9.89427585e-01 1.05390039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:14.84, Z:10.55 [[ 9.26117052e-01 -3.51912968e-01 -1.35884024e-01 6.99043138e+01] [ 3.48244596e-01 9.36032646e-01 -5.06812184e-02 1.48403895e+01] [ 1.45027260e-01 -3.84136431e-04 9.89427585e-01 1.05506438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:14.86, Z:10.56 [[ 9.24652746e-01 -3.55748040e-01 -1.35869908e-01 6.99581205e+01] [ 3.52115236e-01 9.34581425e-01 -5.07190343e-02 1.48624572e+01] [ 1.45024689e-01 -9.44370261e-04 9.89427586e-01 1.05622879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.01, Y:14.89, Z:10.57 [[ 9.24105708e-01 -3.57171248e-01 -1.35857793e-01 7.00105156e+01] [ 3.53548967e-01 9.34038231e-01 -5.07514644e-02 1.48857927e+01] [ 1.45023336e-01 -1.13266444e-03 9.89427587e-01 1.05707195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.06, Y:14.91, Z:10.58 [[ 9.25071460e-01 -3.54667798e-01 -1.35843831e-01 7.00636275e+01] [ 3.51013153e-01 9.34992119e-01 -5.07888089e-02 1.49083802e+01] [ 1.45026066e-01 -6.99693727e-04 9.89427587e-01 1.05785212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:14.93, Z:10.58 [[ 9.27746158e-01 -3.47612839e-01 -1.35839539e-01 7.01163360e+01] [ 3.43881071e-01 9.37638065e-01 -5.08002841e-02 1.49318130e+01] [ 1.45027154e-01 4.17122140e-04 9.89427587e-01 1.05827902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.17, Y:14.96, Z:10.59 [[ 9.31078085e-01 -3.38589576e-01 -1.35833351e-01 7.01686277e+01] [ 3.34759537e-01 9.40932358e-01 -5.08168267e-02 1.49561514e+01] [ 1.45016043e-01 1.84292413e-03 9.89427588e-01 1.05936241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.22, Y:14.98, Z:10.60 [[ 9.33236307e-01 -3.32600585e-01 -1.35819164e-01 7.02225063e+01] [ 3.28701801e-01 9.43063584e-01 -5.08547149e-02 1.49791481e+01] [ 1.45000416e-01 2.81546235e-03 9.89427588e-01 1.06026557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.28, Y:15.00, Z:10.61 [[ 9.35949709e-01 -3.24891792e-01 -1.35806723e-01 7.02754644e+01] [ 3.20907270e-01 9.45742536e-01 -5.08879172e-02 1.50020202e+01] [ 1.44971261e-01 4.04716652e-03 9.89427589e-01 1.06120769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:15.02, Z:10.62 [[ 9.37329761e-01 -3.20894638e-01 -1.35792308e-01 7.03286103e+01] [ 3.16862799e-01 9.47103201e-01 -5.09263551e-02 1.50239302e+01] [ 1.44951324e-01 4.70725743e-03 9.89427590e-01 1.06192678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:15.05, Z:10.63 [[ 9.38982225e-01 -3.16028533e-01 -1.35787879e-01 7.03813843e+01] [ 3.11944350e-01 9.48733907e-01 -5.09381623e-02 1.50467579e+01] [ 1.44924477e-01 5.47176739e-03 9.89427590e-01 1.06260843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:15.07, Z:10.63 [[ 9.39790614e-01 -3.13622581e-01 -1.35773631e-01 7.04340950e+01] [ 3.09507964e-01 9.49529492e-01 -5.09761102e-02 1.50684581e+01] [ 1.44908327e-01 5.88384975e-03 9.89427591e-01 1.06340452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:15.09, Z:10.64 [[ 9.39814659e-01 -3.13552417e-01 -1.35769246e-01 7.04878418e+01] [ 3.09435388e-01 9.49552519e-01 -5.09877883e-02 1.50892757e+01] [ 1.44907374e-01 5.90726159e-03 9.89427591e-01 1.06425371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.54, Y:15.11, Z:10.65 [[ 9.39526232e-01 -3.14421658e-01 -1.35755219e-01 7.05420045e+01] [ 3.10308256e-01 9.49265624e-01 -5.10251085e-02 1.51104847e+01] [ 1.44911162e-01 5.81346275e-03 9.89427592e-01 1.06527627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:15.13, Z:10.66 [[ 9.38693419e-01 -3.16904801e-01 -1.35742446e-01 7.05953086e+01] [ 3.12812263e-01 9.48441596e-01 -5.10590645e-02 1.51317389e+01] [ 1.44924645e-01 5.46690608e-03 9.89427592e-01 1.06601605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:15.15, Z:10.67 [[ 9.37627513e-01 -3.20046638e-01 -1.35737973e-01 7.06495593e+01] [ 3.15985049e-01 9.47388625e-01 -5.10709552e-02 1.51515030e+01] [ 1.44941699e-01 4.99436275e-03 9.89427592e-01 1.06687651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:15.17, Z:10.68 [[ 9.35964868e-01 -3.24882803e-01 -1.35723729e-01 7.07035375e+01] [ 3.20866181e-01 9.45744567e-01 -5.11087802e-02 1.51722412e+01] [ 1.44964343e-01 4.28686809e-03 9.89427593e-01 1.06803080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:15.19, Z:10.69 [[ 9.34548846e-01 -3.28939237e-01 -1.35710843e-01 7.07572627e+01] [ 3.24960107e-01 9.44343860e-01 -5.11429748e-02 1.51929246e+01] [ 1.44980632e-01 3.69499813e-03 9.89427594e-01 1.06895975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.81, Y:15.21, Z:10.70 [[ 9.33819124e-01 -3.31007001e-01 -1.35706334e-01 7.08104433e+01] [ 3.27047823e-01 9.43622220e-01 -5.11549370e-02 1.52146433e+01] [ 1.44988154e-01 3.38699749e-03 9.89427594e-01 1.06969231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:15.24, Z:10.70 [[ 9.33243416e-01 -3.32632435e-01 -1.35692264e-01 7.08649030e+01] [ 3.28684912e-01 9.43051210e-01 -5.11922311e-02 1.52370584e+01] [ 1.44992950e-01 3.17481273e-03 9.89427595e-01 1.07046764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:15.26, Z:10.71 [[ 9.32670452e-01 -3.34240667e-01 -1.35679790e-01 7.09183488e+01] [ 3.30305253e-01 9.42483110e-01 -5.12252715e-02 1.52590329e+01] [ 1.44997479e-01 2.96054990e-03 9.89427595e-01 1.07114802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:15.28, Z:10.72 [[ 9.32728002e-01 -3.34085776e-01 -1.35665652e-01 7.09723008e+01] [ 3.30143292e-01 9.42537821e-01 -5.12626862e-02 1.52801738e+01] [ 1.44996143e-01 3.02503770e-03 9.89427596e-01 1.07212482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:15.30, Z:10.73 [[ 9.33599890e-01 -3.31646601e-01 -1.35653150e-01 7.10255407e+01] [ 3.27673688e-01 9.43397424e-01 -5.12957492e-02 1.53026377e+01] [ 1.44986893e-01 3.43973789e-03 9.89427597e-01 1.07311299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:15.33, Z:10.74 [[ 9.35194393e-01 -3.27128602e-01 -1.35640425e-01 7.10789546e+01] [ 3.23103490e-01 9.44970597e-01 -5.13293771e-02 1.53251690e+01] [ 1.44967520e-01 4.17705115e-03 9.89427597e-01 1.07390601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:15.35, Z:10.75 [[ 9.36236680e-01 -3.24139614e-01 -1.35625914e-01 7.11326185e+01] [ 3.20077751e-01 9.45997671e-01 -5.13676885e-02 1.53465667e+01] [ 1.44952102e-01 4.68147652e-03 9.89427598e-01 1.07461948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:15.37, Z:10.75 [[ 9.37303102e-01 -3.21049060e-01 -1.35611193e-01 7.11868493e+01] [ 3.16949405e-01 9.47048280e-01 -5.14065235e-02 1.53662859e+01] [ 1.44934363e-01 5.20160690e-03 9.89427599e-01 1.07535729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.24, Y:15.39, Z:10.76 [[ 9.37366062e-01 -3.20867102e-01 -1.35606671e-01 7.12410093e+01] [ 3.16763832e-01 9.47109718e-01 -5.14184500e-02 1.53858459e+01] [ 1.44932885e-01 5.24262126e-03 9.89427599e-01 1.07614459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.30, Y:15.40, Z:10.77 [[ 9.36837001e-01 -3.22414469e-01 -1.35592566e-01 7.12961516e+01] [ 3.18321921e-01 9.46585165e-01 -5.14556201e-02 1.54038315e+01] [ 1.44939948e-01 5.04344294e-03 9.89427600e-01 1.07707526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:15.42, Z:10.78 [[ 9.36133810e-01 -3.24455660e-01 -1.35580288e-01 7.13501572e+01] [ 3.20379692e-01 9.45888917e-01 -5.14879492e-02 1.54219639e+01] [ 1.44949449e-01 4.76243894e-03 9.89427600e-01 1.07806277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.40, Y:15.44, Z:10.79 [[ 9.35792057e-01 -3.25446114e-01 -1.35565675e-01 7.14047305e+01] [ 3.21374908e-01 9.45549152e-01 -5.15263975e-02 1.54375027e+01] [ 1.44953075e-01 4.65058723e-03 9.89427601e-01 1.07916939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:15.45, Z:10.80 [[ 9.35957341e-01 -3.24972334e-01 -1.35561195e-01 7.14599989e+01] [ 3.20894485e-01 9.45711661e-01 -5.15381802e-02 1.54546412e+01] [ 1.44950286e-01 4.73669815e-03 9.89427601e-01 1.08014186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:15.47, Z:10.81 [[ 9.36111928e-01 -3.24532000e-01 -1.35548659e-01 7.15168272e+01] [ 3.20444797e-01 9.45862332e-01 -5.15711310e-02 1.54717891e+01] [ 1.44946853e-01 4.84048838e-03 9.89427602e-01 1.08068306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.57, Y:15.49, Z:10.81 [[ 9.36223706e-01 -3.24214623e-01 -1.35536156e-01 7.15715231e+01] [ 3.20119367e-01 9.45970730e-01 -5.16039710e-02 1.54894043e+01] [ 1.44943998e-01 4.92511265e-03 9.89427603e-01 1.08144105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.63, Y:15.51, Z:10.82 [[ 9.36537048e-01 -3.23314600e-01 -1.35521314e-01 7.16265698e+01] [ 3.19204348e-01 9.46277757e-01 -5.16429190e-02 1.55065839e+01] [ 1.44937715e-01 5.10651425e-03 9.89427603e-01 1.08236573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:15.52, Z:10.83 [[ 9.36388641e-01 -3.23750374e-01 -1.35506490e-01 7.16813605e+01] [ 3.19639039e-01 9.46128891e-01 -5.16817862e-02 1.55236651e+01] [ 1.44938603e-01 5.08107324e-03 9.89427604e-01 1.08328848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:15.54, Z:10.84 [[ 9.35940803e-01 -3.25044681e-01 -1.35501915e-01 7.17357030e+01] [ 3.20945082e-01 9.45685999e-01 -5.16937783e-02 1.55415617e+01] [ 1.44945052e-01 4.89364317e-03 9.89427604e-01 1.08416135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:15.56, Z:10.85 [[ 9.35317747e-01 -3.26839218e-01 -1.35487408e-01 7.17901727e+01] [ 3.22752820e-01 9.45068485e-01 -5.17317742e-02 1.55585787e+01] [ 1.44952852e-01 4.65670363e-03 9.89427605e-01 1.08505124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:15.58, Z:10.86 [[ 9.34689268e-01 -3.28638225e-01 -1.35472835e-01 7.18445365e+01] [ 3.24565074e-01 9.44445546e-01 -5.17699083e-02 1.55764907e+01] [ 1.44960287e-01 4.41902699e-03 9.89427606e-01 1.08591077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:15.59, Z:10.86 [[ 9.33676795e-01 -3.31509733e-01 -1.35458259e-01 7.19007873e+01] [ 3.27461065e-01 9.43443257e-01 -5.18080197e-02 1.55932056e+01] [ 1.44972044e-01 4.01463997e-03 9.89427607e-01 1.08644359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:15.61, Z:10.87 [[ 9.33069419e-01 -3.33220660e-01 -1.35445381e-01 7.19552985e+01] [ 3.29185022e-01 9.42841271e-01 -5.18416667e-02 1.56119623e+01] [ 1.44978209e-01 3.78528324e-03 9.89427607e-01 1.08715193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:15.63, Z:10.88 [[ 9.32819317e-01 -3.33926237e-01 -1.35430389e-01 7.20104081e+01] [ 3.29892312e-01 9.42591876e-01 -5.18808011e-02 1.56285595e+01] [ 1.44979945e-01 3.71796923e-03 9.89427608e-01 1.08820633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:15.65, Z:10.89 [[ 9.32595548e-01 -3.34552549e-01 -1.35425758e-01 7.20653168e+01] [ 3.30523433e-01 9.42370091e-01 -5.18928886e-02 1.56459385e+01] [ 1.44982082e-01 3.63369053e-03 9.89427608e-01 1.08931886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.12, Y:15.66, Z:10.90 [[ 9.32443516e-01 -3.34981931e-01 -1.35411205e-01 7.21203945e+01] [ 3.30951809e-01 9.42217644e-01 -5.19308354e-02 1.56645002e+01] [ 1.44982718e-01 3.60798752e-03 9.89427609e-01 1.09005348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:15.68, Z:10.91 [[ 9.32280509e-01 -3.35441198e-01 -1.35396661e-01 7.21745645e+01] [ 3.31410392e-01 9.42054353e-01 -5.19687281e-02 1.56834201e+01] [ 1.44983466e-01 3.57757181e-03 9.89427610e-01 1.09096552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:15.70, Z:10.92 [[ 9.32037209e-01 -3.36122566e-01 -1.35381907e-01 7.22285873e+01] [ 3.32093330e-01 9.41811700e-01 -5.20071337e-02 1.57020931e+01] [ 1.44985036e-01 3.51315530e-03 9.89427611e-01 1.09177155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:15.72, Z:10.93 [[ 9.31514121e-01 -3.37575409e-01 -1.35367226e-01 7.22824041e+01] [ 3.33555872e-01 9.41292603e-01 -5.20453210e-02 1.57203047e+01] [ 1.44989389e-01 3.32841848e-03 9.89427612e-01 1.09250316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:15.74, Z:10.93 [[ 9.30825165e-01 -3.39473025e-01 -1.35360913e-01 7.23367369e+01] [ 3.35471038e-01 9.40610843e-01 -5.20617350e-02 1.57389963e+01] [ 1.44995497e-01 3.05070726e-03 9.89427612e-01 1.09345448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.39, Y:15.76, Z:10.94 [[ 9.30301623e-01 -3.40910950e-01 -1.35346274e-01 7.23918530e+01] [ 3.36918558e-01 9.40091219e-01 -5.20997643e-02 1.57579105e+01] [ 1.44999224e-01 2.86782390e-03 9.89427613e-01 1.09396648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.45, Y:15.78, Z:10.95 [[ 9.29972094e-01 -3.41814610e-01 -1.35331729e-01 7.24467072e+01] [ 3.37826239e-01 9.39763327e-01 -5.21375189e-02 1.57760345e+01] [ 1.45001161e-01 2.76782874e-03 9.89427613e-01 1.09474673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:15.79, Z:10.96 [[ 9.29856785e-01 -3.42133865e-01 -1.35317326e-01 7.25013997e+01] [ 3.38143422e-01 9.39647173e-01 -5.21748732e-02 1.57945719e+01] [ 1.45001334e-01 2.75849628e-03 9.89427614e-01 1.09556481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:15.81, Z:10.97 [[ 9.28737240e-01 -3.45167091e-01 -1.35302691e-01 7.25562267e+01] [ 3.41203101e-01 9.38538368e-01 -5.22127989e-02 1.58126035e+01] [ 1.45008906e-01 2.32627308e-03 9.89427615e-01 1.09660418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:15.83, Z:10.98 [[ 9.24227585e-01 -3.57071496e-01 -1.35289752e-01 7.26114832e+01] [ 3.53228858e-01 9.34076923e-01 -5.22463024e-02 1.58310115e+01] [ 1.45026701e-01 4.99229167e-04 9.89427616e-01 1.09787324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.66, Y:15.85, Z:10.99 [[ 9.20877189e-01 -3.65630101e-01 -1.35276869e-01 7.26639887e+01] [ 3.61874103e-01 9.30759890e-01 -5.22796393e-02 1.58500543e+01] [ 1.45025293e-01 -8.10068352e-04 9.89427616e-01 1.09906803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.72, Y:15.87, Z:10.99 [[ 9.19267762e-01 -3.69660128e-01 -1.35270735e-01 7.27180247e+01] [ 3.65945119e-01 9.29165943e-01 -5.22955054e-02 1.58746813e+01] [ 1.45020523e-01 -1.42809300e-03 9.89427617e-01 1.09912409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:15.90, Z:11.00 [[ 9.20936416e-01 -3.65487872e-01 -1.35258023e-01 7.27718245e+01] [ 3.61723191e-01 9.30815812e-01 -5.23283639e-02 1.58968587e+01] [ 1.45025689e-01 -7.34867699e-04 9.89427617e-01 1.09989597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:15.92, Z:11.01 [[ 9.22694198e-01 -3.61031974e-01 -1.35245443e-01 7.28247736e+01] [ 3.57214819e-01 9.32553437e-01 -5.23608572e-02 1.59191758e+01] [ 1.45027547e-01 1.38260982e-06 9.89427618e-01 1.10094756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:15.94, Z:11.02 [[ 9.26236203e-01 -3.51847073e-01 -1.35241017e-01 7.28766592e+01] [ 3.47930485e-01 9.36056366e-01 -5.23722863e-02 1.59436996e+01] [ 1.45020251e-01 1.45463488e-03 9.89427618e-01 1.10214049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.93, Y:15.97, Z:11.03 [[ 9.29107278e-01 -3.44195827e-01 -1.35236458e-01 7.29289984e+01] [ 3.40196666e-01 9.38894104e-01 -5.23840563e-02 1.59681653e+01] [ 1.45003087e-01 2.66341575e-03 9.89427618e-01 1.10281295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.98, Y:15.99, Z:11.04 [[ 9.30816829e-01 -3.39551246e-01 -1.35221972e-01 7.29813525e+01] [ 3.35497831e-01 9.40581310e-01 -5.24214241e-02 1.59915022e+01] [ 1.44987019e-01 3.42806546e-03 9.89427619e-01 1.10357365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:16.01, Z:11.04 [[ 9.32425329e-01 -3.35114945e-01 -1.35207173e-01 7.30339021e+01] [ 3.31009552e-01 9.42168069e-01 -5.24595662e-02 1.60142945e+01] [ 1.44967866e-01 4.15976247e-03 9.89427620e-01 1.10419973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:16.04, Z:11.05 [[ 9.32627832e-01 -3.34552805e-01 -1.35202619e-01 7.30870706e+01] [ 3.30439840e-01 9.42367378e-01 -5.24713012e-02 1.60360679e+01] [ 1.44964958e-01 4.25986407e-03 9.89427620e-01 1.10509338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:16.06, Z:11.06 [[ 9.32426991e-01 -3.35118177e-01 -1.35187696e-01 7.31414853e+01] [ 3.31005553e-01 9.42166680e-01 -5.25097221e-02 1.60584848e+01] [ 1.44966305e-01 4.21360426e-03 9.89427620e-01 1.10593046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:16.08, Z:11.07 [[ 9.31986237e-01 -3.36347187e-01 -1.35174790e-01 7.31956600e+01] [ 3.32242596e-01 9.41729313e-01 -5.25429235e-02 1.60799259e+01] [ 1.44970727e-01 4.05845833e-03 9.89427621e-01 1.10687327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:16.10, Z:11.08 [[ 9.31303150e-01 -3.38239110e-01 -1.35161928e-01 7.32494503e+01] [ 3.34149517e-01 9.41052531e-01 -5.25759901e-02 1.61007824e+01] [ 1.44977730e-01 3.79989230e-03 9.89427622e-01 1.10779045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.30, Y:16.12, Z:11.08 [[ 9.30714791e-01 -3.39860637e-01 -1.35147055e-01 7.33020978e+01] [ 3.35782487e-01 9.40468962e-01 -5.26141942e-02 1.61215363e+01] [ 1.44983104e-01 3.58879471e-03 9.89427623e-01 1.10848316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.36, Y:16.14, Z:11.09 [[ 9.30281909e-01 -3.41046290e-01 -1.35140656e-01 7.33558889e+01] [ 3.36978187e-01 9.40040275e-01 -5.26306246e-02 1.61431572e+01] [ 1.44987139e-01 3.42186468e-03 9.89427623e-01 1.10918115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:16.16, Z:11.10 [[ 9.30369044e-01 -3.40814428e-01 -1.35125747e-01 7.34087440e+01] [ 3.36738341e-01 9.40124076e-01 -5.26688738e-02 1.61643493e+01] [ 1.44985281e-01 3.49946968e-03 9.89427624e-01 1.11001253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.46, Y:16.19, Z:11.11 [[ 9.30451628e-01 -3.40590723e-01 -1.35121161e-01 7.34622989e+01] [ 3.36510583e-01 9.40204966e-01 -5.26806385e-02 1.61858076e+01] [ 1.44984123e-01 3.54708523e-03 9.89427624e-01 1.11092717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:16.21, Z:11.12 [[ 9.30084936e-01 -3.41596628e-01 -1.35106462e-01 7.35162229e+01] [ 3.37521568e-01 9.39840397e-01 -5.27183096e-02 1.62076818e+01] [ 1.44986907e-01 3.43116081e-03 9.89427624e-01 1.11204747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.57, Y:16.23, Z:11.13 [[ 9.28439035e-01 -3.46050093e-01 -1.35093638e-01 7.35697401e+01] [ 3.42017056e-01 9.38211943e-01 -5.27511498e-02 1.62284094e+01] [ 1.45001005e-01 2.77189822e-03 9.89427625e-01 1.11286518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.62, Y:16.25, Z:11.14 [[ 9.24146733e-01 -3.57360480e-01 -1.35078873e-01 7.36230386e+01] [ 3.53441548e-01 9.33965953e-01 -5.27889310e-02 1.62478663e+01] [ 1.45023746e-01 1.04223198e-03 9.89427626e-01 1.11366300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.68, Y:16.27, Z:11.15 [[ 9.20252179e-01 -3.67276873e-01 -1.35068964e-01 7.36777681e+01] [ 3.63460031e-01 9.30111530e-01 -5.28142726e-02 1.62669532e+01] [ 1.45026662e-01 -4.89720536e-04 9.89427626e-01 1.11452660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.73, Y:16.29, Z:11.15 [[ 9.19879434e-01 -3.68214751e-01 -1.35054526e-01 7.37309247e+01] [ 3.64402544e-01 9.29740577e-01 -5.28511694e-02 1.62886758e+01] [ 1.45026253e-01 -5.97508924e-04 9.89427627e-01 1.11521547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:16.31, Z:11.16 [[ 9.21349746e-01 -3.64525490e-01 -1.35040039e-01 7.37844793e+01] [ 3.60668374e-01 9.31193410e-01 -5.28881577e-02 1.63092150e+01] [ 1.45027476e-01 2.38192485e-05 9.89427628e-01 1.11636422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:16.33, Z:11.17 [[ 9.24651487e-01 -3.56069738e-01 -1.35033216e-01 7.38370884e+01] [ 3.52120064e-01 9.34458378e-01 -5.29055729e-02 1.63320615e+01] [ 1.45020994e-01 1.37131195e-03 9.89427628e-01 1.11740304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.89, Y:16.35, Z:11.18 [[ 9.25846562e-01 -3.52956181e-01 -1.35018808e-01 7.38900183e+01] [ 3.48968170e-01 9.35637925e-01 -5.29423176e-02 1.63539177e+01] [ 1.45015036e-01 1.89919630e-03 9.89427629e-01 1.11817592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:16.38, Z:11.19 [[ 9.28303118e-01 -3.46449313e-01 -1.35004423e-01 7.39424571e+01] [ 3.42387349e-01 9.38064034e-01 -5.29789768e-02 1.63763416e+01] [ 1.44997323e-01 2.95674292e-03 9.89427629e-01 1.11892583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:16.40, Z:11.20 [[ 9.30119294e-01 -3.41545870e-01 -1.34998210e-01 7.39948134e+01] [ 3.37430160e-01 9.39857669e-01 -5.29948016e-02 1.63992716e+01] [ 1.44979259e-01 3.73901980e-03 9.89427630e-01 1.11978157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:16.42, Z:11.21 [[ 9.30782865e-01 -3.39739325e-01 -1.34983146e-01 7.40479062e+01] [ 3.35599159e-01 9.40510867e-01 -5.30331455e-02 1.64208850e+01] [ 1.44970560e-01 4.06211292e-03 9.89427630e-01 1.12075451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:16.44, Z:11.22 [[ 9.30831878e-01 -3.39611028e-01 -1.34968017e-01 7.41012124e+01] [ 3.35463946e-01 9.40556933e-01 -5.30716210e-02 1.64422923e+01] [ 1.44968811e-01 4.12385316e-03 9.89427631e-01 1.12162447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:16.46, Z:11.23 [[ 9.31134673e-01 -3.38785983e-01 -1.34952877e-01 7.41542894e+01] [ 3.34624714e-01 9.40853665e-01 -5.31100922e-02 1.64647587e+01] [ 1.44963863e-01 4.29408057e-03 9.89427632e-01 1.12252091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.21, Y:16.49, Z:11.23 [[ 9.31507289e-01 -3.37766193e-01 -1.34937653e-01 7.42068130e+01] [ 3.33588691e-01 9.41219314e-01 -5.31487439e-02 1.64856563e+01] [ 1.44957774e-01 4.49476741e-03 9.89427633e-01 1.12322784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:16.51, Z:11.24 [[ 9.32112418e-01 -3.36096771e-01 -1.34927387e-01 7.42612100e+01] [ 3.31898111e-01 9.41815314e-01 -5.31747917e-02 1.65073849e+01] [ 1.44948556e-01 4.78273877e-03 9.89427633e-01 1.12387139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:16.53, Z:11.25 [[ 9.31971502e-01 -3.36492554e-01 -1.34914345e-01 7.43154240e+01] [ 3.32293232e-01 9.41674111e-01 -5.32078632e-02 1.65275341e+01] [ 1.44949395e-01 4.75708860e-03 9.89427634e-01 1.12470920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:16.55, Z:11.26 [[ 9.31307407e-01 -3.38332299e-01 -1.34899110e-01 7.43691126e+01] [ 3.34146560e-01 9.41015882e-01 -5.32464612e-02 1.65466209e+01] [ 1.44957202e-01 4.51275024e-03 9.89427635e-01 1.12566657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:16.57, Z:11.26 [[ 9.30466631e-01 -3.40643760e-01 -1.34883940e-01 7.44231155e+01] [ 3.36476580e-01 9.40183086e-01 -5.32848610e-02 1.65666857e+01] [ 1.44966755e-01 4.19449829e-03 9.89427636e-01 1.12648591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:16.59, Z:11.27 [[ 9.30551921e-01 -3.40416720e-01 -1.34868745e-01 7.44777209e+01] [ 3.36241604e-01 9.40264968e-01 -5.33232945e-02 1.65867406e+01] [ 1.44964497e-01 4.27161099e-03 9.89427637e-01 1.12719446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:16.61, Z:11.28 [[ 9.30974818e-01 -3.39264475e-01 -1.34853640e-01 7.45316298e+01] [ 3.35071815e-01 9.40680303e-01 -5.33614666e-02 1.66074109e+01] [ 1.44957813e-01 4.49252772e-03 9.89427637e-01 1.12808889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:16.63, Z:11.29 [[ 9.31625873e-01 -3.37478689e-01 -1.34838303e-01 7.45855295e+01] [ 3.33261827e-01 9.41320867e-01 -5.34001947e-02 1.66291459e+01] [ 1.44947536e-01 4.81254387e-03 9.89427638e-01 1.12886669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.64, Y:16.65, Z:11.30 [[ 9.31722084e-01 -3.37219045e-01 -1.34823123e-01 7.46393665e+01] [ 3.32993946e-01 9.41413490e-01 -5.34384931e-02 1.66503026e+01] [ 1.44944784e-01 4.89454036e-03 9.89427639e-01 1.12966026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.69, Y:16.67, Z:11.31 [[ 9.31295155e-01 -3.38398197e-01 -1.34818378e-01 7.46937848e+01] [ 3.34183639e-01 9.40991149e-01 -5.34504629e-02 1.66699548e+01] [ 1.44950440e-01 4.72406110e-03 9.89427639e-01 1.13061878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.75, Y:16.69, Z:11.32 [[ 9.30351276e-01 -3.40990625e-01 -1.34803176e-01 7.47477283e+01] [ 3.36797541e-01 9.40056577e-01 -5.34887745e-02 1.66893620e+01] [ 1.44961783e-01 4.36197141e-03 9.89427640e-01 1.13151030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:16.71, Z:11.32 [[ 9.29612889e-01 -3.43004458e-01 -1.34788052e-01 7.48008589e+01] [ 3.38826884e-01 9.39324874e-01 -5.35268585e-02 1.67090057e+01] [ 1.44969721e-01 4.08944185e-03 9.89427641e-01 1.13216594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:16.73, Z:11.33 [[ 9.27837560e-01 -3.47782121e-01 -1.34777813e-01 7.48549426e+01] [ 3.43650822e-01 9.37569319e-01 -5.35526288e-02 1.67278494e+01] [ 1.44988189e-01 3.37163422e-03 9.89427641e-01 1.13300871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:16.75, Z:11.34 [[ 9.26334767e-01 -3.51771241e-01 -1.34762357e-01 7.49085919e+01] [ 3.47676203e-01 9.36081839e-01 -5.35914932e-02 1.67482032e+01] [ 1.45000542e-01 2.78999868e-03 9.89427642e-01 1.13403974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.96, Y:16.77, Z:11.35 [[ 9.24496458e-01 -3.56576324e-01 -1.34757653e-01 7.49617294e+01] [ 3.52530227e-01 9.34263947e-01 -5.36033197e-02 1.67681972e+01] [ 1.45012892e-01 2.04993306e-03 9.89427642e-01 1.13506486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:16.79, Z:11.36 [[ 9.22971848e-01 -3.60505996e-01 -1.34753089e-01 7.50153560e+01] [ 3.56499813e-01 9.32755776e-01 -5.36147899e-02 1.67889892e+01] [ 1.45020176e-01 1.44549044e-03 9.89427642e-01 1.13595767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:16.81, Z:11.37 [[ 9.21116254e-01 -3.65226640e-01 -1.34738071e-01 7.50678567e+01] [ 3.61265084e-01 9.30918336e-01 -5.36525073e-02 1.68095843e+01] [ 1.45025465e-01 7.44036216e-04 9.89427643e-01 1.13667226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:16.83, Z:11.37 [[ 9.20143573e-01 -3.67672669e-01 -1.34731636e-01 7.51228682e+01] [ 3.63734804e-01 9.29955196e-01 -5.36686611e-02 1.68315106e+01] [ 1.45026885e-01 3.76288395e-04 9.89427643e-01 1.13721158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:16.85, Z:11.38 [[ 9.19891630e-01 -3.68307148e-01 -1.34719090e-01 7.51755558e+01] [ 3.64371441e-01 9.29704119e-01 -5.37001365e-02 1.68537932e+01] [ 1.45027037e-01 3.10517231e-04 9.89427644e-01 1.13797476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:16.88, Z:11.39 [[ 9.20403256e-01 -3.67032011e-01 -1.34704673e-01 7.52293388e+01] [ 3.63077420e-01 9.30208149e-01 -5.37362761e-02 1.68758485e+01] [ 1.45026318e-01 5.50818316e-04 9.89427645e-01 1.13907851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:16.90, Z:11.40 [[ 9.21095177e-01 -3.65296905e-01 -1.34691668e-01 7.52818040e+01] [ 3.61319081e-01 9.30890666e-01 -5.37688546e-02 1.68979955e+01] [ 1.45024813e-01 8.59563059e-04 9.89427645e-01 1.14003412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.33, Y:16.92, Z:11.41 [[ 9.22653788e-01 -3.61347686e-01 -1.34676787e-01 7.53347947e+01] [ 3.57322499e-01 9.32429909e-01 -5.38061025e-02 1.69214269e+01] [ 1.45019375e-01 1.52135833e-03 9.89427646e-01 1.14070661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.39, Y:16.94, Z:11.42 [[ 9.23470299e-01 -3.59261467e-01 -1.34661817e-01 7.53876902e+01] [ 3.55208736e-01 9.33235033e-01 -5.38435420e-02 1.69439287e+01] [ 1.45015035e-01 1.88985802e-03 9.89427647e-01 1.14153546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:16.97, Z:11.42 [[ 9.23904169e-01 -3.58149895e-01 -1.34646721e-01 7.54408055e+01] [ 3.54079919e-01 9.33661727e-01 -5.38812654e-02 1.69668154e+01] [ 1.45012060e-01 2.10542556e-03 9.89427648e-01 1.14206329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:16.99, Z:11.43 [[ 9.24374543e-01 -3.56935877e-01 -1.34642062e-01 7.54943572e+01] [ 3.52851392e-01 9.34126035e-01 -5.38929059e-02 1.69887383e+01] [ 1.45008967e-01 2.30859132e-03 9.89427648e-01 1.14290788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:17.01, Z:11.44 [[ 9.25161086e-01 -3.54897940e-01 -1.34626958e-01 7.55463239e+01] [ 3.50786490e-01 9.34901240e-01 -5.39306105e-02 1.70105953e+01] [ 1.45002772e-01 2.66918425e-03 9.89427648e-01 1.14374932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.60, Y:17.03, Z:11.45 [[ 9.25711739e-01 -3.53463006e-01 -1.34616787e-01 7.55994159e+01] [ 3.49332770e-01 9.35443941e-01 -5.39559863e-02 1.70328462e+01] [ 1.44997903e-01 2.92163482e-03 9.89427649e-01 1.14467562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:17.06, Z:11.45 [[ 9.27754826e-01 -3.48070956e-01 -1.34601605e-01 7.56523686e+01] [ 3.43878678e-01 9.37460463e-01 -5.39938340e-02 1.70563433e+01] [ 1.44977368e-01 3.80641809e-03 9.89427650e-01 1.14547595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.71, Y:17.08, Z:11.46 [[ 9.28952091e-01 -3.44868883e-01 -1.34586277e-01 7.57055867e+01] [ 3.40637627e-01 9.38640798e-01 -5.40320139e-02 1.70792895e+01] [ 1.44962131e-01 4.34800222e-03 9.89427650e-01 1.14612494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:17.10, Z:11.47 [[ 9.28124437e-01 -3.47096183e-01 -1.34570684e-01 7.57584730e+01] [ 3.42882557e-01 9.37820824e-01 -5.40708231e-02 1.71001534e+01] [ 1.44970966e-01 4.04251210e-03 9.89427651e-01 1.14697782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:17.12, Z:11.48 [[ 9.25607389e-01 -3.53756265e-01 -1.34563982e-01 7.58111402e+01] [ 3.49609999e-01 9.35332770e-01 -5.40874965e-02 1.71198861e+01] [ 1.44995893e-01 3.01887284e-03 9.89427651e-01 1.14795219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:17.14, Z:11.49 [[ 9.24810422e-01 -3.55836986e-01 -1.34557509e-01 7.58645346e+01] [ 3.51710260e-01 9.34544110e-01 -5.41035942e-02 1.71418669e+01] [ 1.45001988e-01 2.71031121e-03 9.89427652e-01 1.14859443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:17.16, Z:11.49 [[ 9.24540903e-01 -3.56542336e-01 -1.34542493e-01 7.59182238e+01] [ 3.52417608e-01 9.34275437e-01 -5.41409115e-02 1.71627982e+01] [ 1.45003273e-01 2.64034374e-03 9.89427652e-01 1.14945444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:17.18, Z:11.50 [[ 9.24815390e-01 -3.55835450e-01 -1.34527423e-01 7.59713281e+01] [ 3.51697840e-01 9.34544455e-01 -5.41783316e-02 1.71832433e+01] [ 1.45000428e-01 2.79195090e-03 9.89427653e-01 1.15048405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.02, Y:17.21, Z:11.51 [[ 9.25131539e-01 -3.55018387e-01 -1.34512378e-01 7.60244971e+01] [ 3.50866760e-01 9.34854630e-01 -5.42156584e-02 1.72053295e+01] [ 1.44997075e-01 2.96069321e-03 9.89427654e-01 1.15121824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:76.08, Y:17.23, Z:11.52 [[ 9.24360193e-01 -3.57027706e-01 -1.34497025e-01 7.60779128e+01] [ 3.52891680e-01 9.34089929e-01 -5.42537202e-02 1.72264718e+01] [ 1.45002398e-01 2.68709843e-03 9.89427655e-01 1.15189377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.13, Y:17.25, Z:11.53 [[ 9.23275425e-01 -3.59829306e-01 -1.34481823e-01 7.61315277e+01] [ 3.55717321e-01 9.33015345e-01 -5.42913751e-02 1.72467970e+01] [ 1.45009232e-01 2.28837847e-03 9.89427656e-01 1.15287646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.18, Y:17.27, Z:11.54 [[ 9.20816025e-01 -3.66082762e-01 -1.34466571e-01 7.61835248e+01] [ 3.62031416e-01 9.30581323e-01 -5.43291255e-02 1.72671594e+01] [ 1.45021036e-01 1.34600632e-03 9.89427657e-01 1.15383686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.24, Y:17.29, Z:11.55 [[ 9.17462866e-01 -3.74409383e-01 -1.34460041e-01 7.62374408e+01] [ 3.70444300e-01 9.27263507e-01 -5.43452822e-02 1.72878721e+01] [ 1.45027273e-01 4.98227204e-05 9.89427657e-01 1.15479035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:17.31, Z:11.56 [[ 9.15224195e-01 -3.79854220e-01 -1.34444950e-01 7.62902442e+01] [ 3.75941960e-01 9.25046040e-01 -5.43825903e-02 1.73098356e+01] [ 1.45025225e-01 -7.71235578e-04 9.89427657e-01 1.15558102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:17.33, Z:11.57 [[ 9.13279164e-01 -3.84512334e-01 -1.34430032e-01 7.63419747e+01] [ 3.80644743e-01 9.23118684e-01 -5.44194417e-02 1.73304551e+01] [ 1.45019821e-01 -1.46994273e-03 9.89427658e-01 1.15659872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:17.35, Z:11.57 [[ 9.13278432e-01 -3.84516316e-01 -1.34423618e-01 7.63953035e+01] [ 3.80646436e-01 9.23117052e-01 -5.44352794e-02 1.73529013e+01] [ 1.45019987e-01 -1.45330478e-03 9.89427658e-01 1.15721469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:17.38, Z:11.58 [[ 9.15466575e-01 -3.79282520e-01 -1.34408779e-01 7.64479859e+01] [ 3.75351013e-01 9.25280730e-01 -5.44718965e-02 1.73777998e+01] [ 1.45026091e-01 -5.83270634e-04 9.89427659e-01 1.15765393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.50, Y:17.40, Z:11.58 [[ 9.18284479e-01 -3.72413589e-01 -1.34393955e-01 7.64994568e+01] [ 3.68403319e-01 9.28066713e-01 -5.45084454e-02 1.74007462e+01] [ 1.45026242e-01 5.43080226e-04 9.89427660e-01 1.15829582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.55, Y:17.43, Z:11.59 [[ 9.22590142e-01 -3.61617762e-01 -1.34387591e-01 7.65516051e+01] [ 3.57490752e-01 9.32323700e-01 -5.45241315e-02 1.74256753e+01] [ 1.45009630e-01 2.26110529e-03 9.89427660e-01 1.15929620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:17.45, Z:11.60 [[ 9.25715121e-01 -3.53547112e-01 -1.34372445e-01 7.66030563e+01] [ 3.49329846e-01 9.35409915e-01 -5.45614325e-02 1.74509871e+01] [ 1.44983354e-01 3.56803749e-03 9.89427661e-01 1.15987751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:17.47, Z:11.61 [[ 9.26360232e-01 -3.51855846e-01 -1.34365856e-01 7.66548750e+01] [ 3.47618530e-01 9.36046279e-01 -5.45776540e-02 1.74725590e+01] [ 1.44976126e-01 3.85050674e-03 9.89427661e-01 1.16072782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:17.49, Z:11.62 [[ 9.25741926e-01 -3.53483300e-01 -1.34355660e-01 7.67069855e+01] [ 3.49259374e-01 9.35433819e-01 -5.46027441e-02 1.74934095e+01] [ 1.44981986e-01 3.62307589e-03 9.89427661e-01 1.16161557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:17.51, Z:11.63 [[ 9.24556452e-01 -3.56574864e-01 -1.34349292e-01 7.67604115e+01] [ 3.52381075e-01 9.34261424e-01 -5.46184059e-02 1.75133665e+01] [ 1.44992912e-01 3.15565162e-03 9.89427662e-01 1.16256965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.81, Y:17.53, Z:11.63 [[ 9.21936856e-01 -3.63299860e-01 -1.34334077e-01 7.68148815e+01] [ 3.59171425e-01 9.31669808e-01 -5.46558034e-02 1.75328865e+01] [ 1.45011449e-01 2.14023781e-03 9.89427662e-01 1.16312396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:17.56, Z:11.63 [[ 9.18865907e-01 -3.71003912e-01 -1.34318807e-01 7.68685310e+01] [ 3.66951605e-01 9.28630800e-01 -5.46933043e-02 1.75576388e+01] [ 1.45024011e-01 9.67310829e-04 9.89427663e-01 1.16309862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:76.92, Y:17.57, Z:11.64 [[ 9.16906705e-01 -3.75825899e-01 -1.34301850e-01 7.69231659e+01] [ 3.71818852e-01 9.26690256e-01 -5.47349110e-02 1.75723646e+01] [ 1.45027013e-01 2.50847105e-04 9.89427664e-01 1.16445902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.98, Y:17.59, Z:11.65 [[ 9.15300612e-01 -3.79722685e-01 -1.34296210e-01 7.69768117e+01] [ 3.75755260e-01 9.25100297e-01 -5.47487474e-02 1.75920422e+01] [ 1.45026805e-01 -3.50945034e-04 9.89427664e-01 1.16544458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.03, Y:17.61, Z:11.67 [[ 9.14459341e-01 -3.81749421e-01 -1.34281399e-01 7.70310834e+01] [ 3.77798384e-01 9.24265643e-01 -5.47850495e-02 1.76130551e+01] [ 1.45025844e-01 -6.32595186e-04 9.89427665e-01 1.16671086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.08, Y:17.64, Z:11.68 [[ 9.14426024e-01 -3.81834006e-01 -1.34267784e-01 7.70838362e+01] [ 3.77878980e-01 9.24230718e-01 -5.48183966e-02 1.76351103e+01] [ 1.45025939e-01 -6.09604834e-04 9.89427666e-01 1.16777618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:17.66, Z:11.69 [[ 9.14837913e-01 -3.80848633e-01 -1.34260613e-01 7.71373115e+01] [ 3.76880469e-01 9.24637297e-01 -5.48359556e-02 1.76573805e+01] [ 1.45026569e-01 -4.34191337e-04 9.89427666e-01 1.16866166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:17.68, Z:11.69 [[ 9.16282883e-01 -3.77364299e-01 -1.34245535e-01 7.71906534e+01] [ 3.73353466e-01 9.26064879e-01 -5.48728433e-02 1.76809817e+01] [ 1.45027127e-01 1.58011332e-04 9.89427667e-01 1.16919232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:17.70, Z:11.70 [[ 9.17555314e-01 -3.74265184e-01 -1.34230467e-01 7.72440397e+01] [ 3.70215922e-01 9.27321464e-01 -5.49096789e-02 1.77036092e+01] [ 1.45025574e-01 6.88411809e-04 9.89427667e-01 1.16982766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:17.73, Z:11.71 [[ 9.18627012e-01 -3.71632414e-01 -1.34215358e-01 7.72975757e+01] [ 3.67549770e-01 9.28379254e-01 -5.49465846e-02 1.77251276e+01] [ 1.45022686e-01 1.14459289e-03 9.89427668e-01 1.17064128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:17.75, Z:11.72 [[ 9.19543356e-01 -3.69364681e-01 -1.34200409e-01 7.73500286e+01] [ 3.65252663e-01 9.29283247e-01 -5.49830722e-02 1.77464733e+01] [ 1.45018997e-01 1.54226213e-03 9.89427669e-01 1.17157687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:17.77, Z:11.73 [[ 9.20889824e-01 -3.65996810e-01 -1.34194883e-01 7.74031559e+01] [ 3.61847208e-01 9.30613763e-01 -5.49965545e-02 1.77685492e+01] [ 1.45012169e-01 2.08772355e-03 9.89427669e-01 1.17265538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:17.79, Z:11.73 [[ 9.21779200e-01 -3.63755974e-01 -1.34181585e-01 7.74560374e+01] [ 3.59578016e-01 9.31490988e-01 -5.50289814e-02 1.77905353e+01] [ 1.45006058e-01 2.47582233e-03 9.89427670e-01 1.17346904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.51, Y:17.81, Z:11.74 [[ 9.23270716e-01 -3.59959147e-01 -1.34166304e-01 7.75084372e+01] [ 3.55735846e-01 9.32962872e-01 -5.50662122e-02 1.78146813e+01] [ 1.44993767e-01 3.11325741e-03 9.89427670e-01 1.17407278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:17.84, Z:11.75 [[ 9.24195495e-01 -3.57583869e-01 -1.34150900e-01 7.75607990e+01] [ 3.53330219e-01 9.33874369e-01 -5.51037156e-02 1.78376143e+01] [ 1.44984286e-01 3.52703905e-03 9.89427671e-01 1.17475888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.61, Y:17.86, Z:11.76 [[ 9.24050507e-01 -3.57960144e-01 -1.34146172e-01 7.76138787e+01] [ 3.53708766e-01 9.33730379e-01 -5.51152230e-02 1.78589489e+01] [ 1.44985409e-01 3.48057291e-03 9.89427671e-01 1.17564564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.67, Y:17.88, Z:11.77 [[ 9.23435086e-01 -3.59550592e-01 -1.34130585e-01 7.76663242e+01] [ 3.55310384e-01 9.33119855e-01 -5.51531305e-02 1.78806936e+01] [ 1.44990252e-01 3.27234634e-03 9.89427672e-01 1.17663900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:17.90, Z:11.78 [[ 9.22864712e-01 -3.61013844e-01 -1.34125790e-01 7.77188094e+01] [ 3.56787298e-01 9.32555451e-01 -5.51647885e-02 1.79023772e+01] [ 1.44994989e-01 3.05525851e-03 9.89427672e-01 1.17767059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.77, Y:17.92, Z:11.79 [[ 9.22712744e-01 -3.61407918e-01 -1.34110063e-01 7.77709079e+01] [ 3.57179961e-01 9.32402866e-01 -5.52029963e-02 1.79242574e+01] [ 1.44995407e-01 3.03508127e-03 9.89427673e-01 1.17851038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.83, Y:17.95, Z:11.79 [[ 9.21943177e-01 -3.63369070e-01 -1.34103308e-01 7.78251939e+01] [ 3.59159341e-01 9.31641232e-01 -5.52193999e-02 1.79461536e+01] [ 1.45001193e-01 2.74469332e-03 9.89427673e-01 1.17914567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:17.97, Z:11.80 [[ 9.21123748e-01 -3.65446153e-01 -1.34090082e-01 7.78784467e+01] [ 3.61253622e-01 9.30829250e-01 -5.52514976e-02 1.79674623e+01] [ 1.45006418e-01 2.45293864e-03 9.89427674e-01 1.18009595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.93, Y:17.99, Z:11.81 [[ 9.20051596e-01 -3.68142706e-01 -1.34074639e-01 7.79316158e+01] [ 3.63973166e-01 9.29766996e-01 -5.52889485e-02 1.79889936e+01] [ 1.45012397e-01 2.06911450e-03 9.89427675e-01 1.18105248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:18.01, Z:11.82 [[ 9.19824571e-01 -3.68712181e-01 -1.34067469e-01 7.79844158e+01] [ 3.64546123e-01 9.29541464e-01 -5.53063292e-02 1.80115101e+01] [ 1.45013389e-01 1.99834455e-03 9.89427675e-01 1.18180079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:18.03, Z:11.82 [[ 9.19254406e-01 -3.70136930e-01 -1.34052191e-01 7.80374604e+01] [ 3.65980537e-01 9.28975437e-01 -5.53433342e-02 1.80348064e+01] [ 1.45015805e-01 1.81411086e-03 9.89427676e-01 1.18249018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:18.06, Z:11.83 [[ 9.18440744e-01 -3.72156862e-01 -1.34036824e-01 7.80901328e+01] [ 3.68016421e-01 9.28168579e-01 -5.53805291e-02 1.80566597e+01] [ 1.45019012e-01 1.53598218e-03 9.89427676e-01 1.18338865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:18.08, Z:11.84 [[ 9.16736860e-01 -3.76340010e-01 -1.34021368e-01 7.81428937e+01] [ 3.72238495e-01 9.26481170e-01 -5.54179066e-02 1.80786518e+01] [ 1.45024249e-01 9.15725377e-04 9.89427677e-01 1.18430085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:18.10, Z:11.85 [[ 9.14394363e-01 -3.81998030e-01 -1.34016617e-01 7.81962157e+01] [ 3.77955127e-01 9.24163137e-01 -5.54293937e-02 1.81000113e+01] [ 1.45027136e-01 3.20576696e-05 9.89427677e-01 1.18527844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.25, Y:18.12, Z:11.86 [[ 9.13014081e-01 -3.85290696e-01 -1.34001373e-01 7.82494551e+01] [ 3.81277617e-01 9.22795143e-01 -5.54662230e-02 1.81218729e+01] [ 1.45026436e-01 -4.50281485e-04 9.89427678e-01 1.18617205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:18.14, Z:11.87 [[ 9.11493228e-01 -3.88880270e-01 -1.33985934e-01 7.83027905e+01] [ 3.84900231e-01 9.21287781e-01 -5.55034925e-02 1.81435450e+01] [ 1.45023817e-01 -9.80159333e-04 9.89427679e-01 1.18712800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:18.17, Z:11.88 [[ 9.10678206e-01 -3.90790348e-01 -1.33970549e-01 7.83552421e+01] [ 3.86825393e-01 9.20478874e-01 -5.55406025e-02 1.81669678e+01] [ 1.45021792e-01 -1.24359412e-03 9.89427680e-01 1.18776103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:18.19, Z:11.88 [[ 9.10686016e-01 -3.90777438e-01 -1.33955121e-01 7.84080355e+01] [ 3.86806874e-01 9.20484411e-01 -5.55777876e-02 1.81907422e+01] [ 1.45022147e-01 -1.20084782e-03 9.89427681e-01 1.18845673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:18.22, Z:11.89 [[ 9.10910016e-01 -3.90256632e-01 -1.33950377e-01 7.84599562e+01] [ 3.86278784e-01 9.20705457e-01 -5.55892200e-02 1.82151513e+01] [ 1.45022905e-01 -1.10541146e-03 9.89427681e-01 1.18937550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.51, Y:18.24, Z:11.90 [[ 9.11095386e-01 -3.89828980e-01 -1.33934924e-01 7.85130335e+01] [ 3.85841065e-01 9.20886732e-01 -5.56264264e-02 1.82395161e+01] [ 1.45023688e-01 -9.96613478e-04 9.89427681e-01 1.19033188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:18.27, Z:11.91 [[ 9.13175178e-01 -3.84936567e-01 -1.33921373e-01 7.85639684e+01] [ 3.80891410e-01 9.22943013e-01 -5.56590316e-02 1.82664838e+01] [ 1.45026993e-01 -1.83054750e-04 9.89427682e-01 1.19115070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:18.29, Z:11.92 [[ 9.17040735e-01 -3.75640106e-01 -1.33905942e-01 7.86154948e+01] [ 3.71490513e-01 9.26764662e-01 -5.56961325e-02 1.82935608e+01] [ 1.45020996e-01 1.33083520e-03 9.89427683e-01 1.19185268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.67, Y:18.32, Z:11.93 [[ 9.19646189e-01 -3.69221133e-01 -1.33890410e-01 7.86678668e+01] [ 3.64998243e-01 9.29338510e-01 -5.57334465e-02 1.83182314e+01] [ 1.45007480e-01 2.38528733e-03 9.89427684e-01 1.19277751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.72, Y:18.34, Z:11.93 [[ 9.22525536e-01 -3.61972546e-01 -1.33874982e-01 7.87198294e+01] [ 3.57668143e-01 9.32181931e-01 -5.57704815e-02 1.83442371e+01] [ 1.44983222e-01 3.56687737e-03 9.89427684e-01 1.19335508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:18.37, Z:11.94 [[ 9.23224466e-01 -3.60191921e-01 -1.33859503e-01 7.87720874e+01] [ 3.55863515e-01 9.32870125e-01 -5.58076093e-02 1.83671983e+01] [ 1.44974981e-01 3.88723718e-03 9.89427685e-01 1.19417304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:18.39, Z:11.95 [[ 9.23474137e-01 -3.59557197e-01 -1.33843716e-01 7.88254688e+01] [ 3.55216683e-01 9.33114352e-01 -5.58454450e-02 1.83877041e+01] [ 1.44971124e-01 4.02830328e-03 9.89427686e-01 1.19528238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:18.41, Z:11.96 [[ 9.22640965e-01 -3.61695694e-01 -1.33827778e-01 7.88793139e+01] [ 3.57371993e-01 9.32288732e-01 -5.58836144e-02 1.84068540e+01] [ 1.44978992e-01 3.73421236e-03 9.89427687e-01 1.19611724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:18.43, Z:11.97 [[ 9.22092858e-01 -3.63096608e-01 -1.33811863e-01 7.89339828e+01] [ 3.58782042e-01 9.31744713e-01 -5.59216953e-02 1.84268915e+01] [ 1.44983474e-01 3.55570235e-03 9.89427688e-01 1.19677460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.99, Y:18.45, Z:11.97 [[ 9.22001858e-01 -3.63333426e-01 -1.33796094e-01 7.89880095e+01] [ 3.59015872e-01 9.31652376e-01 -5.59593984e-02 1.84473872e+01] [ 1.44983369e-01 3.55974792e-03 9.89427689e-01 1.19720860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:18.47, Z:11.98 [[ 9.22140881e-01 -3.62982227e-01 -1.33791251e-01 7.90418123e+01] [ 3.58659319e-01 9.31789001e-01 -5.59709758e-02 1.84670837e+01] [ 1.44981686e-01 3.62764604e-03 9.89427689e-01 1.19804425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:18.49, Z:11.99 [[ 9.22526346e-01 -3.62007242e-01 -1.33775548e-01 7.90958688e+01] [ 3.57668703e-01 9.32167447e-01 -5.60084825e-02 1.84855853e+01] [ 1.44976687e-01 3.82197408e-03 9.89427689e-01 1.19902608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:18.51, Z:12.00 [[ 9.22718533e-01 -3.61522882e-01 -1.33759917e-01 7.91494254e+01] [ 3.57173878e-01 9.32354917e-01 -5.60457872e-02 1.85064772e+01] [ 1.44973551e-01 3.93893817e-03 9.89427690e-01 1.19991493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.20, Y:18.53, Z:12.01 [[ 9.22440868e-01 -3.62236480e-01 -1.33744451e-01 7.92027679e+01] [ 3.57889587e-01 9.32078203e-01 -5.60826720e-02 1.85263925e+01] [ 1.44975477e-01 3.86720237e-03 9.89427691e-01 1.20083829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.26, Y:18.55, Z:12.02 [[ 9.21435187e-01 -3.64788838e-01 -1.33739672e-01 7.92566960e+01] [ 3.60466990e-01 9.31083780e-01 -5.60940661e-02 1.85467414e+01] [ 1.44985328e-01 3.47830938e-03 9.89427691e-01 1.20167002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:18.57, Z:12.02 [[ 9.20636477e-01 -3.66805658e-01 -1.33723917e-01 7.93102374e+01] [ 3.62499499e-01 9.30292082e-01 -5.61315989e-02 1.85675952e+01] [ 1.44991689e-01 3.20194455e-03 9.89427692e-01 1.20243291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:18.59, Z:12.03 [[ 9.19241976e-01 -3.70292193e-01 -1.33708194e-01 7.93646350e+01] [ 3.66017217e-01 9.28911426e-01 -5.61690280e-02 1.85885589e+01] [ 1.45002021e-01 2.69342741e-03 9.89427693e-01 1.20305658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:18.61, Z:12.04 [[ 9.17940191e-01 -3.73513151e-01 -1.33692678e-01 7.94185643e+01] [ 3.69266732e-01 9.27622215e-01 -5.62059338e-02 1.86078529e+01] [ 1.45009954e-01 2.22542722e-03 9.89427694e-01 1.20383047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:18.63, Z:12.05 [[ 9.17146361e-01 -3.75463755e-01 -1.33676926e-01 7.94720700e+01] [ 3.71232473e-01 9.26835009e-01 -5.62433724e-02 1.86281582e+01] [ 1.45013803e-01 1.95818830e-03 9.89427694e-01 1.20461069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.53, Y:18.65, Z:12.05 [[ 9.16821488e-01 -3.76261930e-01 -1.33661213e-01 7.95257756e+01] [ 3.72033643e-01 9.26511442e-01 -5.62806897e-02 1.86486416e+01] [ 1.45014924e-01 1.87287744e-03 9.89427695e-01 1.20541516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:18.67, Z:12.06 [[ 9.16748428e-01 -3.76445503e-01 -1.33645441e-01 7.95783956e+01] [ 3.72213701e-01 9.26436846e-01 -5.63181194e-02 1.86681666e+01] [ 1.45014763e-01 1.88488334e-03 9.89427696e-01 1.20627080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.63, Y:18.69, Z:12.07 [[ 9.17058282e-01 -3.75693828e-01 -1.33634782e-01 7.96313451e+01] [ 3.71450402e-01 9.26741615e-01 -5.63433994e-02 1.86900482e+01] [ 1.45012781e-01 2.03148754e-03 9.89427696e-01 1.20697901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:18.71, Z:12.08 [[ 9.18135159e-01 -3.73059979e-01 -1.33619169e-01 7.96838599e+01] [ 3.68783391e-01 9.27803891e-01 -5.63804031e-02 1.87108910e+01] [ 1.45005657e-01 2.48830030e-03 9.89427697e-01 1.20766594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:18.73, Z:12.08 [[ 9.18808143e-01 -3.71401817e-01 -1.33612450e-01 7.97374401e+01] [ 3.67105467e-01 9.28468110e-01 -5.63963198e-02 1.87323792e+01] [ 1.45000595e-01 2.76753681e-03 9.89427697e-01 1.20842663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:18.75, Z:12.09 [[ 9.18274009e-01 -3.72725949e-01 -1.33597198e-01 7.97910060e+01] [ 3.68438278e-01 9.27937830e-01 -5.64324284e-02 1.87534023e+01] [ 1.45003724e-01 2.59811081e-03 9.89427698e-01 1.20923970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:18.77, Z:12.10 [[ 9.15525961e-01 -3.79431185e-01 -1.33582151e-01 7.98448959e+01] [ 3.75209105e-01 9.25218617e-01 -5.64680247e-02 1.87743172e+01] [ 1.45018422e-01 1.57670343e-03 9.89427699e-01 1.21019704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:18.80, Z:12.11 [[ 9.13190552e-01 -3.85023456e-01 -1.33566291e-01 7.98981524e+01] [ 3.80855252e-01 9.22906498e-01 -5.65055133e-02 1.87961069e+01] [ 1.45025146e-01 7.30877395e-04 9.89427700e-01 1.21077757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:18.82, Z:12.11 [[ 9.11810346e-01 -3.88286127e-01 -1.33550653e-01 7.99514723e+01] [ 3.84147279e-01 9.21538832e-01 -5.65424498e-02 1.88193795e+01] [ 1.45026762e-01 2.52870664e-04 9.89427700e-01 1.21149561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:18.84, Z:12.12 [[ 9.08096057e-01 -3.96900397e-01 -1.33535110e-01 8.00039928e+01] [ 3.92848435e-01 9.17861051e-01 -5.65791335e-02 1.88421877e+01] [ 1.45022957e-01 -1.07977109e-03 9.89427701e-01 1.21245150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.06, Y:18.87, Z:12.13 [[ 9.04952145e-01 -4.04022558e-01 -1.33519241e-01 8.00561324e+01] [ 4.00041918e-01 9.14746429e-01 -5.66165592e-02 1.88664631e+01] [ 1.45010616e-01 -2.17801654e-03 9.89427702e-01 1.21335993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:18.89, Z:12.14 [[ 9.03360349e-01 -4.07574404e-01 -1.33503503e-01 8.01072491e+01] [ 4.03626792e-01 9.13167990e-01 -5.66536458e-02 1.88943082e+01] [ 1.45001701e-01 -2.70693337e-03 9.89427703e-01 1.21406890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.16, Y:18.92, Z:12.15 [[ 9.05437317e-01 -4.02944468e-01 -1.33487905e-01 8.01580026e+01] [ 3.98941285e-01 9.15222406e-01 -5.66903729e-02 1.89224303e+01] [ 1.45014194e-01 -1.92425737e-03 9.89427704e-01 1.21506398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:18.95, Z:12.16 [[ 9.07882506e-01 -3.97409751e-01 -1.33472261e-01 8.02078044e+01] [ 3.93341498e-01 9.17640721e-01 -5.67271826e-02 1.89486126e+01] [ 1.45023517e-01 -9.98562313e-04 9.89427704e-01 1.21607358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:18.98, Z:12.17 [[ 9.11789612e-01 -3.88364085e-01 -1.33465508e-01 8.02579479e+01] [ 3.84196693e-01 9.21505901e-01 -5.67430676e-02 1.89777926e+01] [ 1.45026222e-01 4.60732906e-04 9.89427705e-01 1.21702716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:19.00, Z:12.18 [[ 9.13437804e-01 -3.84476913e-01 -1.33449919e-01 8.03090579e+01] [ 3.80262821e-01 9.23133929e-01 -5.67797065e-02 1.90040346e+01] [ 1.45022634e-01 1.11868783e-03 9.89427705e-01 1.21770746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.36, Y:19.03, Z:12.18 [[ 9.14109560e-01 -3.82882506e-01 -1.33434246e-01 8.03607243e+01] [ 3.78646129e-01 9.23795969e-01 -5.68165146e-02 1.90303261e+01] [ 1.45020068e-01 1.41215841e-03 9.89427706e-01 1.21821732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:80.41, Y:19.05, Z:12.19 [[ 9.13933819e-01 -3.83307273e-01 -1.33418546e-01 8.04127420e+01] [ 3.79070020e-01 9.23619844e-01 -5.68533575e-02 1.90539462e+01] [ 1.45020322e-01 1.38523510e-03 9.89427707e-01 1.21903505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.47, Y:19.08, Z:12.20 [[ 9.14086262e-01 -3.82949167e-01 -1.33402550e-01 8.04656724e+01] [ 3.78702646e-01 9.23768226e-01 -5.68908681e-02 1.90778654e+01] [ 1.45019347e-01 1.48326253e-03 9.89427708e-01 1.21982507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:19.10, Z:12.20 [[ 9.15370783e-01 -3.79874042e-01 -1.33386814e-01 8.05173032e+01] [ 3.75589624e-01 9.25036036e-01 -5.69277375e-02 1.91006320e+01] [ 1.45012980e-01 2.01128429e-03 9.89427709e-01 1.22047485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:19.12, Z:12.21 [[ 9.17232238e-01 -3.75359545e-01 -1.33380031e-01 8.05704882e+01] [ 3.71025250e-01 9.26875227e-01 -5.69436265e-02 1.91224431e+01] [ 1.45000980e-01 2.74317061e-03 9.89427709e-01 1.22145113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:19.14, Z:12.22 [[ 9.17797507e-01 -3.73980942e-01 -1.33364130e-01 8.06231133e+01] [ 3.69626758e-01 9.27431530e-01 -5.69808428e-02 1.91444492e+01] [ 1.44995849e-01 3.00192453e-03 9.89427710e-01 1.22230818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:19.17, Z:12.23 [[ 9.19420490e-01 -3.69978727e-01 -1.33348059e-01 8.06754714e+01] [ 3.65577163e-01 9.29032958e-01 -5.70184288e-02 1.91650187e+01] [ 1.44980347e-01 3.67490673e-03 9.89427710e-01 1.22310651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:19.19, Z:12.24 [[ 9.20711438e-01 -3.66756856e-01 -1.33341125e-01 8.07293061e+01] [ 3.62319313e-01 9.30307350e-01 -5.70346403e-02 1.91859415e+01] [ 1.44966074e-01 4.20038111e-03 9.89427710e-01 1.22390200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.78, Y:19.21, Z:12.24 [[ 9.21482117e-01 -3.64821966e-01 -1.33325323e-01 8.07830637e+01] [ 3.60358940e-01 9.31066202e-01 -5.70715539e-02 1.92118434e+01] [ 1.44955659e-01 4.54544410e-03 9.89427711e-01 1.22377055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:19.23, Z:12.24 [[ 9.22250478e-01 -3.62880239e-01 -1.33311623e-01 8.08370070e+01] [ 3.58392419e-01 9.31822977e-01 -5.71035384e-02 1.92328956e+01] [ 1.44944579e-01 4.88589056e-03 9.89427712e-01 1.22432398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:19.25, Z:12.26 [[ 9.22384319e-01 -3.62546227e-01 -1.33294417e-01 8.08918194e+01] [ 3.58049147e-01 9.31952471e-01 -5.71436748e-02 1.92468817e+01] [ 1.44941285e-01 4.98247733e-03 9.89427713e-01 1.22587721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.94, Y:19.27, Z:12.26 [[ 9.18820572e-01 -3.71487940e-01 -1.33287159e-01 8.09443931e+01] [ 3.67081553e-01 9.28430827e-01 -5.71605976e-02 1.92708608e+01] [ 1.44982380e-01 3.59307563e-03 9.89427713e-01 1.22621895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.00, Y:19.29, Z:12.28 [[ 9.18467676e-01 -3.72365572e-01 -1.33270436e-01 8.09996063e+01] [ 3.67962717e-01 9.28079549e-01 -5.71995627e-02 1.92853022e+01] [ 1.44984714e-01 3.49739782e-03 9.89427714e-01 1.22767366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:19.30, Z:12.29 [[ 9.15804040e-01 -3.78871115e-01 -1.33265295e-01 8.10542291e+01] [ 3.74534808e-01 9.25446118e-01 -5.72115381e-02 1.93032709e+01] [ 1.45005649e-01 2.48206626e-03 9.89427714e-01 1.22852785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:19.32, Z:12.29 [[ 9.13876781e-01 -3.83502121e-01 -1.33249209e-01 8.11082908e+01] [ 3.79209220e-01 9.23538262e-01 -5.72489782e-02 1.93234561e+01] [ 1.45015847e-01 1.78918334e-03 9.89427715e-01 1.22939366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:19.35, Z:12.30 [[ 9.10529916e-01 -3.91387554e-01 -1.33233080e-01 8.11614807e+01] [ 3.87172841e-01 9.20225760e-01 -5.72864910e-02 1.93456634e+01] [ 1.45025732e-01 5.76833980e-04 9.89427716e-01 1.23040169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:19.38, Z:12.30 [[ 9.05119361e-01 -4.03747592e-01 -1.33217207e-01 8.12137080e+01] [ 3.99659843e-01 9.14869412e-01 -5.73233792e-02 1.93755021e+01] [ 1.45020524e-01 -1.35706757e-03 9.89427716e-01 1.23033630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:19.39, Z:12.32 [[ 9.05602017e-01 -4.02668630e-01 -1.33202709e-01 8.12670388e+01] [ 3.98564311e-01 9.15345104e-01 -5.73570486e-02 1.93945800e+01] [ 1.45022331e-01 -1.14718695e-03 9.89427717e-01 1.23169538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:19.43, Z:12.31 [[ 9.04394622e-01 -4.05374842e-01 -1.33197613e-01 8.13181921e+01] [ 4.01297935e-01 9.14149211e-01 -5.73688795e-02 1.94251709e+01] [ 1.45018393e-01 -1.56782101e-03 9.89427717e-01 1.23130115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.37, Y:19.45, Z:12.32 [[ 9.06656124e-01 -4.00296582e-01 -1.33181526e-01 8.13680511e+01] [ 3.96159552e-01 9.16385365e-01 -5.74062015e-02 1.94505038e+01] [ 1.45025108e-01 -7.13449641e-04 9.89427718e-01 1.23230869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:19.47, Z:12.34 [[ 9.11233868e-01 -3.89765781e-01 -1.33174599e-01 8.14214091e+01] [ 3.85513964e-01 9.20913496e-01 -5.74222662e-02 1.94709892e+01] [ 1.45023520e-01 9.84445990e-04 9.89427718e-01 1.23418548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.47, Y:19.50, Z:12.35 [[ 9.12672507e-01 -3.86389725e-01 -1.33161088e-01 8.14730780e+01] [ 3.82097534e-01 9.22334300e-01 -5.74535816e-02 1.94961728e+01] [ 1.45018513e-01 1.55578094e-03 9.89427719e-01 1.23501394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.52, Y:19.53, Z:12.35 [[ 9.12751453e-01 -3.86208646e-01 -1.33145288e-01 8.15234415e+01] [ 3.81909201e-01 9.22410018e-01 -5.74901756e-02 1.95277721e+01] [ 1.45017750e-01 1.62483096e-03 9.89427720e-01 1.23518535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.58, Y:19.56, Z:12.36 [[ 9.12607330e-01 -3.86551727e-01 -1.33137611e-01 8.15756109e+01] [ 3.82253321e-01 9.22266358e-01 -5.75079469e-02 1.95564809e+01] [ 1.45018136e-01 1.58987976e-03 9.89427720e-01 1.23562893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.63, Y:19.58, Z:12.36 [[ 9.12910334e-01 -3.85840636e-01 -1.33122970e-01 8.16277507e+01] [ 3.81529767e-01 9.22563806e-01 -5.75418197e-02 1.95809666e+01] [ 1.45016406e-01 1.74014612e-03 9.89427720e-01 1.23638947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:19.60, Z:12.39 [[ 9.16348187e-01 -3.77609166e-01 -1.33106418e-01 8.16810597e+01] [ 3.73206039e-01 9.25959927e-01 -5.75800833e-02 1.95971434e+01] [ 1.44993976e-01 3.08728584e-03 9.89427721e-01 1.23850103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:19.62, Z:12.39 [[ 9.16885018e-01 -3.76305600e-01 -1.33101314e-01 8.17332544e+01] [ 3.71887097e-01 9.26489699e-01 -5.75918787e-02 1.96209397e+01] [ 1.44989143e-01 3.30646938e-03 9.89427721e-01 1.23938177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:19.65, Z:12.39 [[ 9.15394425e-01 -3.79922882e-01 -1.33085126e-01 8.17860731e+01] [ 3.75536903e-01 9.25014001e-01 -5.76292637e-02 1.96501034e+01] [ 1.45000281e-01 2.77513071e-03 9.89427722e-01 1.23910302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.84, Y:19.67, Z:12.40 [[ 9.15925520e-01 -3.78645824e-01 -1.33070587e-01 8.18403672e+01] [ 3.74241561e-01 9.25536738e-01 -5.76628158e-02 1.96719368e+01] [ 1.44995501e-01 3.01430041e-03 9.89427723e-01 1.23987682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:19.69, Z:12.42 [[ 9.19102826e-01 -3.70872055e-01 -1.33056056e-01 8.18944385e+01] [ 3.66381673e-01 9.28674111e-01 -5.76963261e-02 1.96871391e+01] [ 1.44963670e-01 4.27955602e-03 9.89427723e-01 1.24177721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:19.71, Z:12.43 [[ 9.20298006e-01 -3.67898110e-01 -1.33050971e-01 8.19467497e+01] [ 3.63375109e-01 9.29853919e-01 -5.77080495e-02 1.97103249e+01] [ 1.44948649e-01 4.76119171e-03 9.89427724e-01 1.24261779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:19.74, Z:12.43 [[ 9.18861517e-01 -3.71477349e-01 -1.33034176e-01 8.19996955e+01] [ 3.66985979e-01 9.28432337e-01 -5.77467415e-02 1.97382285e+01] [ 1.44964838e-01 4.23958113e-03 9.89427724e-01 1.24282672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:19.76, Z:12.44 [[ 9.17577921e-01 -3.74641942e-01 -1.33019451e-01 8.20533071e+01] [ 3.70178672e-01 9.27161878e-01 -5.77806422e-02 1.97599836e+01] [ 1.44977616e-01 3.77727798e-03 9.89427725e-01 1.24390087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:19.78, Z:12.45 [[ 9.16301482e-01 -3.77758309e-01 -1.33004713e-01 8.21066903e+01] [ 3.73322720e-01 9.25898280e-01 -5.78145470e-02 1.97813929e+01] [ 1.44988760e-01 3.32187389e-03 9.89427726e-01 1.24476482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:19.80, Z:12.46 [[ 9.16160884e-01 -3.78105118e-01 -1.32987798e-01 8.21611859e+01] [ 3.73667520e-01 9.25756753e-01 -5.78534294e-02 1.97968923e+01] [ 1.44989030e-01 3.30982834e-03 9.89427727e-01 1.24620975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:19.83, Z:12.46 [[ 9.13097345e-01 -3.85447242e-01 -1.32979933e-01 8.22142035e+01] [ 3.81084185e-01 9.22727334e-01 -5.78715029e-02 1.98257012e+01] [ 1.45010630e-01 2.16576644e-03 9.89427727e-01 1.24598152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:19.84, Z:12.48 [[ 9.14332878e-01 -3.82512246e-01 -1.32965300e-01 8.22687762e+01] [ 3.78113393e-01 9.23946568e-01 -5.79051048e-02 1.98410747e+01] [ 1.45002244e-01 2.66858049e-03 9.89427728e-01 1.24796891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:19.86, Z:12.49 [[ 9.13990785e-01 -3.83333913e-01 -1.32950952e-01 8.23208686e+01] [ 3.78938915e-01 9.23606238e-01 -5.79380292e-02 1.98636423e+01] [ 1.45003940e-01 2.57453537e-03 9.89427728e-01 1.24889081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.37, Y:19.89, Z:12.50 [[ 9.13729753e-01 -3.83957442e-01 -1.32945931e-01 8.23736454e+01] [ 3.79567331e-01 9.23347438e-01 -5.79495485e-02 1.98875695e+01] [ 1.45005445e-01 2.48829458e-03 9.89427728e-01 1.24969192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.43, Y:19.91, Z:12.51 [[ 9.13344346e-01 -3.84878848e-01 -1.32929973e-01 8.24263463e+01] [ 3.80493117e-01 9.22964028e-01 -5.79861309e-02 1.99112730e+01] [ 1.45007218e-01 2.38236503e-03 9.89427729e-01 1.25081894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:19.93, Z:12.52 [[ 9.12706305e-01 -3.86394371e-01 -1.32915729e-01 8.24792002e+01] [ 3.82019862e-01 9.22331095e-01 -5.80187628e-02 1.99348513e+01] [ 1.45010433e-01 2.17764214e-03 9.89427730e-01 1.25174309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:19.96, Z:12.52 [[ 9.11593249e-01 -3.89018589e-01 -1.32899534e-01 8.25327456e+01] [ 3.84666384e-01 9.21228144e-01 -5.80558364e-02 1.99579067e+01] [ 1.45015590e-01 1.80132545e-03 9.89427730e-01 1.25230093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:19.98, Z:12.53 [[ 9.10715017e-01 -3.91075611e-01 -1.32883498e-01 8.25860489e+01] [ 3.86739817e-01 9.20357307e-01 -5.80925188e-02 1.99804564e+01] [ 1.45018865e-01 1.51438978e-03 9.89427731e-01 1.25309096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:20.00, Z:12.54 [[ 9.11080614e-01 -3.90228625e-01 -1.32867361e-01 8.26389479e+01] [ 3.85878489e-01 9.20716441e-01 -5.81294021e-02 2.00033397e+01] [ 1.45016921e-01 1.68991473e-03 9.89427732e-01 1.25396142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.69, Y:20.03, Z:12.55 [[ 9.12873292e-01 -3.86021824e-01 -1.32851437e-01 8.26908895e+01] [ 3.81621994e-01 9.22486529e-01 -5.81657736e-02 2.00275111e+01] [ 1.45006919e-01 2.39895090e-03 9.89427733e-01 1.25456083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.74, Y:20.05, Z:12.56 [[ 9.14978545e-01 -3.81007334e-01 -1.32844544e-01 8.27438714e+01] [ 3.76552542e-01 9.24566436e-01 -5.81815115e-02 2.00497117e+01] [ 1.44991190e-01 3.21188396e-03 9.89427733e-01 1.25557209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.80, Y:20.07, Z:12.56 [[ 9.15959001e-01 -3.78649791e-01 -1.32828626e-01 8.27963518e+01] [ 3.74165059e-01 9.25532924e-01 -5.82178299e-02 2.00729088e+01] [ 1.44981436e-01 3.62531448e-03 9.89427734e-01 1.25649007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:20.09, Z:12.57 [[ 9.16546961e-01 -3.77230099e-01 -1.32812349e-01 8.28499096e+01] [ 3.72725165e-01 9.26111394e-01 -5.82549412e-02 2.00941815e+01] [ 1.44974546e-01 3.89088482e-03 9.89427735e-01 1.25720037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.90, Y:20.12, Z:12.58 [[ 9.15822789e-01 -3.78990587e-01 -1.32795914e-01 8.29039404e+01] [ 3.74498614e-01 9.25393314e-01 -5.82923807e-02 2.01155015e+01] [ 1.44980715e-01 3.65360483e-03 9.89427735e-01 1.25785720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.96, Y:20.14, Z:12.59 [[ 9.15003483e-01 -3.80970240e-01 -1.32779150e-01 8.29572345e+01] [ 3.76493440e-01 9.24581115e-01 -5.83305406e-02 2.01367299e+01] [ 1.44987295e-01 3.38216864e-03 9.89427736e-01 1.25862774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:20.16, Z:12.60 [[ 9.13553843e-01 -3.84439209e-01 -1.32762458e-01 8.30108981e+01] [ 3.79993266e-01 9.23145836e-01 -5.83685084e-02 2.01567511e+01] [ 1.44998254e-01 2.87393504e-03 9.89427737e-01 1.25959494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:20.18, Z:12.61 [[ 9.11752200e-01 -3.88698392e-01 -1.32745942e-01 8.30649456e+01] [ 3.84291797e-01 9.21362333e-01 -5.84060472e-02 2.01765787e+01] [ 1.45009447e-01 2.23866548e-03 9.89427738e-01 1.26064745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:20.20, Z:12.62 [[ 9.10934869e-01 -3.90611748e-01 -1.32740827e-01 8.31176383e+01] [ 3.86223645e-01 9.20553459e-01 -5.84176705e-02 2.01981900e+01] [ 1.45013655e-01 1.94704713e-03 9.89427738e-01 1.26166276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:20.22, Z:12.63 [[ 9.10816539e-01 -3.90893116e-01 -1.32724542e-01 8.31708492e+01] [ 3.86502598e-01 9.20434026e-01 -5.84546467e-02 2.02210970e+01] [ 1.45013703e-01 1.94307882e-03 9.89427739e-01 1.26251675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:20.24, Z:12.63 [[ 9.09986675e-01 -3.92826694e-01 -1.32708103e-01 8.32238085e+01] [ 3.88451173e-01 9.19610993e-01 -5.84919438e-02 2.02441627e+01] [ 1.45017027e-01 1.67627123e-03 9.89427740e-01 1.26301628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:20.27, Z:12.64 [[ 9.08750563e-01 -3.95679560e-01 -1.32703054e-01 8.32762048e+01] [ 3.91332582e-01 9.18387806e-01 -5.85033971e-02 2.02670797e+01] [ 1.45021465e-01 1.23396645e-03 9.89427740e-01 1.26390270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:20.29, Z:12.65 [[ 9.07697402e-01 -3.98095259e-01 -1.32686063e-01 8.33274854e+01] [ 3.93768300e-01 9.17343649e-01 -5.85419059e-02 2.02901722e+01] [ 1.45023973e-01 8.90770227e-04 9.89427741e-01 1.26463282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:20.31, Z:12.66 [[ 9.06211144e-01 -4.01469442e-01 -1.32678749e-01 8.33796593e+01] [ 3.97175974e-01 9.15872344e-01 -5.85584788e-02 2.03128022e+01] [ 1.45026237e-01 3.69534727e-04 9.89427741e-01 1.26562904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.43, Y:20.34, Z:12.66 [[ 9.05806497e-01 -4.02386957e-01 -1.32662454e-01 8.34322268e+01] [ 3.98097871e-01 9.15469643e-01 -5.85953712e-02 2.03373302e+01] [ 1.45026463e-01 2.63427438e-04 9.89427742e-01 1.26648886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:20.36, Z:12.67 [[ 9.05913569e-01 -4.02151182e-01 -1.32646269e-01 8.34840929e+01] [ 3.97854219e-01 9.15573214e-01 -5.86319882e-02 2.03622422e+01] [ 1.45026294e-01 3.41635962e-04 9.89427742e-01 1.26715066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:20.39, Z:12.68 [[ 9.06513515e-01 -4.00802323e-01 -1.32630106e-01 8.35352382e+01] [ 3.96485641e-01 9.16164363e-01 -5.86685268e-02 2.03887180e+01] [ 1.45025459e-01 5.97879737e-04 9.89427743e-01 1.26783562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:20.42, Z:12.68 [[ 9.06624475e-01 -4.00556782e-01 -1.32613444e-01 8.35864177e+01] [ 3.96231981e-01 9.16271687e-01 -5.87061655e-02 2.04179850e+01] [ 1.45025097e-01 6.78758782e-04 9.89427744e-01 1.26818263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.64, Y:20.44, Z:12.70 [[ 9.08555966e-01 -3.96161873e-01 -1.32596486e-01 8.36380336e+01] [ 3.91784820e-01 9.18179582e-01 -5.87444445e-02 2.04396516e+01] [ 1.45019695e-01 1.42332526e-03 9.89427745e-01 1.26960871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:20.47, Z:12.70 [[ 9.11184537e-01 -3.90080140e-01 -1.32590435e-01 8.36891045e+01] [ 3.85636874e-01 9.20777762e-01 -5.87580971e-02 2.04676208e+01] [ 1.45006691e-01 2.40770843e-03 9.89427745e-01 1.27029005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:20.49, Z:12.71 [[ 9.13250309e-01 -3.85224515e-01 -1.32574305e-01 8.37415730e+01] [ 3.80724971e-01 9.22817266e-01 -5.87944696e-02 2.04943179e+01] [ 1.44990929e-01 3.21971915e-03 9.89427746e-01 1.27095392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:20.52, Z:12.72 [[ 9.13858458e-01 -3.83784458e-01 -1.32560208e-01 8.37936890e+01] [ 3.79265235e-01 9.23416134e-01 -5.88262354e-02 2.05180400e+01] [ 1.44984830e-01 3.48337422e-03 9.89427746e-01 1.27171957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:20.54, Z:12.73 [[ 9.14182361e-01 -3.83017800e-01 -1.32544242e-01 8.38460512e+01] [ 3.78485353e-01 9.23733771e-01 -5.88621888e-02 2.05425533e+01] [ 1.44980858e-01 3.64472063e-03 9.89427747e-01 1.27279244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:20.57, Z:12.74 [[ 9.14355271e-01 -3.82609891e-01 -1.32529654e-01 8.38984072e+01] [ 3.78068428e-01 9.23902398e-01 -5.88950161e-02 2.05667842e+01] [ 1.44978280e-01 3.74569061e-03 9.89427748e-01 1.27361227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.95, Y:20.59, Z:12.74 [[ 9.14043475e-01 -3.83359997e-01 -1.32512786e-01 8.39501032e+01] [ 3.78820874e-01 9.23591714e-01 -5.89329450e-02 2.05905323e+01] [ 1.44980244e-01 3.66866462e-03 9.89427749e-01 1.27439426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:20.61, Z:12.75 [[ 9.13881776e-01 -3.83747808e-01 -1.32505545e-01 8.40023544e+01] [ 3.79210379e-01 9.23430819e-01 -5.89492193e-02 2.06144044e+01] [ 1.44981338e-01 3.62513906e-03 9.89427749e-01 1.27526432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:20.64, Z:12.76 [[ 9.13231659e-01 -3.85298128e-01 -1.32488830e-01 8.40543105e+01] [ 3.80771467e-01 9.22785810e-01 -5.89867630e-02 2.06397674e+01] [ 1.44986302e-01 3.42061317e-03 9.89427750e-01 1.27588868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.11, Y:20.66, Z:12.77 [[ 9.11834838e-01 -3.88597926e-01 -1.32472190e-01 8.41065711e+01] [ 3.84100419e-01 9.21402747e-01 -5.90241113e-02 2.06632641e+01] [ 1.44996887e-01 2.93761744e-03 9.89427750e-01 1.27687113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:20.69, Z:12.78 [[ 9.09983507e-01 -3.92919210e-01 -1.32455696e-01 8.41592287e+01] [ 3.88461760e-01 9.19570143e-01 -5.90611009e-02 2.06884904e+01] [ 1.45008545e-01 2.29065491e-03 9.89427751e-01 1.27781895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:20.71, Z:12.79 [[ 9.09080917e-01 -3.95007779e-01 -1.32441465e-01 8.42122557e+01] [ 3.90567708e-01 9.18675614e-01 -5.90929964e-02 2.07129284e+01] [ 1.45012938e-01 1.99295583e-03 9.89427752e-01 1.27885169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:20.74, Z:12.80 [[ 9.09205473e-01 -3.94725735e-01 -1.32427343e-01 8.42642852e+01] [ 3.90278082e-01 9.18796657e-01 -5.91246279e-02 2.07377029e+01] [ 1.45011812e-01 2.07294589e-03 9.89427752e-01 1.27960638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:20.77, Z:12.79 [[ 9.07118975e-01 -3.99502712e-01 -1.32411288e-01 8.43143806e+01] [ 3.95100325e-01 9.16731019e-01 -5.91605621e-02 2.07744248e+01] [ 1.45020340e-01 1.34992561e-03 9.89427753e-01 1.27882159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:20.79, Z:12.81 [[ 9.11515165e-01 -3.89369337e-01 -1.32407040e-01 8.43686146e+01] [ 3.84858731e-01 9.21076903e-01 -5.91700671e-02 2.07889064e+01] [ 1.44996076e-01 2.97640808e-03 9.89427753e-01 1.28110713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.42, Y:20.81, Z:12.82 [[ 9.11801303e-01 -3.88700352e-01 -1.32402494e-01 8.44206222e+01] [ 3.84181254e-01 9.21359031e-01 -5.91802389e-02 2.08138122e+01] [ 1.44993613e-01 3.09406283e-03 9.89427753e-01 1.28186854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:20.84, Z:12.82 [[ 9.11822655e-01 -3.88655785e-01 -1.32386282e-01 8.44723550e+01] [ 3.84130960e-01 9.21377671e-01 -5.92164831e-02 2.08393946e+01] [ 1.44992593e-01 3.14126127e-03 9.89427754e-01 1.28242235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:20.86, Z:12.83 [[ 9.11425604e-01 -3.89591536e-01 -1.32369950e-01 8.45238567e+01] [ 3.85071225e-01 9.20982756e-01 -5.92529674e-02 2.08644307e+01] [ 1.44994896e-01 3.03281270e-03 9.89427755e-01 1.28340189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:20.89, Z:12.84 [[ 9.10097127e-01 -3.92690447e-01 -1.32353437e-01 8.45760303e+01] [ 3.88197322e-01 9.19667089e-01 -5.92898313e-02 2.08884568e+01] [ 1.45003650e-01 2.58025548e-03 9.89427756e-01 1.28424810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:20.91, Z:12.85 [[ 9.09070958e-01 -3.95065713e-01 -1.32336974e-01 8.46286480e+01] [ 3.90592250e-01 9.18650126e-01 -5.93265544e-02 2.09129223e+01] [ 1.45009265e-01 2.24225132e-03 9.89427756e-01 1.28503862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:20.94, Z:12.86 [[ 9.07117173e-01 -3.99536832e-01 -1.32320651e-01 8.46806958e+01] [ 3.95105279e-01 9.16715801e-01 -5.93629391e-02 2.09374756e+01] [ 1.45018112e-01 1.56855383e-03 9.89427757e-01 1.28571015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:20.96, Z:12.86 [[ 9.04648860e-01 -4.05100010e-01 -1.32304275e-01 8.47335151e+01] [ 4.00722153e-01 9.14272096e-01 -5.93994140e-02 2.09616954e+01] [ 1.45024810e-01 7.18358311e-04 9.89427758e-01 1.28642986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:20.99, Z:12.87 [[ 9.02953423e-01 -4.08870415e-01 -1.32287944e-01 8.47853197e+01] [ 4.04527416e-01 9.12592439e-01 -5.94357638e-02 2.09855923e+01] [ 1.45026503e-01 1.53626341e-04 9.89427759e-01 1.28727835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:21.01, Z:12.88 [[ 9.01184316e-01 -4.12760465e-01 -1.32271035e-01 8.48353170e+01] [ 4.08453553e-01 9.10839510e-01 -5.94733692e-02 2.10109084e+01] [ 1.45025940e-01 -4.30106722e-04 9.89427760e-01 1.28818875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:21.04, Z:12.89 [[ 9.01468812e-01 -4.12142404e-01 -1.32259672e-01 8.48865946e+01] [ 4.07825166e-01 9.11119393e-01 -5.94986278e-02 2.10368035e+01] [ 1.45026260e-01 -3.02665488e-04 9.89427760e-01 1.28918871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.94, Y:21.06, Z:12.90 [[ 9.02520893e-01 -4.09838663e-01 -1.32243369e-01 8.49379696e+01] [ 4.05491484e-01 9.12158023e-01 -5.95348415e-02 2.10627186e+01] [ 1.45026530e-01 1.07878217e-04 9.89427761e-01 1.28994522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:21.09, Z:12.91 [[ 9.05256576e-01 -4.03765442e-01 -1.32227074e-01 8.49883447e+01] [ 3.99348327e-01 9.14861852e-01 -5.95710125e-02 2.10912115e+01] [ 1.45022222e-01 1.12239012e-03 9.89427762e-01 1.29054976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.04, Y:21.12, Z:12.91 [[ 9.08288634e-01 -3.96903155e-01 -1.32210602e-01 8.50393281e+01] [ 3.92408160e-01 9.17857710e-01 -5.96075481e-02 2.11176312e+01] [ 1.45008944e-01 2.26033946e-03 9.89427762e-01 1.29126605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:21.14, Z:12.92 [[ 9.10498842e-01 -3.91811914e-01 -1.32194110e-01 8.50911873e+01] [ 3.87258113e-01 9.20040073e-01 -5.96441006e-02 2.11418715e+01] [ 1.44993148e-01 3.11264301e-03 9.89427763e-01 1.29209431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:21.17, Z:12.93 [[ 9.11547412e-01 -3.89371826e-01 -1.32177521e-01 8.51437109e+01] [ 3.84787162e-01 9.21073850e-01 -5.96808405e-02 2.11661040e+01] [ 1.44983296e-01 3.54170245e-03 9.89427764e-01 1.29298353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:21.19, Z:12.94 [[ 9.13302438e-01 -3.85242239e-01 -1.32163059e-01 8.51972820e+01] [ 3.80609878e-01 9.22805774e-01 -5.97128492e-02 2.11880059e+01] [ 1.44964746e-01 4.23332485e-03 9.89427765e-01 1.29388537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.25, Y:21.21, Z:12.95 [[ 9.14170167e-01 -3.83184285e-01 -1.32146546e-01 8.52501721e+01] [ 3.78525259e-01 9.23660458e-01 -5.97493708e-02 2.12103273e+01] [ 1.44953559e-01 4.60028658e-03 9.89427765e-01 1.29464852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.30, Y:21.23, Z:12.95 [[ 9.15803083e-01 -3.79266998e-01 -1.32141049e-01 8.53025074e+01] [ 3.74565634e-01 9.25272471e-01 -5.97615259e-02 2.12334653e+01] [ 1.44932050e-01 5.23429382e-03 9.89427766e-01 1.29539713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.36, Y:21.26, Z:12.96 [[ 9.16990551e-01 -3.76392722e-01 -1.32124368e-01 8.53559513e+01] [ 3.71656379e-01 9.26442491e-01 -5.97983833e-02 2.12550824e+01] [ 1.44913305e-01 5.72968833e-03 9.89427766e-01 1.29623197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.41, Y:21.28, Z:12.97 [[ 9.16965676e-01 -3.76455123e-01 -1.32119221e-01 8.54100448e+01] [ 3.71717788e-01 9.26417120e-01 -5.98097519e-02 2.12789130e+01] [ 1.44913196e-01 5.73242488e-03 9.89427766e-01 1.29685874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:21.30, Z:12.98 [[ 9.15844069e-01 -3.79180653e-01 -1.32104785e-01 8.54634888e+01] [ 3.74466859e-01 9.25307274e-01 -5.98416215e-02 2.13004323e+01] [ 1.44928304e-01 5.33673024e-03 9.89427767e-01 1.29776327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:21.32, Z:12.99 [[ 9.14603809e-01 -3.82168391e-01 -1.32087830e-01 8.55157369e+01] [ 3.77480120e-01 9.24079684e-01 -5.98790242e-02 2.13207450e+01] [ 1.44943550e-01 4.90505385e-03 9.89427768e-01 1.29876762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:21.34, Z:13.00 [[ 9.12354967e-01 -3.87508889e-01 -1.32080561e-01 8.55692711e+01] [ 3.82873779e-01 9.21856959e-01 -5.98950533e-02 2.13400803e+01] [ 1.44969250e-01 4.07536602e-03 9.89427768e-01 1.29984289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:85.62, Y:21.36, Z:13.01 [[ 9.09442916e-01 -3.94300380e-01 -1.32063596e-01 8.56233190e+01] [ 3.89730816e-01 9.18976601e-01 -5.99324357e-02 2.13589830e+01] [ 1.44994737e-01 3.03587599e-03 9.89427769e-01 1.30086130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.68, Y:21.38, Z:13.02 [[ 9.08280916e-01 -3.96971481e-01 -1.32058398e-01 8.56762734e+01] [ 3.92428291e-01 9.17827199e-01 -5.99438886e-02 2.13806864e+01] [ 1.45002803e-01 2.62243873e-03 9.89427769e-01 1.30178905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.73, Y:21.40, Z:13.03 [[ 9.05065563e-01 -4.04253987e-01 -1.32041813e-01 8.57308717e+01] [ 3.99782293e-01 9.14645543e-01 -5.99803989e-02 2.13992177e+01] [ 1.45018771e-01 1.49821487e-03 9.89427770e-01 1.30276271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:21.42, Z:13.03 [[ 9.03063652e-01 -4.08711886e-01 -1.32025127e-01 8.57847623e+01] [ 4.04282119e-01 9.12663090e-01 -6.00171053e-02 2.14211468e+01] [ 1.45024164e-01 8.23868441e-04 9.89427771e-01 1.30346853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:21.44, Z:13.04 [[ 9.01314849e-01 -4.12559387e-01 -1.32008689e-01 8.58393537e+01] [ 4.08165306e-01 9.10930673e-01 -6.00532376e-02 2.14426047e+01] [ 1.45026291e-01 2.45507688e-04 9.89427771e-01 1.30415592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:21.47, Z:13.05 [[ 9.01185885e-01 -4.12845658e-01 -1.31994175e-01 8.58924002e+01] [ 4.08449961e-01 9.10800970e-01 -6.00851221e-02 2.14651588e+01] [ 1.45026305e-01 2.34848136e-04 9.89427772e-01 1.30511431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:21.49, Z:13.06 [[ 9.03087236e-01 -4.08675090e-01 -1.31977708e-01 8.59452474e+01] [ 4.04229707e-01 9.12679449e-01 -6.01212716e-02 2.14901834e+01] [ 1.45023408e-01 9.45442825e-04 9.89427773e-01 1.30555784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:21.52, Z:13.06 [[ 9.05134275e-01 -4.04125734e-01 -1.31963389e-01 8.59971557e+01] [ 3.99627561e-01 9.14701846e-01 -6.01526843e-02 2.15150032e+01] [ 1.45016403e-01 1.71004891e-03 9.89427773e-01 1.30631437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:21.54, Z:13.07 [[ 9.08546403e-01 -3.96400626e-01 -1.31946876e-01 8.60485029e+01] [ 3.91815860e-01 9.18072781e-01 -6.01888847e-02 2.15409740e+01] [ 1.44995747e-01 2.98551601e-03 9.89427774e-01 1.30715466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:21.57, Z:13.08 [[ 9.10247699e-01 -3.92483805e-01 -1.31930245e-01 8.61014139e+01] [ 3.87852774e-01 9.19751671e-01 -6.02253167e-02 2.15654915e+01] [ 1.44980525e-01 3.65044435e-03 9.89427775e-01 1.30818985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.15, Y:21.59, Z:13.09 [[ 9.12136161e-01 -3.88079819e-01 -1.31915416e-01 8.61524049e+01] [ 3.83398218e-01 9.21615325e-01 -6.02577819e-02 2.15894583e+01] [ 1.44960098e-01 4.38716673e-03 9.89427775e-01 1.30896893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.20, Y:21.61, Z:13.10 [[ 9.11292943e-01 -3.90058222e-01 -1.31908135e-01 8.62048611e+01] [ 3.85394897e-01 9.20781110e-01 -6.02737162e-02 2.16135860e+01] [ 1.44968777e-01 4.09029026e-03 9.89427776e-01 1.30956024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.26, Y:21.63, Z:13.10 [[ 9.10172052e-01 -3.92672351e-01 -1.31891097e-01 8.62567237e+01] [ 3.88030884e-01 9.19670930e-01 -6.03109743e-02 2.16348939e+01] [ 1.44978860e-01 3.71554413e-03 9.89427776e-01 1.31048355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:21.66, Z:13.11 [[ 9.07990060e-01 -3.97694260e-01 -1.31883760e-01 8.63110657e+01] [ 3.93103008e-01 9.17513311e-01 -6.03270152e-02 2.16562111e+01] [ 1.44996813e-01 2.93242735e-03 9.89427777e-01 1.31128707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:21.68, Z:13.12 [[ 9.06331230e-01 -4.01465146e-01 -1.31869020e-01 8.63656605e+01] [ 3.96908835e-01 9.15871247e-01 -6.03592193e-02 2.16768793e+01] [ 1.45007166e-01 2.36546660e-03 9.89427777e-01 1.31223747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:21.70, Z:13.13 [[ 9.05748323e-01 -4.02783318e-01 -1.31854368e-01 8.64195968e+01] [ 3.98236236e-01 9.15292741e-01 -6.03912090e-02 2.16980000e+01] [ 1.45009917e-01 2.19004907e-03 9.89427778e-01 1.31315207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.47, Y:21.72, Z:13.14 [[ 9.04532983e-01 -4.05510687e-01 -1.31837647e-01 8.64732675e+01] [ 4.00987068e-01 9.14088544e-01 -6.04276892e-02 2.17188269e+01] [ 1.45015357e-01 1.79364623e-03 9.89427779e-01 1.31395132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:21.74, Z:13.15 [[ 9.03540469e-01 -4.07722743e-01 -1.31821037e-01 8.65268425e+01] [ 4.03217236e-01 9.13104582e-01 -6.04639020e-02 2.17405109e+01] [ 1.45018901e-01 1.47906804e-03 9.89427779e-01 1.31490994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:21.76, Z:13.16 [[ 9.03331394e-01 -4.08191153e-01 -1.31804305e-01 8.65786801e+01] [ 4.03685287e-01 9.12895337e-01 -6.05003554e-02 2.17634220e+01] [ 1.45019245e-01 1.44441186e-03 9.89427780e-01 1.31572102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.63, Y:21.79, Z:13.17 [[ 9.03058625e-01 -4.08797905e-01 -1.31792989e-01 8.66315669e+01] [ 4.04294869e-01 9.12623900e-01 -6.05249958e-02 2.17870435e+01] [ 1.45019923e-01 1.37439031e-03 9.89427781e-01 1.31674611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:21.81, Z:13.18 [[ 9.01887430e-01 -4.11380036e-01 -1.31778335e-01 8.66839059e+01] [ 4.06899726e-01 9.11463371e-01 -6.05568835e-02 2.18104411e+01] [ 1.45023019e-01 9.94923386e-04 9.89427781e-01 1.31774688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:21.83, Z:13.19 [[ 9.01349988e-01 -4.12561690e-01 -1.31761343e-01 8.67362330e+01] [ 4.08088533e-01 9.10929271e-01 -6.05938344e-02 2.18347594e+01] [ 1.45023959e-01 8.45958855e-04 9.89427782e-01 1.31862204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:21.86, Z:13.20 [[ 9.00771712e-01 -4.13828251e-01 -1.31744078e-01 8.67881262e+01] [ 4.09363077e-01 9.10354717e-01 -6.06313497e-02 2.18589313e+01] [ 1.45024808e-01 6.83843681e-04 9.89427783e-01 1.31963734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.84, Y:21.88, Z:13.20 [[ 9.00276912e-01 -4.14909089e-01 -1.31726723e-01 8.68396137e+01] [ 4.10449906e-01 9.09862706e-01 -6.06690306e-02 2.18843964e+01] [ 1.45025365e-01 5.51706404e-04 9.89427784e-01 1.32046068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:21.91, Z:13.21 [[ 9.00623414e-01 -4.14161874e-01 -1.31709562e-01 8.68907241e+01] [ 4.09689293e-01 9.10202963e-01 -6.07062630e-02 2.19102105e+01] [ 1.45024654e-01 7.13484382e-04 9.89427785e-01 1.32123679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:21.94, Z:13.22 [[ 9.01754417e-01 -4.11695219e-01 -1.31704285e-01 8.69409750e+01] [ 4.07194762e-01 9.11320901e-01 -6.07177105e-02 2.19377613e+01] [ 1.45022059e-01 1.12316864e-03 9.89427785e-01 1.32216133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:21.96, Z:13.23 [[ 9.02678332e-01 -4.09670968e-01 -1.31687233e-01 8.69910250e+01] [ 4.05143667e-01 9.12232141e-01 -6.07546717e-02 2.19643580e+01] [ 1.45018752e-01 1.48967726e-03 9.89427785e-01 1.32288374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:21.99, Z:13.24 [[ 9.04351068e-01 -4.05967433e-01 -1.31679876e-01 8.70415922e+01] [ 4.01398688e-01 9.13885127e-01 -6.07706120e-02 2.19914243e+01] [ 1.45011170e-01 2.10183822e-03 9.89427786e-01 1.32363434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.09, Y:22.02, Z:13.24 [[ 9.04062314e-01 -4.06612527e-01 -1.31672267e-01 8.70928836e+01] [ 4.02048185e-01 9.13598482e-01 -6.07870938e-02 2.20227897e+01] [ 1.45012377e-01 2.01672451e-03 9.89427786e-01 1.32380082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:87.15, Y:22.04, Z:13.25 [[ 9.04671822e-01 -4.05259590e-01 -1.31656978e-01 8.71453626e+01] [ 4.00676172e-01 9.14198835e-01 -6.08201908e-02 2.20446726e+01] [ 1.45008622e-01 2.27049880e-03 9.89427786e-01 1.32549321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:22.07, Z:13.27 [[ 9.03668133e-01 -4.07498162e-01 -1.31640244e-01 8.71976956e+01] [ 4.02933073e-01 9.13203942e-01 -6.08563883e-02 2.20691027e+01] [ 1.45013256e-01 1.95177063e-03 9.89427787e-01 1.32650013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.25, Y:22.09, Z:13.27 [[ 9.02664478e-01 -4.09721330e-01 -1.31625498e-01 8.72492410e+01] [ 4.05175080e-01 9.12209282e-01 -6.08882669e-02 2.20922749e+01] [ 1.45017223e-01 1.63030405e-03 9.89427788e-01 1.32717810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.30, Y:22.12, Z:13.28 [[ 9.02318320e-01 -4.10485319e-01 -1.31618587e-01 8.73019554e+01] [ 4.05944972e-01 9.11865933e-01 -6.09032021e-02 2.21164137e+01] [ 1.45018376e-01 1.52417137e-03 9.89427788e-01 1.32803187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:22.14, Z:13.29 [[ 9.02330203e-01 -4.10464556e-01 -1.31601874e-01 8.73546900e+01] [ 4.05918725e-01 9.11875206e-01 -6.09392954e-02 2.21403519e+01] [ 1.45017907e-01 1.56770190e-03 9.89427789e-01 1.32872114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:22.16, Z:13.30 [[ 9.02783918e-01 -4.09471015e-01 -1.31585280e-01 8.74071426e+01] [ 4.04909461e-01 9.12321415e-01 -6.09751057e-02 2.21641157e+01] [ 1.45015607e-01 1.76722001e-03 9.89427789e-01 1.32960542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:22.19, Z:13.30 [[ 9.03627292e-01 -4.07611768e-01 -1.31568857e-01 8.74600063e+01] [ 4.03025435e-01 9.13152898e-01 -6.10105222e-02 2.21882266e+01] [ 1.45011090e-01 2.10517711e-03 9.89427790e-01 1.33032303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:22.21, Z:13.31 [[ 9.04090854e-01 -4.06588060e-01 -1.31551805e-01 8.75128098e+01] [ 4.01985596e-01 9.13608676e-01 -6.10472683e-02 2.22115981e+01] [ 1.45007960e-01 2.31034637e-03 9.89427791e-01 1.33139813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:22.24, Z:13.33 [[ 9.04849929e-01 -4.04900737e-01 -1.31537067e-01 8.75652634e+01] [ 4.00275913e-01 9.14356904e-01 -6.10790078e-02 2.22351619e+01] [ 1.45002760e-01 2.61621644e-03 9.89427792e-01 1.33266513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.62, Y:22.26, Z:13.33 [[ 9.05197101e-01 -4.04128855e-01 -1.31522152e-01 8.76171678e+01] [ 3.99491262e-01 9.14697854e-01 -6.11111062e-02 2.22590936e+01] [ 1.44999792e-01 2.77564562e-03 9.89427792e-01 1.33347322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.67, Y:22.29, Z:13.34 [[ 9.03952460e-01 -4.06910782e-01 -1.31505004e-01 8.76694396e+01] [ 4.02297066e-01 9.13464829e-01 -6.11479853e-02 2.22874334e+01] [ 1.45006971e-01 2.37079433e-03 9.89427793e-01 1.33376984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:22.31, Z:13.35 [[ 9.01878085e-01 -4.11492701e-01 -1.31490219e-01 8.77210636e+01] [ 4.06922682e-01 9.11411525e-01 -6.11797618e-02 2.23117568e+01] [ 1.45016727e-01 1.67033356e-03 9.89427794e-01 1.33472177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:22.34, Z:13.36 [[ 8.98405571e-01 -4.19025361e-01 -1.31473102e-01 8.77723365e+01] [ 4.14529900e-01 9.07974393e-01 -6.12165255e-02 2.23361872e+01] [ 1.45025486e-01 4.97735898e-04 9.89427795e-01 1.33590093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:22.36, Z:13.37 [[ 8.96261656e-01 -4.23596837e-01 -1.31456318e-01 8.78232151e+01] [ 4.19144899e-01 9.05850804e-01 -6.12525446e-02 2.23633793e+01] [ 1.45026196e-01 -2.00938216e-04 9.89427795e-01 1.33672333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:22.39, Z:13.37 [[ 8.96071318e-01 -4.24004569e-01 -1.31439408e-01 8.78752883e+01] [ 4.19551674e-01 9.05660021e-01 -6.12888111e-02 2.23887697e+01] [ 1.45026153e-01 -2.26477943e-04 9.89427796e-01 1.33748015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.93, Y:22.41, Z:13.39 [[ 8.96718208e-01 -4.22639931e-01 -1.31422770e-01 8.79268502e+01] [ 4.18167218e-01 9.06297681e-01 -6.13244687e-02 2.24140749e+01] [ 1.45026321e-01 3.40737366e-05 9.89427797e-01 1.33851846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:22.44, Z:13.39 [[ 8.97241309e-01 -4.21529866e-01 -1.31417680e-01 8.79774063e+01] [ 4.17043703e-01 9.06814491e-01 -6.13353743e-02 2.24433268e+01] [ 1.45026148e-01 2.25715658e-04 9.89427797e-01 1.33925284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:22.47, Z:13.40 [[ 8.98872747e-01 -4.18044468e-01 -1.31402462e-01 8.80294561e+01] [ 4.13516422e-01 9.08426190e-01 -6.13679587e-02 2.24652083e+01] [ 1.45023974e-01 8.24909754e-04 9.89427798e-01 1.34045117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:22.50, Z:13.41 [[ 8.97484667e-01 -4.21017913e-01 -1.31397066e-01 8.80798803e+01] [ 4.16519827e-01 9.07052253e-01 -6.13795103e-02 2.24955502e+01] [ 1.45025878e-01 3.57686181e-04 9.89427798e-01 1.34079854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.13, Y:22.52, Z:13.42 [[ 8.97242470e-01 -4.21539076e-01 -1.31380204e-01 8.81328129e+01] [ 4.17041265e-01 9.06810184e-01 -6.14155810e-02 2.25161905e+01] [ 1.45025975e-01 3.13700880e-04 9.89427798e-01 1.34193668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.18, Y:22.55, Z:13.42 [[ 8.93914267e-01 -4.28553247e-01 -1.31375029e-01 8.81838722e+01] [ 4.24128882e-01 9.03516164e-01 -6.14266507e-02 2.25451346e+01] [ 1.45024052e-01 -8.09784508e-04 9.89427799e-01 1.34245886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.24, Y:22.57, Z:13.44 [[ 8.92011977e-01 -4.32503617e-01 -1.31359257e-01 8.82365707e+01] [ 4.28116809e-01 9.01631090e-01 -6.14603603e-02 2.25666172e+01] [ 1.45019418e-01 -1.41372822e-03 9.89427799e-01 1.34354940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.29, Y:22.59, Z:13.45 [[ 8.88978413e-01 -4.38706702e-01 -1.31353763e-01 8.82878715e+01] [ 4.34385270e-01 8.98627074e-01 -6.14721002e-02 2.25909151e+01] [ 1.45006270e-01 -2.41076962e-03 9.89427799e-01 1.34456784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:22.62, Z:13.46 [[ 8.87217549e-01 -4.42261927e-01 -1.31337006e-01 8.83392054e+01] [ 4.37973861e-01 8.96881084e-01 -6.15078805e-02 2.26168980e+01] [ 1.44996270e-01 -2.95130461e-03 9.89427800e-01 1.34569163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:22.65, Z:13.47 [[ 8.86252316e-01 -4.44197415e-01 -1.31322079e-01 8.83896542e+01] [ 4.39925735e-01 8.95923104e-01 -6.15397341e-02 2.26463139e+01] [ 1.44990275e-01 -3.23223021e-03 9.89427801e-01 1.34673123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.44, Y:22.68, Z:13.47 [[ 8.86606395e-01 -4.43494660e-01 -1.31307225e-01 8.84399406e+01] [ 4.39210625e-01 8.96271716e-01 -6.15714113e-02 2.26760563e+01] [ 1.44993544e-01 -3.08192148e-03 9.89427801e-01 1.34745248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.49, Y:22.70, Z:13.48 [[ 8.87162177e-01 -4.42386895e-01 -1.31290160e-01 8.84903718e+01] [ 4.38085411e-01 8.96819745e-01 -6.16077788e-02 2.27043558e+01] [ 1.44998082e-01 -2.86021253e-03 9.89427802e-01 1.34819387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:22.73, Z:13.49 [[ 8.87824185e-01 -4.41061908e-01 -1.31273040e-01 8.85394726e+01] [ 4.36740621e-01 8.97472906e-01 -6.16442370e-02 2.27342410e+01] [ 1.45002921e-01 -2.60302452e-03 9.89427803e-01 1.34913818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:22.76, Z:13.50 [[ 8.87036130e-01 -4.42649747e-01 -1.31255879e-01 8.85895611e+01] [ 4.38340330e-01 8.96690158e-01 -6.16807558e-02 2.27622964e+01] [ 1.44998826e-01 -2.82168621e-03 9.89427804e-01 1.34998426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:22.79, Z:13.51 [[ 8.84870494e-01 -4.46968343e-01 -1.31238370e-01 8.86386605e+01] [ 4.42700517e-01 8.94542980e-01 -6.17179860e-02 2.27917601e+01] [ 1.44984349e-01 -3.48686969e-03 9.89427805e-01 1.35074894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:22.82, Z:13.52 [[ 8.83233224e-01 -4.50196604e-01 -1.31232962e-01 8.86882530e+01] [ 4.45962421e-01 8.92920484e-01 -6.17294832e-02 2.28199640e+01] [ 1.44971004e-01 -4.00343922e-03 9.89427805e-01 1.35169474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.74, Y:22.85, Z:13.53 [[ 8.81789180e-01 -4.53023566e-01 -1.31215436e-01 8.87363114e+01] [ 4.48814901e-01 8.91487553e-01 -6.17667159e-02 2.28494784e+01] [ 1.44958706e-01 -4.42622121e-03 9.89427805e-01 1.35257159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:22.88, Z:13.53 [[ 8.81701699e-01 -4.53197223e-01 -1.31203621e-01 8.87859080e+01] [ 4.48986739e-01 8.91399283e-01 -6.17918029e-02 2.28822616e+01] [ 1.44958687e-01 -4.42674844e-03 9.89427806e-01 1.35298319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:22.91, Z:13.54 [[ 8.82278650e-01 -4.52077308e-01 -1.31188758e-01 8.88354733e+01] [ 4.47849829e-01 8.91968836e-01 -6.18233419e-02 2.29133848e+01] [ 1.44965214e-01 -4.20744842e-03 9.89427806e-01 1.35350532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:22.95, Z:13.55 [[ 8.83013965e-01 -4.50644364e-01 -1.31171627e-01 8.88839050e+01] [ 4.46395767e-01 8.92694909e-01 -6.18596678e-02 2.29460965e+01] [ 1.44972955e-01 -3.93150871e-03 9.89427807e-01 1.35451391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:22.97, Z:13.55 [[ 8.82988749e-01 -4.50698138e-01 -1.31156612e-01 8.89345490e+01] [ 4.46445409e-01 8.92667878e-01 -6.18914882e-02 2.29731418e+01] [ 1.44973673e-01 -3.90477941e-03 9.89427808e-01 1.35544674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:23.01, Z:13.56 [[ 8.83930762e-01 -4.48852878e-01 -1.31139249e-01 8.89832824e+01] [ 4.44574489e-01 8.93598576e-01 -6.19282557e-02 2.30069251e+01] [ 1.44982522e-01 -3.56087441e-03 9.89427809e-01 1.35633312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:23.04, Z:13.57 [[ 8.85848872e-01 -4.45059868e-01 -1.31123946e-01 8.90326055e+01] [ 4.40735287e-01 8.95496111e-01 -6.19606411e-02 2.30373807e+01] [ 1.44997178e-01 -2.90318595e-03 9.89427809e-01 1.35721714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:23.07, Z:13.58 [[ 8.90166210e-01 -4.36365956e-01 -1.31106339e-01 8.90798312e+01] [ 4.31941651e-01 8.99768122e-01 -6.19978745e-02 2.30705332e+01] [ 1.45019066e-01 -1.44187558e-03 9.89427810e-01 1.35805430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.13, Y:23.10, Z:13.59 [[ 8.92245342e-01 -4.32100446e-01 -1.31100933e-01 8.91291304e+01] [ 4.27628555e-01 9.01825185e-01 -6.20093042e-02 2.30999069e+01] [ 1.45024371e-01 -7.34989719e-04 9.89427810e-01 1.35888315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.18, Y:23.13, Z:13.60 [[ 8.95886895e-01 -4.24504120e-01 -1.31083648e-01 8.91781783e+01] [ 4.19945655e-01 9.05425846e-01 -6.20458232e-02 2.31303151e+01] [ 1.45025230e-01 5.38031612e-04 9.89427811e-01 1.35975824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:23.16, Z:13.60 [[ 9.00524039e-01 -4.14581870e-01 -1.31066121e-01 8.92262301e+01] [ 4.09912928e-01 9.10009404e-01 -6.20828243e-02 2.31613482e+01] [ 1.45009816e-01 2.18137826e-03 9.89427812e-01 1.36035963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:23.19, Z:13.61 [[ 9.04459706e-01 -4.05926458e-01 -1.31058578e-01 8.92764196e+01] [ 4.01164458e-01 9.13898695e-01 -6.20987439e-02 2.31900620e+01] [ 1.44981787e-01 3.58976821e-03 9.89427812e-01 1.36101996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.33, Y:23.22, Z:13.62 [[ 9.06316200e-01 -4.01770089e-01 -1.31040994e-01 8.93272301e+01] [ 3.96959450e-01 9.15730492e-01 -6.21358277e-02 2.32154127e+01] [ 1.44962551e-01 4.29674627e-03 9.89427813e-01 1.36201651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:23.24, Z:13.63 [[ 9.08255481e-01 -3.97372377e-01 -1.31023563e-01 8.93789906e+01] [ 3.92510872e-01 9.17643606e-01 -6.21725629e-02 2.32403012e+01] [ 1.44938594e-01 5.04039809e-03 9.89427814e-01 1.36293565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:23.26, Z:13.64 [[ 9.09135800e-01 -3.95360108e-01 -1.31005655e-01 8.94315020e+01] [ 3.90472399e-01 9.18510309e-01 -6.22102737e-02 2.32641447e+01] [ 1.44925506e-01 5.40349437e-03 9.89427814e-01 1.36370305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:23.28, Z:13.65 [[ 9.10350009e-01 -3.92562199e-01 -1.30987717e-01 8.94841378e+01] [ 3.87640261e-01 9.19706590e-01 -6.22480213e-02 2.32849218e+01] [ 1.44906487e-01 5.89137379e-03 9.89427815e-01 1.36458555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:23.31, Z:13.66 [[ 9.10822980e-01 -3.91466138e-01 -1.30980009e-01 8.95375533e+01] [ 3.86530615e-01 9.20172402e-01 -6.22642372e-02 2.33053165e+01] [ 1.44898530e-01 6.08391486e-03 9.89427816e-01 1.36583608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:23.33, Z:13.67 [[ 9.10606345e-01 -3.91975813e-01 -1.30962001e-01 8.95911981e+01] [ 3.87040090e-01 9.19955661e-01 -6.23020899e-02 2.33257023e+01] [ 1.44900147e-01 6.04513373e-03 9.89427816e-01 1.36673422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:23.35, Z:13.67 [[ 9.10210103e-01 -3.92901087e-01 -1.30943900e-01 8.96444774e+01] [ 3.87969409e-01 9.19561552e-01 -6.23401122e-02 2.33469134e+01] [ 1.44904473e-01 5.94037260e-03 9.89427817e-01 1.36745743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.70, Y:23.37, Z:13.68 [[ 9.09529163e-01 -3.94480932e-01 -1.30925540e-01 8.96994873e+01] [ 3.89559962e-01 9.18886250e-01 -6.23786481e-02 2.33655281e+01] [ 1.44912865e-01 5.73185133e-03 9.89427818e-01 1.36821617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:23.38, Z:13.69 [[ 9.09099438e-01 -3.95472112e-01 -1.30919900e-01 8.97546333e+01] [ 3.90559644e-01 9.18460991e-01 -6.23904832e-02 2.33839038e+01] [ 1.44918517e-01 5.58712392e-03 9.89427818e-01 1.36915711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:23.40, Z:13.70 [[ 9.09053522e-01 -3.95583609e-01 -1.30901880e-01 8.98088878e+01] [ 3.90666857e-01 9.18412826e-01 -6.24282669e-02 2.34029980e+01] [ 1.44917565e-01 5.61160974e-03 9.89427819e-01 1.37001478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:23.42, Z:13.71 [[ 9.09321081e-01 -3.94974241e-01 -1.30883612e-01 8.98624409e+01] [ 3.90045719e-01 9.18674190e-01 -6.24665438e-02 2.34238496e+01] [ 1.44912072e-01 5.75155267e-03 9.89427820e-01 1.37093003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:23.44, Z:13.72 [[ 9.09052275e-01 -3.95598488e-01 -1.30865571e-01 8.99175277e+01] [ 3.90670960e-01 9.18405908e-01 -6.25043171e-02 2.34413760e+01] [ 1.44914327e-01 5.69431341e-03 9.89427821e-01 1.37196277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.97, Y:23.46, Z:13.73 [[ 9.08377328e-01 -3.97151774e-01 -1.30847617e-01 8.99721892e+01] [ 3.92234840e-01 9.17736533e-01 -6.25418803e-02 2.34603089e+01] [ 1.44922257e-01 5.48863207e-03 9.89427822e-01 1.37295777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:23.48, Z:13.74 [[ 9.07415101e-01 -3.99351193e-01 -1.30829888e-01 9.00272995e+01] [ 3.94451610e-01 9.16783400e-01 -6.25789448e-02 2.34781380e+01] [ 1.44933646e-01 5.17901954e-03 9.89427823e-01 1.37402192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:23.50, Z:13.75 [[ 9.06831789e-01 -4.00679816e-01 -1.30812049e-01 9.00802777e+01] [ 3.95788592e-01 9.16204454e-01 -6.26162131e-02 2.34976337e+01] [ 1.44939634e-01 5.00845590e-03 9.89427823e-01 1.37477597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:23.51, Z:13.76 [[ 9.05434595e-01 -4.03829678e-01 -1.30804381e-01 9.01362849e+01] [ 3.98968753e-01 9.14823009e-01 -6.26322278e-02 2.35147720e+01] [ 1.44955610e-01 4.52252514e-03 9.89427824e-01 1.37566825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:23.54, Z:13.76 [[ 9.04459764e-01 -4.06014050e-01 -1.30786570e-01 9.01905357e+01] [ 4.01170432e-01 9.13857117e-01 -6.26693978e-02 2.35357415e+01] [ 1.44964894e-01 4.21424403e-03 9.89427824e-01 1.37644635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:23.55, Z:13.77 [[ 9.03680223e-01 -4.07751807e-01 -1.30768951e-01 9.02462344e+01] [ 4.02920948e-01 9.13084141e-01 -6.27061411e-02 2.35539870e+01] [ 1.44971598e-01 3.97674980e-03 9.89427825e-01 1.37720378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:23.57, Z:13.78 [[ 9.03118778e-01 -4.08999523e-01 -1.30751148e-01 9.03019736e+01] [ 4.04176290e-01 9.12526609e-01 -6.27432421e-02 2.35721646e+01] [ 1.44975857e-01 3.81808647e-03 9.89427826e-01 1.37785179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:23.59, Z:13.79 [[ 9.02606778e-01 -4.10133104e-01 -1.30735770e-01 9.03560504e+01] [ 4.05317051e-01 9.12018286e-01 -6.27752682e-02 2.35919786e+01] [ 1.44979628e-01 3.67194602e-03 9.89427827e-01 1.37870784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.41, Y:23.61, Z:13.80 [[ 9.02394333e-01 -4.10605866e-01 -1.30718363e-01 9.04098621e+01] [ 4.05789499e-01 9.11805680e-01 -6.28114947e-02 2.36087506e+01] [ 1.44980514e-01 3.63659797e-03 9.89427827e-01 1.37970953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:23.63, Z:13.81 [[ 9.02539502e-01 -4.10289058e-01 -1.30710888e-01 9.04651148e+01] [ 4.05467138e-01 9.11948004e-01 -6.28270457e-02 2.36272362e+01] [ 1.44978783e-01 3.70492093e-03 9.89427828e-01 1.38059146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:23.65, Z:13.81 [[ 9.02273511e-01 -4.10879265e-01 -1.30693310e-01 9.05183812e+01] [ 4.06058209e-01 9.11682455e-01 -6.28635914e-02 2.36475725e+01] [ 1.44980144e-01 3.65106207e-03 9.89427828e-01 1.38132003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.57, Y:23.67, Z:13.82 [[ 9.01607443e-01 -4.12341200e-01 -1.30685709e-01 9.05743485e+01] [ 4.07533113e-01 9.11023021e-01 -6.28793892e-02 2.36659281e+01] [ 1.44985452e-01 3.43377169e-03 9.89427829e-01 1.38190185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.63, Y:23.69, Z:13.83 [[ 9.01256437e-01 -4.13112742e-01 -1.30670181e-01 9.06269553e+01] [ 4.08308043e-01 9.10673744e-01 -6.29116408e-02 2.36886122e+01] [ 1.44987503e-01 3.34583537e-03 9.89427829e-01 1.38266505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:23.71, Z:13.83 [[ 9.01177268e-01 -4.13291004e-01 -1.30652505e-01 9.06824602e+01] [ 4.08482852e-01 9.10592811e-01 -6.29483294e-02 2.37076084e+01] [ 1.44987210e-01 3.35829586e-03 9.89427830e-01 1.38346709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:23.73, Z:13.84 [[ 9.01534746e-01 -4.12515473e-01 -1.30637231e-01 9.07364065e+01] [ 4.07694634e-01 9.10943798e-01 -6.29800100e-02 2.37293046e+01] [ 1.44983404e-01 3.51856911e-03 9.89427831e-01 1.38424873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.79, Y:23.75, Z:13.85 [[ 8.99760807e-01 -4.16376033e-01 -1.30619638e-01 9.07910920e+01] [ 4.11590277e-01 9.09187752e-01 -6.30164781e-02 2.37491776e+01] [ 1.44996326e-01 2.93798435e-03 9.89427831e-01 1.38511455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:23.77, Z:13.86 [[ 8.98281021e-01 -4.19563797e-01 -1.30604087e-01 9.08444238e+01] [ 4.14806815e-01 9.07722517e-01 -6.30486921e-02 2.37717373e+01] [ 1.45005219e-01 2.45997828e-03 9.89427832e-01 1.38607607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:23.79, Z:13.87 [[ 8.96738960e-01 -4.22854380e-01 -1.30588705e-01 9.08972264e+01] [ 4.18127410e-01 9.06195517e-01 -6.30805347e-02 2.37946384e+01] [ 1.45012780e-01 1.96405597e-03 9.89427833e-01 1.38726584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:23.82, Z:13.88 [[ 8.93446998e-01 -4.29770990e-01 -1.30573190e-01 9.09502071e+01] [ 4.25112542e-01 9.02937496e-01 -6.31126340e-02 2.38185905e+01] [ 1.45023409e-01 8.79492586e-04 9.89427833e-01 1.38825953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.00, Y:23.84, Z:13.89 [[ 8.93043112e-01 -4.30614284e-01 -1.30557797e-01 9.10026880e+01] [ 4.25960144e-01 9.02535724e-01 -6.31444621e-02 2.38442844e+01] [ 1.45023983e-01 7.78309145e-04 9.89427834e-01 1.38882184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:23.87, Z:13.90 [[ 8.93767641e-01 -4.29113049e-01 -1.30542697e-01 9.10555319e+01] [ 4.24438407e-01 9.03250173e-01 -6.31756636e-02 2.38700781e+01] [ 1.45022215e-01 1.05702953e-03 9.89427835e-01 1.38963021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:23.90, Z:13.90 [[ 8.94441931e-01 -4.27710361e-01 -1.30527696e-01 9.11077606e+01] [ 4.23016328e-01 9.03914878e-01 -6.32066416e-02 2.38968292e+01] [ 1.45020062e-01 1.31932370e-03 9.89427835e-01 1.39047702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:23.92, Z:13.91 [[ 8.94866982e-01 -4.26825018e-01 -1.30512407e-01 9.11592662e+01] [ 4.22117012e-01 9.04332991e-01 -6.32381956e-02 2.39232834e+01] [ 1.45018320e-01 1.49826588e-03 9.89427836e-01 1.39123118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:23.95, Z:13.92 [[ 8.94978734e-01 -4.26595881e-01 -1.30495288e-01 9.12115014e+01] [ 4.21880304e-01 9.04440973e-01 -6.32735027e-02 2.39492124e+01] [ 1.45017501e-01 1.57504765e-03 9.89427837e-01 1.39230015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:23.97, Z:13.93 [[ 8.95101699e-01 -4.26342399e-01 -1.30480296e-01 9.12628923e+01] [ 4.21619638e-01 9.04560354e-01 -6.33044036e-02 2.39745722e+01] [ 1.45016654e-01 1.65082407e-03 9.89427837e-01 1.39346040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.31, Y:24.00, Z:13.94 [[ 8.95344750e-01 -4.25833415e-01 -1.30474826e-01 9.13136883e+01] [ 4.21103635e-01 9.04799897e-01 -6.33156747e-02 2.40005332e+01] [ 1.45015540e-01 1.74593331e-03 9.89427837e-01 1.39430916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:24.03, Z:13.95 [[ 8.94467536e-01 -4.27674587e-01 -1.30469436e-01 9.13650834e+01] [ 4.22962650e-01 9.03931588e-01 -6.33267803e-02 2.40264821e+01] [ 1.45018699e-01 1.46005077e-03 9.89427837e-01 1.39505193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.42, Y:24.05, Z:13.96 [[ 8.92196637e-01 -4.32397176e-01 -1.30452459e-01 9.14166754e+01] [ 4.27730224e-01 9.01682952e-01 -6.33617348e-02 2.40505388e+01] [ 1.45024193e-01 7.32667306e-04 9.89427838e-01 1.39613666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.47, Y:24.08, Z:13.97 [[ 8.90278906e-01 -4.36337383e-01 -1.30434498e-01 9.14673793e+01] [ 4.31707003e-01 8.99783124e-01 -6.33986873e-02 2.40756940e+01] [ 1.45025977e-01 1.33027964e-04 9.89427839e-01 1.39688738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.52, Y:24.10, Z:13.98 [[ 8.89370661e-01 -4.38187954e-01 -1.30426778e-01 9.15196891e+01] [ 4.33575021e-01 8.98883360e-01 -6.34145654e-02 2.41011659e+01] [ 1.45025959e-01 -1.50738885e-04 9.89427839e-01 1.39781081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:24.13, Z:13.99 [[ 8.89005245e-01 -4.38933339e-01 -1.30411646e-01 9.15706899e+01] [ 4.34323819e-01 8.98519598e-01 -6.34456686e-02 2.41273316e+01] [ 1.45025839e-01 -2.37351888e-04 9.89427840e-01 1.39866043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:24.15, Z:14.00 [[ 8.89767771e-01 -4.37390819e-01 -1.30393960e-01 9.16210880e+01] [ 4.32759480e-01 8.99271521e-01 -6.34819955e-02 2.41532750e+01] [ 1.45026017e-01 5.50111241e-05 9.89427840e-01 1.39960699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:24.18, Z:14.00 [[ 8.90228701e-01 -4.36454153e-01 -1.30386477e-01 9.16718114e+01] [ 4.31810564e-01 8.99726471e-01 -6.34973622e-02 2.41794902e+01] [ 1.45025852e-01 2.24916133e-04 9.89427841e-01 1.40042134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.72, Y:24.21, Z:14.01 [[ 8.91096107e-01 -4.34685701e-01 -1.30368978e-01 9.17232622e+01] [ 4.30018009e-01 9.00582054e-01 -6.35332693e-02 2.42073587e+01] [ 1.45024966e-01 5.53240465e-04 9.89427841e-01 1.40093961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:24.23, Z:14.02 [[ 8.91990088e-01 -4.32852826e-01 -1.30353802e-01 9.17742890e+01] [ 4.28161095e-01 9.01464167e-01 -6.35643922e-02 2.42336951e+01] [ 1.45023308e-01 8.86381257e-04 9.89427842e-01 1.40187889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:24.26, Z:14.03 [[ 8.93022371e-01 -4.30724424e-01 -1.30336162e-01 9.18249821e+01] [ 4.26004837e-01 9.02482604e-01 -6.36005427e-02 2.42610523e+01] [ 1.45020426e-01 1.27287228e-03 9.89427843e-01 1.40281718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:24.29, Z:14.04 [[ 8.93744588e-01 -4.29229210e-01 -1.30318441e-01 9.18760058e+01] [ 4.24488505e-01 9.03194255e-01 -6.36368310e-02 2.42875594e+01] [ 1.45017654e-01 1.55639296e-03 9.89427844e-01 1.40360671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:91.93, Y:24.31, Z:14.04 [[ 8.95024367e-01 -4.26559561e-01 -1.30300896e-01 9.19270394e+01] [ 4.21785444e-01 9.04457197e-01 -6.36727365e-02 2.43134554e+01] [ 1.45011798e-01 2.02962939e-03 9.89427844e-01 1.40432115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:24.34, Z:14.05 [[ 8.96581569e-01 -4.23278359e-01 -1.30295512e-01 9.19777348e+01] [ 4.18468123e-01 9.05996032e-01 -6.36837520e-02 2.43396453e+01] [ 1.45003171e-01 2.57315993e-03 9.89427844e-01 1.40533761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:24.36, Z:14.06 [[ 8.97034630e-01 -4.22322838e-01 -1.30277750e-01 9.20292986e+01] [ 4.17497302e-01 9.06441259e-01 -6.37200680e-02 2.43647889e+01] [ 1.44999567e-01 2.76849859e-03 9.89427845e-01 1.40624720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.08, Y:24.39, Z:14.07 [[ 8.97515817e-01 -4.21304698e-01 -1.30260158e-01 9.20803171e+01] [ 4.16463277e-01 9.06914279e-01 -6.37560091e-02 2.43899426e+01] [ 1.44995504e-01 2.97345411e-03 9.89427846e-01 1.40723784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:24.42, Z:14.08 [[ 8.97646128e-01 -4.21032457e-01 -1.30242465e-01 9.21320656e+01] [ 4.16182947e-01 9.07040417e-01 -6.37921336e-02 2.44157571e+01] [ 1.44993738e-01 3.05806884e-03 9.89427847e-01 1.40796140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:24.44, Z:14.09 [[ 8.94132470e-01 -4.28449083e-01 -1.30224839e-01 9.21840888e+01] [ 4.23672272e-01 9.03563933e-01 -6.38280946e-02 2.44399487e+01] [ 1.45013556e-01 1.89811845e-03 9.89427848e-01 1.40919394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:24.47, Z:14.10 [[ 8.90749197e-01 -4.35443948e-01 -1.30209203e-01 9.22362593e+01] [ 4.30736545e-01 9.00215492e-01 -6.38599775e-02 2.44660399e+01] [ 1.45023782e-01 7.97361617e-04 9.89427848e-01 1.40967326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.29, Y:24.49, Z:14.10 [[ 8.90085228e-01 -4.36804105e-01 -1.30193935e-01 9.22873479e+01] [ 4.32106616e-01 8.99556447e-01 -6.38910890e-02 2.44915792e+01] [ 1.45024684e-01 6.10853823e-04 9.89427849e-01 1.41047490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.34, Y:24.52, Z:14.11 [[ 8.89686295e-01 -4.37621463e-01 -1.30175848e-01 9.23386996e+01] [ 4.32927286e-01 8.99159155e-01 -6.39279190e-02 2.45169562e+01] [ 1.45025035e-01 5.19116638e-04 9.89427850e-01 1.41127903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:92.39, Y:24.54, Z:14.12 [[ 8.90540777e-01 -4.35881652e-01 -1.30170313e-01 9.23903825e+01] [ 4.31167321e-01 9.00003623e-01 -6.39391888e-02 2.45429883e+01] [ 1.45023672e-01 8.15269747e-04 9.89427850e-01 1.41238427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:24.57, Z:14.13 [[ 8.91310536e-01 -4.34310007e-01 -1.30155085e-01 9.24416956e+01] [ 4.29574467e-01 9.00762785e-01 -6.39701711e-02 2.45687251e+01] [ 1.45021743e-01 1.10598606e-03 9.89427850e-01 1.41323281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:24.59, Z:14.14 [[ 8.92007592e-01 -4.32881823e-01 -1.30137558e-01 9.24939634e+01] [ 4.28125950e-01 9.01449626e-01 -6.40058081e-02 2.45942643e+01] [ 1.45019404e-01 1.37840109e-03 9.89427851e-01 1.41389163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.55, Y:24.62, Z:14.15 [[ 8.91277575e-01 -4.34387435e-01 -1.30122409e-01 9.25460865e+01] [ 4.29643018e-01 9.00725370e-01 -6.40365914e-02 2.46199853e+01] [ 1.45021246e-01 1.16819335e-03 9.89427852e-01 1.41496433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:24.65, Z:14.16 [[ 8.90177415e-01 -4.36642147e-01 -1.30106899e-01 9.25979864e+01] [ 4.31917058e-01 8.99634890e-01 -6.40680885e-02 2.46458135e+01] [ 1.45023533e-01 8.36576379e-04 9.89427852e-01 1.41610599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:24.67, Z:14.17 [[ 8.88686903e-01 -4.39672321e-01 -1.30091654e-01 9.26493241e+01] [ 4.34974950e-01 8.98158175e-01 -6.40990291e-02 2.46710061e+01] [ 1.45025451e-01 3.77356988e-04 9.89427853e-01 1.41709350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:24.70, Z:14.18 [[ 8.88204184e-01 -4.40651834e-01 -1.30074163e-01 9.27004496e+01] [ 4.35959713e-01 8.97678057e-01 -6.41345027e-02 2.46974899e+01] [ 1.45025709e-01 2.57438728e-04 9.89427854e-01 1.41779317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:24.72, Z:14.19 [[ 8.88326851e-01 -4.40409677e-01 -1.30056610e-01 9.27525177e+01] [ 4.35709764e-01 8.97796860e-01 -6.41700799e-02 2.47245833e+01] [ 1.45025540e-01 3.37070333e-04 9.89427854e-01 1.41856694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.80, Y:24.75, Z:14.19 [[ 8.89094884e-01 -4.38861663e-01 -1.30041255e-01 9.28046058e+01] [ 4.34140712e-01 8.98554423e-01 -6.42011816e-02 2.47527700e+01] [ 1.45024582e-01 6.24739043e-04 9.89427855e-01 1.41915821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:24.78, Z:14.20 [[ 8.89830942e-01 -4.37371642e-01 -1.30026695e-01 9.28540945e+01] [ 4.32630544e-01 8.99280399e-01 -6.42306573e-02 2.47796293e+01] [ 1.45023126e-01 9.00906639e-04 9.89427856e-01 1.41979875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:24.81, Z:14.21 [[ 8.90905685e-01 -4.35180574e-01 -1.30018955e-01 9.29041487e+01] [ 4.30413950e-01 9.00342291e-01 -6.42463209e-02 2.48087726e+01] [ 1.45020314e-01 1.27544063e-03 9.89427856e-01 1.42094528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:24.84, Z:14.22 [[ 8.92430357e-01 -4.32049891e-01 -1.30003651e-01 9.29550535e+01] [ 4.27245656e-01 9.01847870e-01 -6.42772738e-02 2.48373884e+01] [ 1.45014505e-01 1.81949523e-03 9.89427856e-01 1.42201481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:24.86, Z:14.23 [[ 8.93595359e-01 -4.29639895e-01 -1.29988059e-01 9.30048251e+01] [ 4.24805679e-01 9.02997516e-01 -6.43087902e-02 2.48641884e+01] [ 1.45008516e-01 2.24637072e-03 9.89427857e-01 1.42275151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:24.89, Z:14.23 [[ 8.94818948e-01 -4.27087999e-01 -1.29980350e-01 9.30556176e+01] [ 4.22224709e-01 9.04206100e-01 -6.43243681e-02 2.48943573e+01] [ 1.45001191e-01 2.67774800e-03 9.89427857e-01 1.42338455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:24.92, Z:14.24 [[ 8.94559698e-01 -4.27635396e-01 -1.29965050e-01 9.31068310e+01] [ 4.22773363e-01 9.03947500e-01 -6.43552655e-02 2.49224504e+01] [ 1.45002172e-01 2.62386548e-03 9.89427858e-01 1.42421301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.16, Y:24.95, Z:14.25 [[ 8.92782961e-01 -4.31337090e-01 -1.29949605e-01 9.31587602e+01] [ 4.26509447e-01 9.02188494e-01 -6.43864393e-02 2.49488656e+01] [ 1.45011297e-01 2.05838181e-03 9.89427858e-01 1.42528503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.21, Y:24.98, Z:14.26 [[ 8.87855912e-01 -4.41394373e-01 -1.29934165e-01 9.32092475e+01] [ 4.36668725e-01 8.97313100e-01 -6.44175824e-02 2.49764532e+01] [ 1.45025187e-01 4.55345235e-04 9.89427859e-01 1.42637289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.26, Y:25.00, Z:14.28 [[ 8.82478018e-01 -4.52055234e-01 -1.29917721e-01 9.32601652e+01] [ 4.47438946e-01 8.91989066e-01 -6.44507307e-02 2.50037010e+01] [ 1.45020476e-01 -1.25389481e-03 9.89427860e-01 1.42759926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:25.03, Z:14.28 [[ 8.79840852e-01 -4.57171639e-01 -1.29900607e-01 9.33109250e+01] [ 4.52605565e-01 8.89376108e-01 -6.44852045e-02 2.50316092e+01] [ 1.45011303e-01 -2.05702049e-03 9.89427860e-01 1.42842846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:25.06, Z:14.29 [[ 8.78659136e-01 -4.59443952e-01 -1.29882164e-01 9.33605631e+01] [ 4.54897050e-01 8.88203548e-01 -6.45223302e-02 2.50612751e+01] [ 1.45006194e-01 -2.38987834e-03 9.89427861e-01 1.42935551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:25.09, Z:14.30 [[ 8.79807911e-01 -4.57245509e-01 -1.29863717e-01 9.34103070e+01] [ 4.52669279e-01 8.89338295e-01 -6.45594373e-02 2.50909148e+01] [ 1.45012290e-01 -1.98541161e-03 9.89427862e-01 1.43022871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:25.12, Z:14.31 [[ 8.82884653e-01 -4.51281344e-01 -1.29845437e-01 9.34581912e+01] [ 4.46635322e-01 8.92381209e-01 -6.45961828e-02 2.51217644e+01] [ 1.45022680e-01 -9.62580113e-04 9.89427863e-01 1.43106824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.51, Y:25.15, Z:14.31 [[ 8.84955507e-01 -4.47209068e-01 -1.29837589e-01 9.35064941e+01] [ 4.42517031e-01 8.94429412e-01 -6.46119541e-02 2.51545512e+01] [ 1.45025610e-01 -2.76639607e-04 9.89427863e-01 1.43140568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:25.18, Z:14.32 [[ 8.85881792e-01 -4.45376535e-01 -1.29819844e-01 9.35557031e+01] [ 4.40659678e-01 8.95343363e-01 -6.46475879e-02 2.51842244e+01] [ 1.45025854e-01 6.37504209e-05 9.89427864e-01 1.43215030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:25.21, Z:14.33 [[ 8.86677219e-01 -4.43796054e-01 -1.29802047e-01 9.36051137e+01] [ 4.39057103e-01 8.96127743e-01 -6.46833009e-02 2.52144530e+01] [ 1.45025409e-01 3.62698483e-04 9.89427865e-01 1.43290345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:25.25, Z:14.33 [[ 8.84249276e-01 -4.48619228e-01 -1.29784461e-01 9.36532339e+01] [ 4.43926648e-01 8.93722909e-01 -6.47185675e-02 2.52507921e+01] [ 1.45025340e-01 -3.87434466e-04 9.89427865e-01 1.43256356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:25.27, Z:14.34 [[ 8.87449629e-01 -4.42259864e-01 -1.29766590e-01 9.37037474e+01] [ 4.37494160e-01 8.96886688e-01 -6.47543814e-02 2.52736881e+01] [ 1.45024191e-01 6.94126416e-04 9.89427866e-01 1.43449065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:25.30, Z:14.36 [[ 8.87895964e-01 -4.41364852e-01 -1.29760641e-01 9.37536404e+01] [ 4.36587893e-01 8.97327331e-01 -6.47663009e-02 2.53012199e+01] [ 1.45023338e-01 8.53812477e-04 9.89427866e-01 1.43556157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.80, Y:25.33, Z:14.36 [[ 8.89444149e-01 -4.38241896e-01 -1.29742616e-01 9.38032348e+01] [ 4.33426559e-01 8.98855978e-01 -6.48023901e-02 2.53313712e+01] [ 1.45019048e-01 1.40421130e-03 9.89427867e-01 1.43634800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:25.36, Z:14.37 [[ 8.90039072e-01 -4.37037742e-01 -1.29724565e-01 9.38543581e+01] [ 4.32204408e-01 8.99441670e-01 -6.48385043e-02 2.53579103e+01] [ 1.45016553e-01 1.64127320e-03 9.89427868e-01 1.43716370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.90, Y:25.39, Z:14.38 [[ 8.90994297e-01 -4.35092390e-01 -1.29706496e-01 9.39047519e+01] [ 4.30233269e-01 9.00383594e-01 -6.48746309e-02 2.53864713e+01] [ 1.45012059e-01 1.99887624e-03 9.89427869e-01 1.43790318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.96, Y:25.41, Z:14.39 [[ 8.90847991e-01 -4.35397231e-01 -1.29688507e-01 9.39563429e+01] [ 4.30536091e-01 9.00236242e-01 -6.49105720e-02 2.54140712e+01] [ 1.45012178e-01 1.98986956e-03 9.89427869e-01 1.43885836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:25.44, Z:14.40 [[ 8.90278454e-01 -4.36565474e-01 -1.29672129e-01 9.40072906e+01] [ 4.31711891e-01 8.99670614e-01 -6.49432745e-02 2.54397047e+01] [ 1.45014196e-01 1.83659798e-03 9.89427870e-01 1.43975968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:25.47, Z:14.41 [[ 8.90211936e-01 -4.36702803e-01 -1.29666386e-01 9.40590369e+01] [ 4.31848999e-01 8.99603982e-01 -6.49547396e-02 2.54656190e+01] [ 1.45014314e-01 1.82718553e-03 9.89427870e-01 1.44075057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:25.49, Z:14.42 [[ 8.90933107e-01 -4.35234353e-01 -1.29650519e-01 9.41102402e+01] [ 4.30360464e-01 9.00314745e-01 -6.49863951e-02 2.54918383e+01] [ 1.45010585e-01 2.10207344e-03 9.89427871e-01 1.44157894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.16, Y:25.52, Z:14.42 [[ 8.92273314e-01 -4.32485625e-01 -1.29632236e-01 9.41612896e+01] [ 4.27577543e-01 9.01637108e-01 -6.50228456e-02 2.55173513e+01] [ 1.45002680e-01 2.59031706e-03 9.89427872e-01 1.44230293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:25.54, Z:14.43 [[ 8.94325868e-01 -4.28227473e-01 -1.29624356e-01 9.42133963e+01] [ 4.23272537e-01 9.03664953e-01 -6.50385497e-02 2.55426896e+01] [ 1.44988282e-01 3.29922737e-03 9.89427872e-01 1.44311122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:25.57, Z:14.44 [[ 8.95600304e-01 -4.25561056e-01 -1.29606647e-01 9.42655140e+01] [ 4.20573217e-01 9.04921857e-01 -6.50738216e-02 2.55679851e+01] [ 1.44976772e-01 3.77104996e-03 9.89427872e-01 1.44386858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:25.59, Z:14.45 [[ 8.96412923e-01 -4.23852164e-01 -1.29588639e-01 9.43181875e+01] [ 4.18841379e-01 9.05722160e-01 -6.51096622e-02 2.55917095e+01] [ 1.44968174e-01 4.08805817e-03 9.89427873e-01 1.44463893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:25.62, Z:14.45 [[ 8.96750795e-01 -4.23142413e-01 -1.29570484e-01 9.43706624e+01] [ 4.18119048e-01 9.06053249e-01 -6.51457723e-02 2.56163422e+01] [ 1.44963697e-01 4.24363569e-03 9.89427874e-01 1.44537462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:25.64, Z:14.46 [[ 8.97454673e-01 -4.21653065e-01 -1.29552319e-01 9.44240440e+01] [ 4.16609057e-01 9.06745949e-01 -6.51818773e-02 2.56397767e+01] [ 1.44955178e-01 4.52511111e-03 9.89427875e-01 1.44608854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:25.66, Z:14.47 [[ 8.98055592e-01 -4.20376614e-01 -1.29536312e-01 9.44763029e+01] [ 4.15314820e-01 9.07337190e-01 -6.52136726e-02 2.56635296e+01] [ 1.44947416e-01 4.76715334e-03 9.89427876e-01 1.44690096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:25.69, Z:14.48 [[ 8.99867678e-01 -4.16489169e-01 -1.29518086e-01 9.45285991e+01] [ 4.11382087e-01 9.09124433e-01 -6.52498506e-02 2.56863617e+01] [ 1.44923912e-01 5.43481116e-03 9.89427876e-01 1.44785154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:25.71, Z:14.49 [[ 9.02015208e-01 -4.11823122e-01 -1.29500117e-01 9.45819556e+01] [ 4.06663062e-01 9.11242535e-01 -6.52854940e-02 2.57099351e+01] [ 1.44892091e-01 6.22559441e-03 9.89427877e-01 1.44854372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.63, Y:25.73, Z:14.49 [[ 9.03300321e-01 -4.09001673e-01 -1.29484214e-01 9.46338804e+01] [ 4.03808290e-01 9.12508933e-01 -6.53170188e-02 2.57337155e+01] [ 1.44870272e-01 6.71408487e-03 9.89427878e-01 1.44941381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.69, Y:25.76, Z:14.51 [[ 9.03980508e-01 -4.07501920e-01 -1.29465929e-01 9.46871538e+01] [ 4.02288087e-01 9.13177556e-01 -6.53532429e-02 2.57570706e+01] [ 1.44856953e-01 6.99545673e-03 9.89427879e-01 1.45050532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:25.78, Z:14.51 [[ 9.03060925e-01 -4.09540880e-01 -1.29449730e-01 9.47403855e+01] [ 4.04343230e-01 9.12267128e-01 -6.53853144e-02 2.57807738e+01] [ 1.44870692e-01 6.70480067e-03 9.89427879e-01 1.45145834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:25.80, Z:14.53 [[ 9.00185860e-01 -4.15827426e-01 -1.29433262e-01 9.47942487e+01] [ 4.10689415e-01 9.09425480e-01 -6.54178977e-02 2.58020789e+01] [ 1.44912462e-01 5.73139595e-03 9.89427880e-01 1.45263338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:25.83, Z:14.54 [[ 8.98331989e-01 -4.19822377e-01 -1.29417193e-01 9.48467658e+01] [ 4.14720893e-01 9.07591826e-01 -6.54496707e-02 2.58254398e+01] [ 1.44935223e-01 5.12351886e-03 9.89427880e-01 1.45353256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.90, Y:25.86, Z:14.53 [[ 8.93916368e-01 -4.29149778e-01 -1.29398591e-01 9.48987429e+01] [ 4.24139633e-01 9.03225940e-01 -6.54864282e-02 2.58559950e+01] [ 1.44979650e-01 3.65631898e-03 9.89427881e-01 1.45296748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:25.87, Z:14.55 [[ 8.95892141e-01 -4.25014801e-01 -1.29381954e-01 9.49540980e+01] [ 4.19956955e-01 9.05175883e-01 -6.55192813e-02 2.58717026e+01] [ 1.44960089e-01 4.36335757e-03 9.89427882e-01 1.45483476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:25.90, Z:14.56 [[ 8.96029584e-01 -4.24730699e-01 -1.29363126e-01 9.50067128e+01] [ 4.19664551e-01 9.05308797e-01 -6.55564367e-02 2.58966034e+01] [ 1.44957407e-01 4.45138872e-03 9.89427883e-01 1.45582885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:25.92, Z:14.57 [[ 8.96697941e-01 -4.23322866e-01 -1.29346644e-01 9.50597534e+01] [ 4.18237468e-01 9.05966617e-01 -6.55889394e-02 2.59212294e+01] [ 1.44949040e-01 4.71585396e-03 9.89427884e-01 1.45675560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:25.95, Z:14.58 [[ 8.97502354e-01 -4.21619729e-01 -1.29330306e-01 9.51102935e+01] [ 4.16512110e-01 9.06758804e-01 -6.56211394e-02 2.59460856e+01] [ 1.44938561e-01 5.02748824e-03 9.89427884e-01 1.45756586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:25.97, Z:14.58 [[ 8.98806111e-01 -4.18835672e-01 -1.29322287e-01 9.51622099e+01] [ 4.13697116e-01 9.08045422e-01 -6.56369389e-02 2.59719098e+01] [ 1.44921602e-01 5.49462449e-03 9.89427884e-01 1.45823139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:26.00, Z:14.59 [[ 8.98898213e-01 -4.18643664e-01 -1.29303846e-01 9.52135333e+01] [ 4.13497920e-01 9.08133522e-01 -6.56732487e-02 2.59972469e+01] [ 1.44918846e-01 5.56669460e-03 9.89427885e-01 1.45904794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:26.02, Z:14.60 [[ 8.97673273e-01 -4.21269438e-01 -1.29285557e-01 9.52651983e+01] [ 4.16145537e-01 9.06920718e-01 -6.57092320e-02 2.60197152e+01] [ 1.44933042e-01 5.18381366e-03 9.89427886e-01 1.45985651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.32, Y:26.04, Z:14.61 [[ 8.95878810e-01 -4.25074628e-01 -1.29277684e-01 9.53181820e+01] [ 4.19987779e-01 9.05146688e-01 -6.57247196e-02 2.60431579e+01] [ 1.44953178e-01 4.58633631e-03 9.89427886e-01 1.46066799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:26.07, Z:14.61 [[ 8.94918662e-01 -4.27097955e-01 -1.29259137e-01 9.53706374e+01] [ 4.22026802e-01 9.04195137e-01 -6.57611749e-02 2.60681257e+01] [ 1.44961946e-01 4.30008246e-03 9.89427887e-01 1.46147190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:26.09, Z:14.62 [[ 8.94307357e-01 -4.28382313e-01 -1.29239877e-01 9.54229755e+01] [ 4.23319021e-01 9.03588124e-01 -6.57990042e-02 2.60928175e+01] [ 1.44966748e-01 4.13483520e-03 9.89427888e-01 1.46231235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:26.12, Z:14.63 [[ 8.94329273e-01 -4.28342335e-01 -1.29220722e-01 9.54753006e+01] [ 4.23273201e-01 9.03606850e-01 -6.58366009e-02 2.61158434e+01] [ 1.44965333e-01 4.18393064e-03 9.89427889e-01 1.46310855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:26.14, Z:14.64 [[ 8.94168300e-01 -4.28683943e-01 -1.29201893e-01 9.55273832e+01] [ 4.23613023e-01 9.03444898e-01 -6.58735322e-02 2.61410614e+01] [ 1.44965717e-01 4.17041980e-03 9.89427890e-01 1.46404691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:26.17, Z:14.65 [[ 8.94269101e-01 -4.28478537e-01 -1.29185598e-01 9.55784754e+01] [ 4.23400876e-01 9.03542012e-01 -6.59054743e-02 2.61659089e+01] [ 1.44963696e-01 4.23993414e-03 9.89427890e-01 1.46517019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:26.19, Z:14.66 [[ 8.92772053e-01 -4.31590805e-01 -1.29179868e-01 9.56300950e+01] [ 4.26543851e-01 9.02061712e-01 -6.59167024e-02 2.61922143e+01] [ 1.44977256e-01 3.74771124e-03 9.89427890e-01 1.46603155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:26.22, Z:14.67 [[ 8.88641791e-01 -4.40037656e-01 -1.29161249e-01 9.56816243e+01] [ 4.35073726e-01 8.97976076e-01 -6.59531657e-02 2.62172982e+01] [ 1.45005588e-01 2.41407342e-03 9.89427891e-01 1.46685409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.73, Y:26.24, Z:14.67 [[ 8.87077351e-01 -4.43188315e-01 -1.29142907e-01 9.57332448e+01] [ 4.38252314e-01 8.96426435e-01 -6.59890621e-02 2.62434573e+01] [ 1.45012697e-01 1.94022452e-03 9.89427892e-01 1.46747084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:26.27, Z:14.68 [[ 8.86281762e-01 -4.44782421e-01 -1.29124882e-01 9.57852182e+01] [ 4.39858101e-01 8.95637003e-01 -6.60243139e-02 2.62691019e+01] [ 1.45015477e-01 1.71951981e-03 9.89427893e-01 1.46800429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:26.29, Z:14.69 [[ 8.87549568e-01 -4.42252432e-01 -1.29106741e-01 9.58363504e+01] [ 4.37296289e-01 8.96887988e-01 -6.60597688e-02 2.62946185e+01] [ 1.45009379e-01 2.17342040e-03 9.89427893e-01 1.46899235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:26.32, Z:14.70 [[ 8.88819164e-01 -4.39700682e-01 -1.29088361e-01 9.58874047e+01] [ 4.34712518e-01 8.98140518e-01 -6.60956673e-02 2.63207735e+01] [ 1.45001797e-01 2.63076950e-03 9.89427894e-01 1.46986920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:26.35, Z:14.71 [[ 8.91358778e-01 -4.34534795e-01 -1.29069906e-01 9.59388362e+01] [ 4.29487405e-01 9.00648194e-01 -6.61316853e-02 2.63481636e+01] [ 1.44983096e-01 3.51315921e-03 9.89427895e-01 1.47086829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:26.38, Z:14.72 [[ 8.93094564e-01 -4.30960847e-01 -1.29053666e-01 9.59901490e+01] [ 4.25871714e-01 9.02361177e-01 -6.61633621e-02 2.63767859e+01] [ 1.44966837e-01 4.12983303e-03 9.89427896e-01 1.47167481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:26.40, Z:14.73 [[ 8.93679247e-01 -4.29751939e-01 -1.29037490e-01 9.60409326e+01] [ 4.24645723e-01 9.02936457e-01 -6.61948957e-02 2.64040601e+01] [ 1.44960039e-01 4.36178637e-03 9.89427896e-01 1.47251693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:26.43, Z:14.73 [[ 8.93432159e-01 -4.30270967e-01 -1.29018881e-01 9.60913046e+01] [ 4.25164899e-01 9.02689450e-01 -6.62311472e-02 2.64317620e+01] [ 1.44961322e-01 4.31873754e-03 9.89427897e-01 1.47326902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:26.46, Z:14.74 [[ 8.92549541e-01 -4.32104408e-01 -1.29000375e-01 9.61421050e+01] [ 4.27012156e-01 9.01814438e-01 -6.62671719e-02 2.64591544e+01] [ 1.44968738e-01 4.06200570e-03 9.89427898e-01 1.47404983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:26.49, Z:14.75 [[ 8.90030668e-01 -4.37274755e-01 -1.28981387e-01 9.61944237e+01] [ 4.32230984e-01 8.99322046e-01 -6.63041084e-02 2.64864144e+01] [ 1.44988918e-01 3.26293785e-03 9.89427899e-01 1.47472704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:26.51, Z:14.76 [[ 8.87484032e-01 -4.42425291e-01 -1.28964938e-01 9.62449637e+01] [ 4.37430804e-01 8.96801993e-01 -6.63360884e-02 2.65116408e+01] [ 1.45004777e-01 2.45898276e-03 9.89427899e-01 1.47557974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.30, Y:26.54, Z:14.77 [[ 8.84335287e-01 -4.48689641e-01 -1.28952340e-01 9.62959297e+01] [ 4.43757597e-01 8.93686450e-01 -6.63605694e-02 2.65363882e+01] [ 1.45018259e-01 1.46141279e-03 9.89427900e-01 1.47655940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:26.56, Z:14.77 [[ 8.83496197e-01 -4.50341150e-01 -1.28946962e-01 9.63460836e+01] [ 4.45425061e-01 8.92855757e-01 -6.63710169e-02 2.65624467e+01] [ 1.45020638e-01 1.20233242e-03 9.89427900e-01 1.47741254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:26.59, Z:14.78 [[ 8.84147057e-01 -4.49065287e-01 -1.28935450e-01 9.63974394e+01] [ 4.44132432e-01 8.93497791e-01 -6.63933733e-02 2.65901870e+01] [ 1.45018499e-01 1.43709057e-03 9.89427900e-01 1.47844728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:26.62, Z:14.79 [[ 8.86312271e-01 -4.44781263e-01 -1.28919303e-01 9.64467591e+01] [ 4.39798657e-01 8.95636589e-01 -6.64247126e-02 2.66175417e+01] [ 1.45009312e-01 2.17450166e-03 9.89427901e-01 1.47935523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:26.64, Z:14.80 [[ 8.87784500e-01 -4.41837604e-01 -1.28911649e-01 9.64971512e+01] [ 4.36821927e-01 8.97091070e-01 -6.64395633e-02 2.66447688e+01] [ 1.45000987e-01 2.67257954e-03 9.89427901e-01 1.48012401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.55, Y:26.67, Z:14.81 [[ 8.90047876e-01 -4.37265653e-01 -1.28893474e-01 9.65475524e+01] [ 4.32197076e-01 8.99325741e-01 -6.64748057e-02 2.66728502e+01] [ 1.44984368e-01 3.45837728e-03 9.89427902e-01 1.48063414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.60, Y:26.70, Z:14.81 [[ 8.90989871e-01 -4.35348393e-01 -1.28875237e-01 9.65994018e+01] [ 4.30254745e-01 9.00253995e-01 -6.65101428e-02 2.67003891e+01] [ 1.44975531e-01 3.81068142e-03 9.89427903e-01 1.48125645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:26.73, Z:14.82 [[ 8.91370508e-01 -4.34573365e-01 -1.28858868e-01 9.66506258e+01] [ 4.29467084e-01 9.00627674e-01 -6.65418418e-02 2.67264562e+01] [ 1.44971174e-01 3.97279316e-03 9.89427903e-01 1.48209280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:26.75, Z:14.83 [[ 8.90850018e-01 -4.35644944e-01 -1.28839930e-01 9.67021976e+01] [ 4.30544502e-01 9.00110402e-01 -6.65784898e-02 2.67516658e+01] [ 1.44974744e-01 3.84012540e-03 9.89427904e-01 1.48329571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:26.78, Z:14.84 [[ 8.89630811e-01 -4.38134155e-01 -1.28823453e-01 9.67534448e+01] [ 4.33055015e-01 8.98902895e-01 -6.66103565e-02 2.67769171e+01] [ 1.44984047e-01 3.47098318e-03 9.89427905e-01 1.48418569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:26.80, Z:14.85 [[ 8.88276923e-01 -4.40878107e-01 -1.28804512e-01 9.68055985e+01] [ 4.35822306e-01 8.97561753e-01 -6.66469633e-02 2.68020632e+01] [ 1.44993190e-01 3.06508020e-03 9.89427905e-01 1.48487757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:26.83, Z:14.86 [[ 8.87489121e-01 -4.42467329e-01 -1.28785574e-01 9.68576534e+01] [ 4.37422849e-01 8.96780105e-01 -6.66835376e-02 2.68267057e+01] [ 1.44997627e-01 2.84716143e-03 9.89427906e-01 1.48561996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:96.91, Y:26.85, Z:14.86 [[ 8.87273897e-01 -4.42904188e-01 -1.28766893e-01 9.69090138e+01] [ 4.37859052e-01 8.96564524e-01 -6.67195923e-02 2.68508255e+01] [ 1.44998215e-01 2.81680301e-03 9.89427907e-01 1.48645949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:26.88, Z:14.87 [[ 8.87931573e-01 -4.41586552e-01 -1.28758843e-01 9.69609585e+01] [ 4.36525380e-01 8.97213473e-01 -6.67351243e-02 2.68754414e+01] [ 1.44993502e-01 3.04972130e-03 9.89427907e-01 1.48719829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.01, Y:26.90, Z:14.88 [[ 8.88902897e-01 -4.39633511e-01 -1.28740111e-01 9.70119142e+01] [ 4.34546718e-01 8.98170781e-01 -6.67712408e-02 2.69005188e+01] [ 1.44985481e-01 3.40955670e-03 9.89427908e-01 1.48793996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:26.93, Z:14.89 [[ 8.91222008e-01 -4.34916748e-01 -1.28727445e-01 9.70642598e+01] [ 4.29777392e-01 9.00460846e-01 -6.67956501e-02 2.69260089e+01] [ 1.44964571e-01 4.20560786e-03 9.89427908e-01 1.48853040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.12, Y:26.95, Z:14.90 [[ 8.93314345e-01 -4.30608977e-01 -1.28706604e-01 9.71158830e+01] [ 4.25419302e-01 9.02525011e-01 -6.68357851e-02 2.69502302e+01] [ 1.44941018e-01 4.95109208e-03 9.89427909e-01 1.48950895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:26.98, Z:14.90 [[ 8.92497080e-01 -4.32302391e-01 -1.28699670e-01 9.71673830e+01] [ 4.27128270e-01 9.01716493e-01 -6.68491345e-02 2.69759874e+01] [ 1.44949655e-01 4.69139002e-03 9.89427910e-01 1.49029715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:27.00, Z:14.92 [[ 8.86904567e-01 -4.43668343e-01 -1.28680577e-01 9.72189238e+01] [ 4.38607091e-01 8.96186421e-01 -6.68858671e-02 2.69987411e+01] [ 1.44996927e-01 2.88116752e-03 9.89427910e-01 1.49151474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:27.02, Z:14.92 [[ 8.82230691e-01 -4.52893049e-01 -1.28673590e-01 9.72711684e+01] [ 4.47926906e-01 8.91563778e-01 -6.68993050e-02 2.70230063e+01] [ 1.45018943e-01 1.38425685e-03 9.89427911e-01 1.49237191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:27.05, Z:14.93 [[ 8.81009200e-01 -4.55269888e-01 -1.28655034e-01 9.73235999e+01] [ 4.50323716e-01 8.90352885e-01 -6.69349721e-02 2.70487719e+01] [ 1.45021858e-01 1.03391321e-03 9.89427911e-01 1.49267210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:27.07, Z:14.94 [[ 8.82109660e-01 -4.53136425e-01 -1.28646525e-01 9.73750254e+01] [ 4.48165271e-01 8.91440077e-01 -6.69513215e-02 2.70734195e+01] [ 1.45018751e-01 1.40350244e-03 9.89427912e-01 1.49366677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:27.10, Z:14.95 [[ 8.84452997e-01 -4.48550537e-01 -1.28628581e-01 9.74261410e+01] [ 4.43525998e-01 8.93754773e-01 -6.69857792e-02 2.71001381e+01] [ 1.45008916e-01 2.19565349e-03 9.89427912e-01 1.49473656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:27.13, Z:14.96 [[ 8.86056472e-01 -4.45379393e-01 -1.28612308e-01 9.74766606e+01] [ 4.40317034e-01 8.95337719e-01 -6.70170097e-02 2.71274041e+01] [ 1.44999445e-01 2.75066541e-03 9.89427913e-01 1.49558561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:27.15, Z:14.96 [[ 8.87973821e-01 -4.41549776e-01 -1.28593503e-01 9.75269762e+01] [ 4.36442173e-01 8.97230246e-01 -6.70530723e-02 2.71540463e+01] [ 1.44985250e-01 3.41774465e-03 9.89427914e-01 1.49623369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:27.18, Z:14.97 [[ 8.89181771e-01 -4.39114538e-01 -1.28585381e-01 9.75787169e+01] [ 4.33979337e-01 8.98422914e-01 -6.70686443e-02 2.71800563e+01] [ 1.44974870e-01 3.83281736e-03 9.89427914e-01 1.49713484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:27.21, Z:14.98 [[ 8.89874865e-01 -4.37713660e-01 -1.28567010e-01 9.76300541e+01] [ 4.32558832e-01 8.99105073e-01 -6.71038429e-02 2.72069465e+01] [ 1.44967520e-01 4.10122751e-03 9.89427915e-01 1.49798782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:27.23, Z:14.99 [[ 8.89339385e-01 -4.38806238e-01 -1.28547825e-01 9.76804663e+01] [ 4.33657445e-01 8.98572960e-01 -6.71405740e-02 2.72318471e+01] [ 1.44971303e-01 3.96503522e-03 9.89427915e-01 1.49876127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:27.26, Z:15.00 [[ 8.87871115e-01 -4.41771961e-01 -1.28539556e-01 9.77322252e+01] [ 4.36651723e-01 8.97120555e-01 -6.71564016e-02 2.72574478e+01] [ 1.44983293e-01 3.49921041e-03 9.89427916e-01 1.49958598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:27.28, Z:15.01 [[ 8.85776597e-01 -4.45962179e-01 -1.28520642e-01 9.77840913e+01] [ 4.40880455e-01 8.95047251e-01 -6.71925787e-02 2.72819776e+01] [ 1.44997397e-01 2.85537446e-03 9.89427916e-01 1.50054229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:27.31, Z:15.01 [[ 8.84905802e-01 -4.47692998e-01 -1.28501757e-01 9.78354060e+01] [ 4.42624168e-01 8.94183511e-01 -6.72286761e-02 2.73069637e+01] [ 1.45001960e-01 2.61306216e-03 9.89427917e-01 1.50142366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:27.33, Z:15.02 [[ 8.84344223e-01 -4.48806729e-01 -1.28482743e-01 9.78859621e+01] [ 4.43744308e-01 8.93625430e-01 -6.72649964e-02 2.73318923e+01] [ 1.45004429e-01 2.47192520e-03 9.89427918e-01 1.50206436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:27.36, Z:15.03 [[ 8.83649858e-01 -4.50174587e-01 -1.28474784e-01 9.79371996e+01] [ 4.45124324e-01 8.92937686e-01 -6.72801946e-02 2.73576710e+01] [ 1.45007810e-01 2.26488321e-03 9.89427918e-01 1.50293569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:27.38, Z:15.04 [[ 8.83724883e-01 -4.50032728e-01 -1.28455729e-01 9.79883809e+01] [ 4.44975690e-01 8.93009024e-01 -6.73165558e-02 2.73841399e+01] [ 1.45006778e-01 2.32963882e-03 9.89427919e-01 1.50392803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:27.41, Z:15.05 [[ 8.84233365e-01 -4.49038186e-01 -1.28437003e-01 9.80405685e+01] [ 4.43965521e-01 8.93508975e-01 -6.73522646e-02 2.74114512e+01] [ 1.45003354e-01 2.53351848e-03 9.89427920e-01 1.50470288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:27.44, Z:15.05 [[ 8.84640961e-01 -4.48237247e-01 -1.28427961e-01 9.80909021e+01] [ 4.43153683e-01 8.93910602e-01 -6.73695023e-02 2.74384790e+01] [ 1.45000636e-01 2.68449736e-03 9.89427920e-01 1.50538517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.14, Y:27.47, Z:15.06 [[ 8.85141135e-01 -4.47250415e-01 -1.28422105e-01 9.81418933e+01] [ 4.42154897e-01 8.94404211e-01 -6.73806634e-02 2.74657827e+01] [ 1.44997301e-01 2.85893427e-03 9.89427920e-01 1.50629671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.19, Y:27.49, Z:15.07 [[ 8.85219964e-01 -4.47099869e-01 -1.28402971e-01 9.81932220e+01] [ 4.41997492e-01 8.94479262e-01 -6.74171071e-02 2.74934789e+01] [ 1.44995974e-01 2.92517809e-03 9.89427921e-01 1.50740916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.24, Y:27.52, Z:15.08 [[ 8.84098348e-01 -4.49318428e-01 -1.28386378e-01 9.82437171e+01] [ 4.44234703e-01 8.93367899e-01 -6.74486899e-02 2.75207207e+01] [ 1.45002208e-01 2.59759070e-03 9.89427922e-01 1.50826216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:98.29, Y:27.55, Z:15.09 [[ 8.80593969e-01 -4.56149857e-01 -1.28380566e-01 9.82937528e+01] [ 4.51136439e-01 8.89901733e-01 -6.74597513e-02 2.75482524e+01] [ 1.45017844e-01 1.48749866e-03 9.89427922e-01 1.50911420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:27.58, Z:15.10 [[ 8.79189594e-01 -4.58856076e-01 -1.28361830e-01 9.83448952e+01] [ 4.53866106e-01 8.88509950e-01 -6.74953838e-02 2.75767838e+01] [ 1.45021430e-01 1.08215512e-03 9.89427922e-01 1.50962510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:27.61, Z:15.10 [[ 8.79338407e-01 -4.58575335e-01 -1.28345732e-01 9.83954548e+01] [ 4.53577925e-01 8.88654774e-01 -6.75259812e-02 2.76054776e+01] [ 1.45020797e-01 1.16339811e-03 9.89427923e-01 1.51045577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:27.63, Z:15.11 [[ 8.81596561e-01 -4.54223697e-01 -1.28329020e-01 9.84446308e+01] [ 4.49175682e-01 8.90885605e-01 -6.75577256e-02 2.76339373e+01] [ 1.45012797e-01 1.91638328e-03 9.89427924e-01 1.51131348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.49, Y:27.66, Z:15.12 [[ 8.83417481e-01 -4.50674295e-01 -1.28320823e-01 9.84947353e+01] [ 4.45586700e-01 8.92684907e-01 -6.75732922e-02 2.76632201e+01] [ 1.45003608e-01 2.51737545e-03 9.89427924e-01 1.51235861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.54, Y:27.69, Z:15.13 [[ 8.86513017e-01 -4.44558946e-01 -1.28304378e-01 9.85436079e+01] [ 4.39402920e-01 8.95742544e-01 -6.76045024e-02 2.76942786e+01] [ 1.44981877e-01 3.55495292e-03 9.89427924e-01 1.51340996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:27.73, Z:15.14 [[ 8.85410700e-01 -4.46755028e-01 -1.28288101e-01 9.85926589e+01] [ 4.41617424e-01 8.94650494e-01 -6.76353775e-02 2.77260739e+01] [ 1.44989458e-01 3.23082643e-03 9.89427925e-01 1.51402883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:27.76, Z:15.15 [[ 8.83019503e-01 -4.51467629e-01 -1.28271340e-01 9.86404643e+01] [ 4.46374729e-01 8.92284012e-01 -6.76671500e-02 2.77560760e+01] [ 1.45003993e-01 2.49432872e-03 9.89427926e-01 1.51533893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.69, Y:27.79, Z:15.16 [[ 8.81648242e-01 -4.54141320e-01 -1.28265504e-01 9.86896436e+01] [ 4.49074908e-01 8.90927262e-01 -6.76782103e-02 2.77875480e+01] [ 1.45010706e-01 2.06755574e-03 9.89427926e-01 1.51605138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:27.82, Z:15.17 [[ 8.80602259e-01 -4.56171538e-01 -1.28246594e-01 9.87396918e+01] [ 4.51121304e-01 8.89890094e-01 -6.77140245e-02 2.78185806e+01] [ 1.45014584e-01 1.77435218e-03 9.89427927e-01 1.51675352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.79, Y:27.85, Z:15.18 [[ 8.80840692e-01 -4.55715593e-01 -1.28230162e-01 9.87901341e+01] [ 4.50656024e-01 8.90123444e-01 -6.77451282e-02 2.78468152e+01] [ 1.45013185e-01 1.88497060e-03 9.89427927e-01 1.51753769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.84, Y:27.88, Z:15.18 [[ 8.82441736e-01 -4.52612868e-01 -1.28211445e-01 9.88395249e+01] [ 4.47515519e-01 8.91703796e-01 -6.77805332e-02 2.78770999e+01] [ 1.45004973e-01 2.43576009e-03 9.89427928e-01 1.51840798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.89, Y:27.91, Z:15.19 [[ 8.84327526e-01 -4.48921900e-01 -1.28194986e-01 9.88890796e+01] [ 4.43781389e-01 8.93565699e-01 -6.78116488e-02 2.79074738e+01] [ 1.44992776e-01 3.07715886e-03 9.89427929e-01 1.51938432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:27.93, Z:15.21 [[ 8.85649209e-01 -4.46313522e-01 -1.28178465e-01 9.89392158e+01] [ 4.41141291e-01 8.94869660e-01 -6.78428626e-02 2.79344241e+01] [ 1.44982206e-01 3.54016423e-03 9.89427929e-01 1.52054078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:27.96, Z:15.21 [[ 8.86734006e-01 -4.44156026e-01 -1.28172644e-01 9.89899200e+01] [ 4.38959775e-01 8.95940941e-01 -6.78538575e-02 2.79640967e+01] [ 1.44972819e-01 3.90568790e-03 9.89427929e-01 1.52135804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:27.99, Z:15.22 [[ 8.87688440e-01 -4.42250189e-01 -1.28156167e-01 9.90401887e+01] [ 4.37029686e-01 8.96881645e-01 -6.78849637e-02 2.79919130e+01] [ 1.44963052e-01 4.25264811e-03 9.89427930e-01 1.52220755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.09, Y:28.02, Z:15.23 [[ 8.89575692e-01 -4.38443353e-01 -1.28150362e-01 9.90903692e+01] [ 4.33181939e-01 8.98745544e-01 -6.78959196e-02 2.80185157e+01] [ 1.44943082e-01 4.88613715e-03 9.89427930e-01 1.52328328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:28.05, Z:15.24 [[ 8.92533399e-01 -4.32396434e-01 -1.28130615e-01 9.91409450e+01] [ 4.27067577e-01 9.01664222e-01 -6.79331667e-02 2.80477607e+01] [ 1.44904850e-01 5.91218905e-03 9.89427931e-01 1.52365734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.19, Y:28.07, Z:15.24 [[ 8.94385246e-01 -4.28554686e-01 -1.28124599e-01 9.91923221e+01] [ 4.23184996e-01 9.03492115e-01 -6.79445106e-02 2.80749290e+01] [ 1.44877503e-01 6.54815994e-03 9.89427931e-01 1.52440852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:28.10, Z:15.25 [[ 8.96126577e-01 -4.24907380e-01 -1.28104945e-01 9.92431079e+01] [ 4.19495354e-01 9.05208350e-01 -6.79815468e-02 2.81002392e+01] [ 1.44847527e-01 7.18064146e-03 9.89427932e-01 1.52519800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:28.13, Z:15.26 [[ 8.96166003e-01 -4.24826778e-01 -1.28096460e-01 9.92947841e+01] [ 4.19411658e-01 9.05245932e-01 -6.79975324e-02 2.81251765e+01] [ 1.44845971e-01 7.21192842e-03 9.89427932e-01 1.52602847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:28.15, Z:15.27 [[ 8.95422107e-01 -4.26398250e-01 -1.28077253e-01 9.93478102e+01] [ 4.20993910e-01 9.04508455e-01 -6.80336897e-02 2.81500894e+01] [ 1.44856405e-01 6.99912622e-03 9.89427933e-01 1.52707205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:28.17, Z:15.28 [[ 8.93319607e-01 -4.30790767e-01 -1.28060122e-01 9.94005060e+01] [ 4.25426509e-01 9.02429674e-01 -6.80659201e-02 2.81730675e+01] [ 1.44887424e-01 6.32445025e-03 9.89427934e-01 1.52795427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:28.20, Z:15.29 [[ 8.91893620e-01 -4.33741226e-01 -1.28040303e-01 9.94516437e+01] [ 4.28401771e-01 9.01018246e-01 -6.81031827e-02 2.81971928e+01] [ 1.44905807e-01 5.88810165e-03 9.89427934e-01 1.52860431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:28.22, Z:15.29 [[ 8.90071766e-01 -4.37471527e-01 -1.28027006e-01 9.95053189e+01] [ 4.32166733e-01 8.99216586e-01 -6.81281696e-02 2.82199374e+01] [ 1.44928142e-01 5.30994720e-03 9.89427935e-01 1.52935978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.56, Y:28.24, Z:15.30 [[ 8.88645151e-01 -4.40367130e-01 -1.28010101e-01 9.95586087e+01] [ 4.35087571e-01 8.97804562e-01 -6.81599199e-02 2.82422657e+01] [ 1.44943441e-01 4.87437854e-03 9.89427935e-01 1.53012213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:28.27, Z:15.31 [[ 8.88119688e-01 -4.41431461e-01 -1.27990956e-01 9.96110718e+01] [ 4.36157707e-01 8.97282442e-01 -6.81958524e-02 2.82657584e+01] [ 1.44947832e-01 4.74183753e-03 9.89427936e-01 1.53102034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:28.29, Z:15.32 [[ 8.86667055e-01 -4.44347583e-01 -1.27971712e-01 9.96642998e+01] [ 4.39098764e-01 8.95844114e-01 -6.82319446e-02 2.82880149e+01] [ 1.44961405e-01 4.30679677e-03 9.89427937e-01 1.53195383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:28.31, Z:15.33 [[ 8.83557521e-01 -4.50504498e-01 -1.27952350e-01 9.97162405e+01] [ 4.45314390e-01 8.92767910e-01 -6.82682337e-02 2.83111028e+01] [ 1.44986899e-01 3.33988839e-03 9.89427938e-01 1.53281250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:28.34, Z:15.34 [[ 8.81042724e-01 -4.55405359e-01 -1.27944041e-01 9.97673460e+01] [ 4.50264231e-01 8.90280543e-01 -6.82838032e-02 2.83364526e+01] [ 1.45002900e-01 2.55232279e-03 9.89427938e-01 1.53368421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.82, Y:28.36, Z:15.34 [[ 8.80133201e-01 -4.57165976e-01 -1.27925051e-01 9.98180295e+01] [ 4.52038161e-01 8.89378415e-01 -6.83193611e-02 2.83635857e+01] [ 1.45007067e-01 2.30313307e-03 9.89427939e-01 1.53444397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:28.39, Z:15.35 [[ 8.80993443e-01 -4.55511396e-01 -1.27905912e-01 9.98694053e+01] [ 4.50361020e-01 8.90226107e-01 -6.83551746e-02 2.83916264e+01] [ 1.45001743e-01 2.61662372e-03 9.89427940e-01 1.53524271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.92, Y:28.42, Z:15.36 [[ 8.82829382e-01 -4.51947583e-01 -1.27889262e-01 9.99196115e+01] [ 4.46755433e-01 8.92038618e-01 -6.83863112e-02 2.84202617e+01] [ 1.44989189e-01 3.23822214e-03 9.89427940e-01 1.53622382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:28.45, Z:15.37 [[ 8.83616726e-01 -4.50411111e-01 -1.27872251e-01 9.99711830e+01] [ 4.45198350e-01 8.92814310e-01 -6.84181054e-02 2.84487214e+01] [ 1.44982450e-01 3.52686716e-03 9.89427941e-01 1.53693195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.02, Y:28.48, Z:15.38 [[ 8.84687217e-01 -4.48309597e-01 -1.27855516e-01 1.00021390e+02] [ 4.43070475e-01 8.93869811e-01 -6.84493638e-02 2.84772376e+01] [ 1.44972693e-01 3.90727281e-03 9.89427942e-01 1.53768579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.07, Y:28.50, Z:15.38 [[ 8.85354635e-01 -4.46995688e-01 -1.27835931e-01 1.00071269e+02] [ 4.41737666e-01 8.94526418e-01 -6.84859227e-02 2.85043883e+01] [ 1.44965529e-01 4.16438350e-03 9.89427942e-01 1.53846079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:28.53, Z:15.39 [[ 8.85602052e-01 -4.46507607e-01 -1.27827864e-01 1.00122028e+02] [ 4.41242360e-01 8.94769689e-01 -6.85009756e-02 2.85320049e+01] [ 1.44962705e-01 4.26153615e-03 9.89427943e-01 1.53931473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.17, Y:28.56, Z:15.41 [[ 8.78114109e-01 -4.61064745e-01 -1.27808103e-01 1.00171536e+02] [ 4.55946176e-01 8.87364441e-01 -6.85378253e-02 2.85591944e+01] [ 1.45012741e-01 1.91041543e-03 9.89427943e-01 1.54058647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:28.59, Z:15.42 [[ 8.74493013e-01 -4.67898089e-01 -1.27801988e-01 1.00220918e+02] [ 4.62850141e-01 8.83782072e-01 -6.85492276e-02 2.85875184e+01] [ 1.45023158e-01 7.92652611e-04 9.89427944e-01 1.54157267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.27, Y:28.62, Z:15.42 [[ 8.71729554e-01 -4.73031868e-01 -1.27782768e-01 1.00269693e+02] [ 4.68033377e-01 8.81045317e-01 -6.85850367e-02 2.86203838e+01] [ 1.45025317e-01 -1.89968183e-05 9.89427944e-01 1.54195056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:28.65, Z:15.43 [[ 8.72024541e-01 -4.72492270e-01 -1.27766407e-01 1.00318863e+02] [ 4.67483550e-01 8.81334808e-01 -6.86155025e-02 2.86496688e+01] [ 1.45025276e-01 1.05708847e-04 9.89427945e-01 1.54313139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:28.68, Z:15.44 [[ 8.72087939e-01 -4.72380329e-01 -1.27747607e-01 1.00368404e+02] [ 4.67365289e-01 8.81394802e-01 -6.86504851e-02 2.86777008e+01] [ 1.45025216e-01 1.64462578e-04 9.89427946e-01 1.54411060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:28.71, Z:15.45 [[ 8.72825832e-01 -4.71020645e-01 -1.27728690e-01 1.00417888e+02] [ 4.65985958e-01 8.82122081e-01 -6.86856650e-02 2.87080372e+01] [ 1.45024664e-01 4.30846906e-04 9.89427946e-01 1.54489161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:28.74, Z:15.46 [[ 8.74779246e-01 -4.67387936e-01 -1.27709782e-01 1.00467209e+02] [ 4.62309515e-01 8.84051675e-01 -6.87208024e-02 2.87390356e+01] [ 1.45021321e-01 1.07408420e-03 9.89427947e-01 1.54556044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.52, Y:28.77, Z:15.47 [[ 8.76127305e-01 -4.64861202e-01 -1.27691064e-01 1.00516430e+02] [ 4.59750974e-01 8.85382242e-01 -6.87555648e-02 2.87679413e+01] [ 1.45017195e-01 1.53253644e-03 9.89427948e-01 1.54652357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.57, Y:28.80, Z:15.47 [[ 8.78138666e-01 -4.61055644e-01 -1.27672149e-01 1.00565889e+02] [ 4.55900207e-01 8.87368494e-01 -6.87906713e-02 2.87980234e+01] [ 1.45008570e-01 2.20198915e-03 9.89427949e-01 1.54737808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:28.83, Z:15.48 [[ 8.80408624e-01 -4.56711366e-01 -1.27653370e-01 1.00615700e+02] [ 4.51505343e-01 8.89610013e-01 -6.88255011e-02 2.88283683e+01] [ 1.44995105e-01 2.95838606e-03 9.89427950e-01 1.54803579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:28.86, Z:15.49 [[ 8.81696425e-01 -4.54225527e-01 -1.27634576e-01 1.00666672e+02] [ 4.48988523e-01 8.90880216e-01 -6.88603378e-02 2.88571401e+01] [ 1.44985242e-01 3.40745401e-03 9.89427950e-01 1.54875416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:28.88, Z:15.49 [[ 8.83128680e-01 -4.51439318e-01 -1.27617696e-01 1.00716132e+02] [ 4.46168828e-01 8.92293294e-01 -6.88916069e-02 2.88842231e+01] [ 1.44972794e-01 3.90111612e-03 9.89427951e-01 1.54945466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.77, Y:28.91, Z:15.50 [[ 8.83550041e-01 -4.50616363e-01 -1.27609637e-01 1.00767627e+02] [ 4.45335183e-01 8.92708499e-01 -6.89065306e-02 2.89104358e+01] [ 1.44968618e-01 4.05330662e-03 9.89427951e-01 1.55048921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.82, Y:28.94, Z:15.51 [[ 8.83772264e-01 -4.50185100e-01 -1.27592949e-01 1.00819848e+02] [ 4.44894997e-01 8.92925570e-01 -6.89374191e-02 2.89372039e+01] [ 1.44965605e-01 4.15951446e-03 9.89427952e-01 1.55133408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:28.96, Z:15.52 [[ 8.83772900e-01 -4.50188561e-01 -1.27576332e-01 1.00870809e+02] [ 4.44894061e-01 8.92923663e-01 -6.89681562e-02 2.89630724e+01] [ 1.44964601e-01 4.19423498e-03 9.89427952e-01 1.55218896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:28.99, Z:15.53 [[ 8.84018698e-01 -4.49711446e-01 -1.27556096e-01 1.00922974e+02] [ 4.44406615e-01 8.93163475e-01 -6.90055634e-02 2.89871442e+01] [ 1.44961037e-01 4.31543551e-03 9.89427953e-01 1.55289780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:29.02, Z:15.53 [[ 8.82081197e-01 -4.53501699e-01 -1.27549876e-01 1.00974273e+02] [ 4.48234508e-01 8.91247705e-01 -6.90170576e-02 2.90184821e+01] [ 1.44977887e-01 3.70639281e-03 9.89427953e-01 1.55282687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:29.04, Z:15.55 [[ 8.82829901e-01 -4.52045278e-01 -1.27539921e-01 1.01027561e+02] [ 4.46760311e-01 8.91986172e-01 -6.90354501e-02 2.90379083e+01] [ 1.44970995e-01 3.96678501e-03 9.89427954e-01 1.55468020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.08, Y:29.06, Z:15.56 [[ 8.81440502e-01 -4.54751126e-01 -1.27530603e-01 1.01079190e+02] [ 4.49491781e-01 8.90611514e-01 -6.90526582e-02 2.90633224e+01] [ 1.44981998e-01 3.54185175e-03 9.89427954e-01 1.55558379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:29.09, Z:15.56 [[ 8.79409241e-01 -4.58672369e-01 -1.27510961e-01 1.01131037e+02] [ 4.53448668e-01 8.88600601e-01 -6.90889103e-02 2.90878199e+01] [ 1.44995491e-01 2.93775076e-03 9.89427955e-01 1.55627469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.18, Y:29.11, Z:15.57 [[ 8.77330513e-01 -4.62641415e-01 -1.27491534e-01 1.01183912e+02] [ 4.57454095e-01 8.86542453e-01 -6.91247414e-02 2.91116763e+01] [ 1.45006625e-01 2.32372065e-03 9.89427955e-01 1.55713686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:29.14, Z:15.58 [[ 8.76149673e-01 -4.64879158e-01 -1.27472028e-01 1.01235401e+02] [ 4.59710137e-01 8.85371893e-01 -6.91606927e-02 2.91365084e+01] [ 1.45011516e-01 1.99493466e-03 9.89427956e-01 1.55811589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.29, Y:29.16, Z:15.59 [[ 8.75156063e-01 -4.66748619e-01 -1.27466045e-01 1.01287722e+02] [ 4.61597692e-01 8.84388401e-01 -6.91717183e-02 2.91613530e+01] [ 1.45015296e-01 1.69801638e-03 9.89427956e-01 1.55906489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:29.19, Z:15.59 [[ 8.74763302e-01 -4.67489580e-01 -1.27446688e-01 1.01338799e+02] [ 4.62341281e-01 8.83997104e-01 -6.92073648e-02 2.91897935e+01] [ 1.45016225e-01 1.61619784e-03 9.89427957e-01 1.55929530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.39, Y:29.21, Z:15.61 [[ 8.72046089e-01 -4.72544644e-01 -1.27425184e-01 1.01390049e+02] [ 4.67444092e-01 8.81306350e-01 -6.92469353e-02 2.92125920e+01] [ 1.45022893e-01 8.22369509e-04 9.89427958e-01 1.56066626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:29.24, Z:15.62 [[ 8.69676184e-01 -4.76894805e-01 -1.27415384e-01 1.01440814e+02] [ 4.71837931e-01 8.78960370e-01 -6.92649635e-02 2.92402587e+01] [ 1.45025174e-01 1.18677873e-04 9.89427958e-01 1.56151429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.49, Y:29.27, Z:15.62 [[ 8.69251330e-01 -4.77674045e-01 -1.27395575e-01 1.01489352e+02] [ 4.72620157e-01 8.78537140e-01 -6.93013784e-02 2.92700165e+01] [ 1.45025214e-01 3.05986182e-05 9.89427959e-01 1.56183097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:29.30, Z:15.63 [[ 8.71090330e-01 -4.74315716e-01 -1.27382256e-01 1.01539262e+02] [ 4.69222450e-01 8.80354598e-01 -6.93258516e-02 2.92984409e+01] [ 1.45023896e-01 6.18464765e-04 9.89427960e-01 1.56278755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.59, Y:29.33, Z:15.63 [[ 8.71685790e-01 -4.73225726e-01 -1.27362849e-01 1.01589185e+02] [ 4.68115668e-01 8.80940807e-01 -6.93614872e-02 2.93285415e+01] [ 1.45022771e-01 8.40877670e-04 9.89427960e-01 1.56330653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:29.36, Z:15.65 [[ 8.74483416e-01 -4.68037446e-01 -1.27356606e-01 1.01638240e+02] [ 4.62870812e-01 8.83706968e-01 -6.93729484e-02 2.93558339e+01] [ 1.45015058e-01 1.71583721e-03 9.89427960e-01 1.56483311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.69, Y:29.39, Z:15.66 [[ 8.76038833e-01 -4.65121309e-01 -1.27350424e-01 1.01688126e+02] [ 4.59922324e-01 8.85244190e-01 -6.93842950e-02 2.93852562e+01] [ 1.45008337e-01 2.21203387e-03 9.89427961e-01 1.56558049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:29.41, Z:15.67 [[ 8.78107361e-01 -4.61209481e-01 -1.27331365e-01 1.01737655e+02] [ 4.55964425e-01 8.87286544e-01 -6.94192541e-02 2.94145218e+01] [ 1.44996225e-01 2.89898542e-03 9.89427961e-01 1.56653005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:29.45, Z:15.67 [[ 8.80366438e-01 -4.56887984e-01 -1.27311840e-01 1.01786992e+02] [ 4.51592704e-01 8.89516738e-01 -6.94550433e-02 2.94454178e+01] [ 1.44979188e-01 3.65279099e-03 9.89427962e-01 1.56725630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:29.48, Z:15.68 [[ 8.81073919e-01 -4.55527597e-01 -1.27292409e-01 1.01837205e+02] [ 4.50213051e-01 8.90213042e-01 -6.94906381e-02 2.94760277e+01] [ 1.44972266e-01 3.91768516e-03 9.89427963e-01 1.56770880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:29.50, Z:15.69 [[ 8.82541026e-01 -4.52683987e-01 -1.27273509e-01 1.01886738e+02] [ 4.47335013e-01 8.91660040e-01 -6.95252358e-02 2.95033726e+01] [ 1.44957663e-01 4.42497603e-03 9.89427964e-01 1.56914866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:29.53, Z:15.70 [[ 8.81826976e-01 -4.54075420e-01 -1.27266244e-01 1.01937397e+02] [ 4.48738919e-01 8.90953296e-01 -6.95385328e-02 2.95313056e+01] [ 1.44964018e-01 4.21163748e-03 9.89427964e-01 1.57010690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:29.56, Z:15.71 [[ 8.80155737e-01 -4.57311879e-01 -1.27246707e-01 1.01986696e+02] [ 4.52003779e-01 8.89298603e-01 -6.95742650e-02 2.95590240e+01] [ 1.44977456e-01 3.72019626e-03 9.89427965e-01 1.57085308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:29.59, Z:15.72 [[ 8.76140318e-01 -4.64960810e-01 -1.27238309e-01 1.02037662e+02] [ 4.59730318e-01 8.85327803e-01 -6.95896199e-02 2.95861699e+01] [ 1.45004058e-01 2.47496352e-03 9.89427965e-01 1.57179857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.09, Y:29.61, Z:15.72 [[ 8.74049977e-01 -4.68883919e-01 -1.27218348e-01 1.02088160e+02] [ 4.63689359e-01 8.83257825e-01 -6.96260917e-02 2.96139365e+01] [ 1.45013156e-01 1.86688955e-03 9.89427966e-01 1.57240335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.14, Y:29.64, Z:15.73 [[ 8.73754696e-01 -4.69435626e-01 -1.27212124e-01 1.02138773e+02] [ 4.64245226e-01 8.82964889e-01 -6.96374613e-02 2.96413131e+01] [ 1.45014144e-01 1.78843757e-03 9.89427966e-01 1.57320559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.19, Y:29.67, Z:15.74 [[ 8.75423264e-01 -4.66321890e-01 -1.27192784e-01 1.02188610e+02] [ 4.61093603e-01 8.84612002e-01 -6.96727693e-02 2.96688806e+01] [ 1.45006200e-01 2.34538426e-03 9.89427967e-01 1.57420840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:29.70, Z:15.75 [[ 8.77267664e-01 -4.62848131e-01 -1.27173322e-01 1.02238257e+02] [ 4.57578317e-01 8.86432648e-01 -6.97082752e-02 2.96973326e+01] [ 1.44994929e-01 2.96106124e-03 9.89427967e-01 1.57499938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.29, Y:29.73, Z:15.76 [[ 8.80417728e-01 -4.56833137e-01 -1.27153880e-01 1.02287722e+02] [ 4.51495606e-01 8.89543440e-01 -6.97437204e-02 2.97266139e+01] [ 1.44970143e-01 3.99418971e-03 9.89427968e-01 1.57577504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:29.76, Z:15.77 [[ 8.82611302e-01 -4.52586073e-01 -1.27134321e-01 1.02337061e+02] [ 4.47199510e-01 8.91708158e-01 -6.97793564e-02 2.97555436e+01] [ 1.44947876e-01 4.73364259e-03 9.89427969e-01 1.57659205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.39, Y:29.78, Z:15.77 [[ 8.83493311e-01 -4.50867584e-01 -1.27114086e-01 1.02387097e+02] [ 4.45458036e-01 8.92576516e-01 -6.98161976e-02 2.97833076e+01] [ 1.44936909e-01 5.05815228e-03 9.89427970e-01 1.57734481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:29.81, Z:15.78 [[ 8.84580226e-01 -4.48737078e-01 -1.27093897e-01 1.02437872e+02] [ 4.43300386e-01 8.93647210e-01 -6.98529323e-02 2.98115354e+01] [ 1.44922707e-01 5.44974914e-03 9.89427971e-01 1.57807079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.49, Y:29.84, Z:15.79 [[ 8.85217175e-01 -4.47485037e-01 -1.27073580e-01 1.02487388e+02] [ 4.42030229e-01 8.94273270e-01 -6.98898721e-02 2.98387519e+01] [ 1.44913178e-01 5.69735138e-03 9.89427972e-01 1.57881400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:29.87, Z:15.80 [[ 8.85691433e-01 -4.46548125e-01 -1.27064781e-01 1.02538175e+02] [ 4.41081448e-01 8.94740368e-01 -6.99058665e-02 2.98652625e+01] [ 1.44906322e-01 5.86910960e-03 9.89427972e-01 1.57955434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:29.89, Z:15.80 [[ 8.85576965e-01 -4.46780748e-01 -1.27044881e-01 1.02589580e+02] [ 4.41311274e-01 8.94624209e-01 -6.99420128e-02 2.98920302e+01] [ 1.44906171e-01 5.87269716e-03 9.89427973e-01 1.58027446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:29.92, Z:15.81 [[ 8.84969831e-01 -4.47987865e-01 -1.27024688e-01 1.02639271e+02] [ 4.42525480e-01 8.94021356e-01 -6.99786683e-02 2.99181859e+01] [ 1.44912378e-01 5.71734935e-03 9.89427974e-01 1.58120360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.69, Y:29.94, Z:15.82 [[ 8.84546468e-01 -4.48825673e-01 -1.27015988e-01 1.02689545e+02] [ 4.43369600e-01 8.93601798e-01 -6.99944552e-02 2.99449196e+01] [ 1.44917024e-01 5.59832035e-03 9.89427974e-01 1.58221617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.74, Y:29.97, Z:15.83 [[ 8.84193458e-01 -4.49526442e-01 -1.26995696e-01 1.02739854e+02] [ 4.44072270e-01 8.93249933e-01 -7.00312528e-02 2.99726467e+01] [ 1.44919797e-01 5.52590854e-03 9.89427975e-01 1.58302262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.79, Y:30.00, Z:15.84 [[ 8.83318220e-01 -4.51249530e-01 -1.26975527e-01 1.02791131e+02] [ 4.45807781e-01 8.92382163e-01 -7.00678035e-02 2.99996337e+01] [ 1.44928759e-01 5.28548963e-03 9.89427975e-01 1.58370249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.84, Y:30.03, Z:15.84 [[ 8.82461208e-01 -4.52928812e-01 -1.26955532e-01 1.02842404e+02] [ 4.47499111e-01 8.91532373e-01 -7.01040128e-02 3.00250295e+01] [ 1.44937094e-01 5.05158394e-03 9.89427976e-01 1.58448494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.89, Y:30.05, Z:15.85 [[ 8.81952531e-01 -4.53924144e-01 -1.26935437e-01 1.02893444e+02] [ 4.48499454e-01 8.91026692e-01 -7.01403814e-02 3.00516445e+01] [ 1.44941275e-01 4.93001287e-03 9.89427977e-01 1.58535820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.95, Y:30.08, Z:15.87 [[ 8.74247237e-01 -4.68598199e-01 -1.26915313e-01 1.02945206e+02] [ 4.63320614e-01 8.83407737e-01 -7.01767754e-02 3.00763731e+01] [ 1.45002680e-01 2.54937130e-03 9.89427978e-01 1.58682454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:30.10, Z:15.87 [[ 8.71405346e-01 -4.73866708e-01 -1.26897856e-01 1.02995663e+02] [ 4.68639919e-01 8.80594922e-01 -7.02083273e-02 3.01044026e+01] [ 1.45014997e-01 1.71051060e-03 9.89427979e-01 1.58714503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:30.13, Z:15.87 [[ 8.68346886e-01 -4.79449850e-01 -1.26891790e-01 1.03046980e+02] [ 4.74280548e-01 8.77568922e-01 -7.02192889e-02 3.01328689e+01] [ 1.45022919e-01 7.92392971e-04 9.89427979e-01 1.58745564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:30.16, Z:15.89 [[ 8.67841730e-01 -4.80368142e-01 -1.26874661e-01 1.03097977e+02] [ 4.75204075e-01 8.77066698e-01 -7.02502258e-02 3.01569011e+01] [ 1.45023510e-01 6.74721689e-04 9.89427979e-01 1.58890511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:30.19, Z:15.90 [[ 8.69323794e-01 -4.77682405e-01 -1.26868677e-01 1.03148209e+02] [ 4.72488262e-01 8.78531861e-01 -7.02610302e-02 3.01853270e+01] [ 1.45020633e-01 1.13562455e-03 9.89427979e-01 1.59003901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:30.22, Z:15.91 [[ 8.72936008e-01 -4.71053478e-01 -1.26851672e-01 1.03197879e+02] [ 4.65784958e-01 8.82101722e-01 -7.02917191e-02 3.02156396e+01] [ 1.45007237e-01 2.27457210e-03 9.89427980e-01 1.59056083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.25, Y:30.24, Z:15.92 [[ 8.75396091e-01 -4.66471153e-01 -1.26831964e-01 1.03248090e+02] [ 4.61149512e-01 8.84531064e-01 -7.03272618e-02 3.02441647e+01] [ 1.44992451e-01 3.07571178e-03 9.89427981e-01 1.59158418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.30, Y:30.27, Z:15.93 [[ 8.78299574e-01 -4.60986582e-01 -1.26811787e-01 1.03296714e+02] [ 4.55602662e-01 8.87397980e-01 -7.03636261e-02 3.02729953e+01] [ 1.44969211e-01 4.02455524e-03 9.89427982e-01 1.59256275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters Centerline goodness : 0.999926 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:30.30, Z:15.93 [[ 8.77476100e-01 -4.62554509e-01 -1.26803074e-01 1.03346388e+02] [ 4.57184582e-01 8.86582771e-01 -7.03793234e-02 3.03018745e+01] [ 1.44975694e-01 3.78376375e-03 9.89427982e-01 1.59346342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:30.33, Z:15.94 [[ 8.75623016e-01 -4.66058338e-01 -1.26783116e-01 1.03396049e+02] [ 4.60719656e-01 8.84748038e-01 -7.04152591e-02 3.03303271e+01] [ 1.44988732e-01 3.24574818e-03 9.89427983e-01 1.59425757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:30.36, Z:15.95 [[ 8.74544184e-01 -4.68085032e-01 -1.26763059e-01 1.03446297e+02] [ 4.62762268e-01 8.83678500e-01 -7.04513471e-02 3.03596546e+01] [ 1.44995011e-01 2.95165501e-03 9.89427983e-01 1.59489955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:30.39, Z:15.96 [[ 8.74701992e-01 -4.67795448e-01 -1.26743218e-01 1.03495638e+02] [ 4.62464494e-01 8.83831529e-01 -7.04870239e-02 3.03886686e+01] [ 1.44993161e-01 3.04090204e-03 9.89427984e-01 1.59565586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:30.42, Z:15.96 [[ 8.76100489e-01 -4.65176467e-01 -1.26723270e-01 1.03546310e+02] [ 4.59813042e-01 8.85210987e-01 -7.05228683e-02 3.04176095e+01] [ 1.44982410e-01 3.51610699e-03 9.89427985e-01 1.59642491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.60, Y:30.45, Z:15.97 [[ 8.76519067e-01 -4.64392014e-01 -1.26705887e-01 1.03596133e+02] [ 4.59015926e-01 8.85622098e-01 -7.05540861e-02 3.04459102e+01] [ 1.44978288e-01 3.68198149e-03 9.89427986e-01 1.59720730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:30.47, Z:15.98 [[ 8.78636032e-01 -4.60379611e-01 -1.26685979e-01 1.03645070e+02] [ 4.54956813e-01 8.87711313e-01 -7.05898157e-02 3.04737006e+01] [ 1.44958689e-01 4.38610628e-03 9.89427987e-01 1.59793478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:30.50, Z:15.99 [[ 8.79857752e-01 -4.58042761e-01 -1.26677406e-01 1.03695228e+02] [ 4.52593651e-01 8.88917259e-01 -7.06051969e-02 3.05024505e+01] [ 1.44945932e-01 4.78914016e-03 9.89427987e-01 1.59899254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:30.53, Z:16.00 [[ 8.80924066e-01 -4.55993431e-01 -1.26660103e-01 1.03745249e+02] [ 4.50518793e-01 8.89968169e-01 -7.06362246e-02 3.05327960e+01] [ 1.44933114e-01 5.16239365e-03 9.89427987e-01 1.60001783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:30.56, Z:16.01 [[ 8.82406912e-01 -4.53122262e-01 -1.26642244e-01 1.03793949e+02] [ 4.47613616e-01 8.91430341e-01 -7.06682285e-02 3.05636098e+01] [ 1.44914086e-01 5.67134054e-03 9.89427988e-01 1.60066410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:30.59, Z:16.01 [[ 8.83015100e-01 -4.51941623e-01 -1.26621886e-01 1.03842784e+02] [ 4.46415697e-01 8.92027955e-01 -7.07046866e-02 3.05920126e+01] [ 1.44904653e-01 5.90730834e-03 9.89427989e-01 1.60136499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:30.62, Z:16.02 [[ 8.82652211e-01 -4.52652359e-01 -1.26613251e-01 1.03892409e+02] [ 4.47131477e-01 8.91668157e-01 -7.07201469e-02 3.06218351e+01] [ 1.44908645e-01 5.80852419e-03 9.89427989e-01 1.60220575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:30.67, Z:16.03 [[ 8.87744553e-01 -4.42587705e-01 -1.26592784e-01 1.03932847e+02] [ 4.36959468e-01 8.96693874e-01 -7.07567643e-02 3.06661205e+01] [ 1.44831048e-01 7.49801631e-03 9.89427990e-01 1.60342827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:103.97, Y:30.73, Z:16.04 [[ 9.04181626e-01 -4.07960088e-01 -1.26586549e-01 1.03965107e+02] [ 4.01988760e-01 9.12905767e-01 -7.07679180e-02 3.07287360e+01] [ 1.44432077e-01 1.31006813e-02 9.89427990e-01 1.60384075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:30.80, Z:16.04 [[ 9.24369307e-01 -3.59891395e-01 -1.26568430e-01 1.03991370e+02] [ 3.53465636e-01 9.32764365e-01 -7.08003084e-02 3.08016916e+01] [ 1.43538943e-01 2.07080413e-02 9.89427991e-01 1.60438238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:30.87, Z:16.05 [[ 9.38688350e-01 -3.20701253e-01 -1.26549946e-01 1.04021696e+02] [ 3.13923893e-01 9.46802212e-01 -7.08333329e-02 3.08659116e+01] [ 1.42534107e-01 2.67633727e-02 9.89427991e-01 1.60505285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:104.04, Y:30.95, Z:16.05 [[ 9.55666725e-01 -2.65873467e-01 -1.26540155e-01 1.04040402e+02] [ 2.58636032e-01 9.63373014e-01 -7.08508190e-02 3.09541178e+01] [ 1.40742724e-01 3.49819265e-02 9.89427992e-01 1.60535441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:31.02, Z:16.05 [[ 9.60039763e-01 -2.49631704e-01 -1.26521402e-01 1.04071768e+02] [ 2.42260621e-01 9.67618318e-01 -7.08842921e-02 3.10192529e+01] [ 1.40119393e-01 3.74005856e-02 9.89427992e-01 1.60532693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:104.10, Y:31.08, Z:16.07 [[ 9.58801214e-01 -2.54356822e-01 -1.26502326e-01 1.04101820e+02] [ 2.47019041e-01 9.66412016e-01 -7.09183190e-02 3.10822503e+01] [ 1.40291926e-01 3.67480871e-02 9.89427993e-01 1.60660225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.14, Y:31.13, Z:16.08 [[ 9.52279167e-01 -2.77788366e-01 -1.26483246e-01 1.04139984e+02] [ 2.70635190e-01 9.60063727e-01 -7.09523326e-02 3.11348195e+01] [ 1.41141709e-01 3.33356109e-02 9.89427994e-01 1.60767772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:31.18, Z:16.09 [[ 9.39503065e-01 -3.18334240e-01 -1.26480440e-01 1.04177865e+02] [ 3.11520524e-01 9.47586418e-01 -7.09573335e-02 3.11803833e+01] [ 1.42439296e-01 2.72633793e-02 9.89427994e-01 1.60946829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:31.22, Z:16.10 [[ 9.20294868e-01 -3.70219500e-01 -1.26470859e-01 1.04221117e+02] [ 3.63864764e-01 9.28743811e-01 -7.09744064e-02 3.12202314e+01] [ 1.43735137e-01 1.92990926e-02 9.89427994e-01 1.61046226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:31.25, Z:16.11 [[ 9.05164794e-01 -4.05813132e-01 -1.26461049e-01 1.04268921e+02] [ 3.99790171e-01 9.13853364e-01 -7.09918822e-02 3.12522088e+01] [ 1.44376293e-01 1.37014681e-02 9.89427994e-01 1.61118860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:31.28, Z:16.12 [[ 8.83078597e-01 -4.51868372e-01 -1.26440362e-01 1.04317375e+02] [ 4.46295379e-01 8.92062418e-01 -7.10287071e-02 3.12827795e+01] [ 1.44888322e-01 6.29418155e-03 9.89427995e-01 1.61194572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:31.31, Z:16.13 [[ 8.70960883e-01 -4.74810601e-01 -1.26420067e-01 1.04366430e+02] [ 4.69469246e-01 8.80084325e-01 -7.10648123e-02 3.13115753e+01] [ 1.45002645e-01 2.54433826e-03 9.89427996e-01 1.61287479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:31.34, Z:16.14 [[ 8.57704543e-01 -4.98363314e-01 -1.26399860e-01 1.04416343e+02] [ 4.93267212e-01 8.66967210e-01 -7.11007356e-02 3.13405027e+01] [ 1.45018532e-01 -1.36548237e-03 9.89427997e-01 1.61383593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:31.37, Z:16.14 [[ 8.50726940e-01 -5.10188022e-01 -1.26379809e-01 1.04466643e+02] [ 5.05215335e-01 8.60056442e-01 -7.11363575e-02 3.13674515e+01] [ 1.44986686e-01 -3.33140184e-03 9.89427998e-01 1.61449273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:31.39, Z:16.15 [[ 8.50055411e-01 -5.11308230e-01 -1.26371248e-01 1.04516567e+02] [ 5.06345579e-01 8.59390255e-01 -7.11515620e-02 3.13948321e+01] [ 1.44982599e-01 -3.50475267e-03 9.89427998e-01 1.61511249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:31.42, Z:16.16 [[ 8.55174221e-01 -5.02702169e-01 -1.26362892e-01 1.04566745e+02] [ 4.97643358e-01 8.64457305e-01 -7.11663991e-02 3.14235255e+01] [ 1.45010829e-01 -2.02398404e-03 9.89427998e-01 1.61574976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:31.45, Z:16.17 [[ 8.61707503e-01 -4.91424299e-01 -1.26342142e-01 1.04616172e+02] [ 4.86238573e-01 8.70920290e-01 -7.12032182e-02 3.14514818e+01] [ 1.45024927e-01 -7.60754523e-05 9.89427999e-01 1.61660386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.67, Y:31.48, Z:16.18 [[ 8.72286687e-01 -4.72393754e-01 -1.26333202e-01 1.04666859e+02] [ 4.67004784e-01 8.81382082e-01 -7.12190774e-02 3.14768331e+01] [ 1.44991268e-01 3.12524351e-03 9.89427999e-01 1.61771391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:104.72, Y:31.50, Z:16.18 [[ 8.80281634e-01 -4.57328415e-01 -1.26312966e-01 1.04720045e+02] [ 4.51778745e-01 8.89279876e-01 -7.12549496e-02 3.14975075e+01] [ 1.44914492e-01 5.65891024e-03 9.89428000e-01 1.61842991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:31.52, Z:16.19 [[ 8.82591325e-01 -4.52858749e-01 -1.26299271e-01 1.04774784e+02] [ 4.47260058e-01 8.91559148e-01 -7.12792147e-02 3.15175944e+01] [ 1.44882687e-01 6.42179709e-03 9.89428000e-01 1.61907004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:31.53, Z:16.20 [[ 8.82659728e-01 -4.52731188e-01 -1.26278564e-01 1.04832319e+02] [ 4.47125969e-01 8.91623471e-01 -7.13158823e-02 3.15299007e+01] [ 1.44879855e-01 6.48523225e-03 9.89428001e-01 1.61982132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:31.55, Z:16.21 [[ 8.81587223e-01 -4.54818581e-01 -1.26269657e-01 1.04888943e+02] [ 4.49232335e-01 8.90562802e-01 -7.13316481e-02 3.15466662e+01] [ 1.44894019e-01 6.16065653e-03 9.89428001e-01 1.62086443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:31.56, Z:16.22 [[ 8.80127122e-01 -4.57643378e-01 -1.26248911e-01 1.04947635e+02] [ 4.52080690e-01 8.89117320e-01 -7.13683482e-02 3.15582906e+01] [ 1.44911345e-01 5.73852409e-03 9.89428002e-01 1.62192443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:31.57, Z:16.23 [[ 8.79193547e-01 -4.59440032e-01 -1.26228221e-01 1.05006420e+02] [ 4.53890476e-01 8.88191856e-01 -7.14049234e-02 3.15694974e+01] [ 1.44921158e-01 5.48496048e-03 9.89428003e-01 1.62257710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:105.06, Y:31.59, Z:16.23 [[ 8.78930230e-01 -4.59947396e-01 -1.26214280e-01 1.05060135e+02] [ 4.54399504e-01 8.87929563e-01 -7.14295565e-02 3.15926207e+01] [ 1.44923229e-01 5.42989016e-03 9.89428003e-01 1.62326627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters Centerline goodness : 0.999898 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:31.61, Z:16.24 [[ 8.78670421e-01 -4.60449014e-01 -1.26194280e-01 1.05116726e+02] [ 4.54901196e-01 8.87669800e-01 -7.14648737e-02 3.16113127e+01] [ 1.44924782e-01 5.38814176e-03 9.89428004e-01 1.62380944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters Centerline goodness : 0.999919 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:31.62, Z:16.24 [[ 8.78574128e-01 -4.60637647e-01 -1.26176306e-01 1.05175655e+02] [ 4.55087214e-01 8.87571893e-01 -7.14965940e-02 3.16244002e+01] [ 1.44924566e-01 5.39383406e-03 9.89428005e-01 1.62439332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:105.23, Y:31.64, Z:16.25 [[ 8.78575844e-01 -4.60636102e-01 -1.26169997e-01 1.05234395e+02] [ 4.55084058e-01 8.87572614e-01 -7.15077258e-02 3.16376274e+01] [ 1.44924074e-01 5.40700633e-03 9.89428005e-01 1.62540819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:105.29, Y:31.66, Z:16.26 [[ 8.79314461e-01 -4.59230260e-01 -1.26149303e-01 1.05289644e+02] [ 4.53658608e-01 8.88299101e-01 -7.15442149e-02 3.16558860e+01] [ 1.44913581e-01 5.68114563e-03 9.89428006e-01 1.62630177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:31.67, Z:16.27 [[ 8.80909966e-01 -4.56167892e-01 -1.26128850e-01 1.05348612e+02] [ 4.50559863e-01 8.89871944e-01 -7.15802548e-02 3.16689012e+01] [ 1.44891139e-01 6.22716248e-03 9.89428007e-01 1.62711006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters Centerline goodness : 0.999919 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:31.69, Z:16.28 [[ 8.81621561e-01 -4.54796785e-01 -1.26108318e-01 1.05405186e+02] [ 4.49169661e-01 8.90571561e-01 -7.16164084e-02 3.16873476e+01] [ 1.44879394e-01 6.49453908e-03 9.89428008e-01 1.62796927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.46, Y:31.70, Z:16.29 [[ 8.82656855e-01 -4.52789228e-01 -1.26090408e-01 1.05464708e+02] [ 4.47137261e-01 8.91591187e-01 -7.16479288e-02 3.16988386e+01] [ 1.44862507e-01 6.86081596e-03 9.89428008e-01 1.62895911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:31.72, Z:16.30 [[ 8.82630338e-01 -4.52846759e-01 -1.26069425e-01 1.05521263e+02] [ 4.47190118e-01 8.91561710e-01 -7.16848301e-02 3.17165596e+01] [ 1.44860915e-01 6.89420457e-03 9.89428009e-01 1.62965525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:31.73, Z:16.30 [[ 8.82526825e-01 -4.53054273e-01 -1.26048519e-01 1.05579211e+02] [ 4.47394501e-01 8.91456211e-01 -7.17215729e-02 3.17292778e+01] [ 1.44860500e-01 6.90279781e-03 9.89428010e-01 1.63047852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:31.74, Z:16.31 [[ 8.82735530e-01 -4.52649996e-01 -1.26039538e-01 1.05637282e+02] [ 4.46983887e-01 8.91660898e-01 -7.17373525e-02 3.17434433e+01] [ 1.44856440e-01 6.98746735e-03 9.89428010e-01 1.63103432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:31.76, Z:16.32 [[ 8.82904866e-01 -4.52325464e-01 -1.26018540e-01 1.05692346e+02] [ 4.46650829e-01 8.91824813e-01 -7.17742202e-02 3.17625922e+01] [ 1.44851768e-01 7.08352297e-03 9.89428011e-01 1.63150735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:31.78, Z:16.32 [[ 8.82483209e-01 -4.53150262e-01 -1.26008835e-01 1.05750380e+02] [ 4.47481540e-01 8.91406915e-01 -7.17912535e-02 3.17768074e+01] [ 1.44857373e-01 6.96794808e-03 9.89428011e-01 1.63208861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.81, Y:31.80, Z:16.33 [[ 8.81749032e-01 -4.54582753e-01 -1.25988746e-01 1.05806020e+02] [ 4.48923509e-01 8.90678751e-01 -7.18264922e-02 3.17952584e+01] [ 1.44866583e-01 6.77363016e-03 9.89428012e-01 1.63311492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:31.81, Z:16.34 [[ 8.81389541e-01 -4.55285109e-01 -1.25968037e-01 1.05863389e+02] [ 4.49627807e-01 8.90320490e-01 -7.18627933e-02 3.18094840e+01] [ 1.44869984e-01 6.70038224e-03 9.89428013e-01 1.63430272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:31.83, Z:16.35 [[ 8.81929474e-01 -4.54240090e-01 -1.25961676e-01 1.05916550e+02] [ 4.48570618e-01 8.90852702e-01 -7.18739411e-02 3.18294992e+01] [ 1.44861325e-01 6.88504023e-03 9.89428013e-01 1.63513270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:31.85, Z:16.36 [[ 8.83216785e-01 -4.51735778e-01 -1.25947994e-01 1.05973229e+02] [ 4.46037603e-01 8.92121711e-01 -7.18979086e-02 3.18468582e+01] [ 1.44839798e-01 7.32389833e-03 9.89428013e-01 1.63594073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:31.87, Z:16.37 [[ 8.83488259e-01 -4.51210344e-01 -1.25927445e-01 1.06026360e+02] [ 4.45501763e-01 8.92386517e-01 -7.19338820e-02 3.18675986e+01] [ 1.44833266e-01 7.45184144e-03 9.89428014e-01 1.63671507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:31.89, Z:16.37 [[ 8.79399759e-01 -4.59130260e-01 -1.25918502e-01 1.06082335e+02] [ 4.53499625e-01 8.88347542e-01 -7.19495325e-02 3.18870737e+01] [ 1.44893600e-01 6.16840803e-03 9.89428014e-01 1.63721348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:31.91, Z:16.38 [[ 8.74963434e-01 -4.67534711e-01 -1.25897906e-01 1.06137666e+02] [ 4.61984887e-01 8.83961562e-01 -7.19855551e-02 3.19052840e+01] [ 1.44944655e-01 4.82179874e-03 9.89428015e-01 1.63828899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.19, Y:31.93, Z:16.39 [[ 8.71859700e-01 -4.73302745e-01 -1.25877620e-01 1.06190800e+02] [ 4.67807351e-01 8.80891172e-01 -7.20210094e-02 3.19288037e+01] [ 1.44972226e-01 3.90573951e-03 9.89428016e-01 1.63902558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:31.95, Z:16.40 [[ 8.62463233e-01 -4.90221473e-01 -1.25857379e-01 1.06244444e+02] [ 4.84898157e-01 8.71597188e-01 -7.20563640e-02 3.19494209e+01] [ 1.45020515e-01 1.11795338e-03 9.89428017e-01 1.64007919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:31.98, Z:16.41 [[ 8.60366293e-01 -4.93897569e-01 -1.25837331e-01 1.06295260e+02] [ 4.88608162e-01 8.69519925e-01 -7.20913585e-02 3.19751105e+01] [ 1.45023814e-01 5.39827693e-04 9.89428018e-01 1.64050149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:32.00, Z:16.41 [[ 8.60513014e-01 -4.93644042e-01 -1.25828906e-01 1.06347604e+02] [ 4.88349788e-01 8.69663843e-01 -7.21060606e-02 3.19995314e+01] [ 1.45023577e-01 5.99683781e-04 9.89428018e-01 1.64127215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:32.03, Z:16.43 [[ 8.61264513e-01 -4.92336797e-01 -1.25809049e-01 1.06399872e+02] [ 4.87023595e-01 8.70404353e-01 -7.21406915e-02 3.20252972e+01] [ 1.45022261e-01 8.60242412e-04 9.89428019e-01 1.64256672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:32.05, Z:16.44 [[ 8.62097297e-01 -4.90881706e-01 -1.25791104e-01 1.06448769e+02] [ 4.85548514e-01 8.71225486e-01 -7.21719683e-02 3.20530426e+01] [ 1.45020314e-01 1.14157520e-03 9.89428019e-01 1.64351635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:32.08, Z:16.44 [[ 8.63367004e-01 -4.88647336e-01 -1.25782343e-01 1.06498173e+02] [ 4.83288297e-01 8.72480043e-01 -7.21872331e-02 3.20843894e+01] [ 1.45016683e-01 1.53494069e-03 9.89428019e-01 1.64391253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.55, Y:32.12, Z:16.45 [[ 8.65453120e-01 -4.84948173e-01 -1.25762343e-01 1.06546817e+02] [ 4.79545125e-01 8.74540135e-01 -7.22220610e-02 3.21156769e+01] [ 1.45008173e-01 2.19608976e-03 9.89428020e-01 1.64452607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:32.15, Z:16.45 [[ 8.67118814e-01 -4.81968726e-01 -1.25742232e-01 1.06595826e+02] [ 4.76529384e-01 8.76184150e-01 -7.22570581e-02 3.21457622e+01] [ 1.44998993e-01 2.73558632e-03 9.89428021e-01 1.64538233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:32.18, Z:16.46 [[ 8.70253699e-01 -4.76290328e-01 -1.25722005e-01 1.06644221e+02] [ 4.70786767e-01 8.79280190e-01 -7.22922346e-02 3.21761425e+01] [ 1.44976961e-01 3.72432836e-03 9.89428022e-01 1.64625328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.69, Y:32.21, Z:16.48 [[ 8.70832383e-01 -4.75236802e-01 -1.25701802e-01 1.06692431e+02] [ 4.69717258e-01 8.79849108e-01 -7.23273467e-02 3.22083476e+01] [ 1.44971235e-01 3.94068994e-03 9.89428023e-01 1.64759700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:32.24, Z:16.49 [[ 8.69278812e-01 -4.78077255e-01 -1.25684069e-01 1.06740407e+02] [ 4.72582726e-01 8.78310802e-01 -7.23581488e-02 3.22384855e+01] [ 1.44982461e-01 3.50328569e-03 9.89428023e-01 1.64902308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:32.27, Z:16.49 [[ 8.66228145e-01 -4.83588140e-01 -1.25663482e-01 1.06785678e+02] [ 4.78145900e-01 8.75291737e-01 -7.23938845e-02 3.22746018e+01] [ 1.45001031e-01 2.62414167e-03 9.89428024e-01 1.64916016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.83, Y:32.31, Z:16.49 [[ 8.64230354e-01 -4.87151717e-01 -1.25654686e-01 1.06834194e+02] [ 4.81744633e-01 8.73314962e-01 -7.24091476e-02 3.23104174e+01] [ 1.45010358e-01 2.04471239e-03 9.89428024e-01 1.64886910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.88, Y:32.34, Z:16.50 [[ 8.60379983e-01 -4.93924597e-01 -1.25637484e-01 1.06884306e+02] [ 4.88584676e-01 8.69504231e-01 -7.24389842e-02 3.23400951e+01] [ 1.45021720e-01 9.40502769e-04 9.89428025e-01 1.64978000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.93, Y:32.37, Z:16.51 [[ 8.57769929e-01 -4.98447940e-01 -1.25620061e-01 1.06933647e+02] [ 4.93151712e-01 8.66919608e-01 -7.24691844e-02 3.23698101e+01] [ 1.45024610e-01 2.12138782e-04 9.89428025e-01 1.65136763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.98, Y:32.40, Z:16.52 [[ 8.58881470e-01 -4.96534674e-01 -1.25602301e-01 1.06981869e+02] [ 4.91213564e-01 8.68016700e-01 -7.24999530e-02 3.24018956e+01] [ 1.45023636e-01 5.71312123e-04 9.89428026e-01 1.65211891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:32.43, Z:16.53 [[ 8.62287428e-01 -4.90601099e-01 -1.25582460e-01 1.07030733e+02] [ 4.85212128e-01 8.71382789e-01 -7.25343064e-02 3.24330082e+01] [ 1.45015804e-01 1.61128805e-03 9.89428027e-01 1.65291718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:32.46, Z:16.54 [[ 8.63707064e-01 -4.88102608e-01 -1.25562541e-01 1.07080299e+02] [ 4.82682318e-01 8.72783795e-01 -7.25687716e-02 3.24620140e+01] [ 1.45009957e-01 2.07134249e-03 9.89428028e-01 1.65399393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:32.49, Z:16.55 [[ 8.64366933e-01 -4.86938311e-01 -1.25542372e-01 1.07128151e+02] [ 4.81500730e-01 8.73433316e-01 -7.26036466e-02 3.24921999e+01] [ 1.45006387e-01 2.30744760e-03 9.89428028e-01 1.65462046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:32.52, Z:16.55 [[ 8.63458670e-01 -4.88549290e-01 -1.25533725e-01 1.07178399e+02] [ 4.83126453e-01 8.72533879e-01 -7.26185949e-02 3.25204289e+01] [ 1.45010191e-01 2.05449225e-03 9.89428029e-01 1.65547883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:107.23, Y:32.55, Z:16.56 [[ 8.60569571e-01 -4.93625650e-01 -1.25513869e-01 1.07229116e+02] [ 4.88251347e-01 8.69673605e-01 -7.26528970e-02 3.25474591e+01] [ 1.45019433e-01 1.24055668e-03 9.89428029e-01 1.65630012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:32.57, Z:16.57 [[ 8.58607076e-01 -4.97036408e-01 -1.25493818e-01 1.07278486e+02] [ 4.91693211e-01 8.67729400e-01 -7.26875147e-02 3.25734724e+01] [ 1.45023017e-01 7.05555942e-04 9.89428030e-01 1.65725916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:107.33, Y:32.60, Z:16.58 [[ 8.56193707e-01 -5.01184396e-01 -1.25485205e-01 1.07329226e+02] [ 4.95883215e-01 8.65340511e-01 -7.27023807e-02 3.26000799e+01] [ 1.45024731e-01 2.13137324e-05 9.89428030e-01 1.65823339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:32.63, Z:16.59 [[ 8.52443301e-01 -5.07541971e-01 -1.25465399e-01 1.07380752e+02] [ 5.02303975e-01 8.61626434e-01 -7.27365453e-02 3.26266324e+01] [ 1.45021154e-01 -1.01798794e-03 9.89428031e-01 1.65914460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:32.65, Z:16.60 [[ 8.50460500e-01 -5.10862376e-01 -1.25445493e-01 1.07431333e+02] [ 5.05655170e-01 8.59661126e-01 -7.27708612e-02 3.26545273e+01] [ 1.45016508e-01 -1.54341897e-03 9.89428032e-01 1.65998208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.48, Y:32.68, Z:16.61 [[ 8.49776102e-01 -5.12004851e-01 -1.25425709e-01 1.07481385e+02] [ 5.06804985e-01 8.58980877e-01 -7.28049434e-02 3.26821534e+01] [ 1.45014770e-01 -1.69847377e-03 9.89428033e-01 1.66108867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:107.53, Y:32.71, Z:16.62 [[ 8.51206252e-01 -5.09628616e-01 -1.25405700e-01 1.07529904e+02] [ 5.04397977e-01 8.60393575e-01 -7.28393938e-02 3.27097972e+01] [ 1.45019298e-01 -1.25303385e-03 9.89428033e-01 1.66203868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.58, Y:32.74, Z:16.63 [[ 8.54857950e-01 -5.03481335e-01 -1.25397095e-01 1.07580461e+02] [ 4.98182452e-01 8.64006082e-01 -7.28542043e-02 3.27404443e+01] [ 1.45024585e-01 -1.90636591e-04 9.89428034e-01 1.66265568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:107.63, Y:32.77, Z:16.63 [[ 8.58178724e-01 -4.97804350e-01 -1.25379853e-01 1.07631037e+02] [ 4.92440617e-01 8.67288984e-01 -7.28838656e-02 3.27701765e+01] [ 1.45022470e-01 8.05250683e-04 9.89428034e-01 1.66319844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:32.80, Z:16.64 [[ 8.58732106e-01 -4.96853511e-01 -1.25362511e-01 1.07682174e+02] [ 4.91475338e-01 8.67833848e-01 -7.29136814e-02 3.27982459e+01] [ 1.45021249e-01 1.00073661e-03 9.89428035e-01 1.66399216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:32.82, Z:16.65 [[ 8.58210548e-01 -4.97758260e-01 -1.25345002e-01 1.07733902e+02] [ 4.92385288e-01 8.67315361e-01 -7.29437700e-02 3.28239001e+01] [ 1.45022009e-01 8.83078222e-04 9.89428035e-01 1.66489486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:32.86, Z:16.64 [[ 8.54347212e-01 -5.04365399e-01 -1.25325120e-01 1.07781786e+02] [ 4.99057831e-01 8.63490304e-01 -7.29779125e-02 3.28616803e+01] [ 1.45024560e-01 -1.96006575e-04 9.89428036e-01 1.66442652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:32.88, Z:16.67 [[ 8.57714740e-01 -4.98621507e-01 -1.25307693e-01 1.07837327e+02] [ 4.93248339e-01 8.66819435e-01 -7.30078242e-02 3.28779053e+01] [ 1.45022415e-01 8.12075546e-04 9.89428037e-01 1.66676119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:32.91, Z:16.68 [[ 8.58912774e-01 -4.96559367e-01 -1.25290232e-01 1.07888691e+02] [ 4.91159971e-01 8.68001939e-01 -7.30377767e-02 3.29063175e+01] [ 1.45019757e-01 1.19553257e-03 9.89428037e-01 1.66766217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.94, Y:32.93, Z:16.68 [[ 8.61389179e-01 -4.92255435e-01 -1.25272779e-01 1.07938468e+02] [ 4.86806277e-01 8.70448597e-01 -7.30676993e-02 3.29337812e+01] [ 1.45011487e-01 1.95615010e-03 9.89428038e-01 1.66835372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:107.99, Y:32.96, Z:16.69 [[ 8.64249643e-01 -4.87218062e-01 -1.25264180e-01 1.07990080e+02] [ 4.81713970e-01 8.73275792e-01 -7.30824390e-02 3.29608860e+01] [ 1.44997260e-01 2.81996642e-03 9.89428038e-01 1.66902243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:32.99, Z:16.70 [[ 8.65496428e-01 -4.85004403e-01 -1.25246403e-01 1.08041356e+02] [ 4.79472823e-01 8.74505756e-01 -7.31128921e-02 3.29876355e+01] [ 1.44988775e-01 3.22670056e-03 9.89428039e-01 1.66973323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:33.02, Z:16.71 [[ 8.66596754e-01 -4.83038051e-01 -1.25237004e-01 1.08089555e+02] [ 4.77483705e-01 8.75592064e-01 -7.31289878e-02 3.30180213e+01] [ 1.44980611e-01 3.57471466e-03 9.89428039e-01 1.67071686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:33.07, Z:16.72 [[ 8.74326059e-01 -4.68907957e-01 -1.25216891e-01 1.08128920e+02] [ 4.63203413e-01 8.83226875e-01 -7.31634110e-02 3.30657787e+01] [ 1.44901829e-01 5.96778539e-03 9.89428040e-01 1.67155898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:33.13, Z:16.72 [[ 8.90373692e-01 -4.37675646e-01 -1.25198709e-01 1.08161004e+02] [ 4.31655374e-01 8.99064070e-01 -7.31945125e-02 3.31280481e+01] [ 1.44597116e-01 1.11277729e-02 9.89428040e-01 1.67201404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:33.20, Z:16.73 [[ 9.09336419e-01 -3.96783412e-01 -1.25180671e-01 1.08186204e+02] [ 3.90370478e-01 9.17741215e-01 -7.32253477e-02 3.32003029e+01] [ 1.43938065e-01 1.77196370e-02 9.89428041e-01 1.67273190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:108.22, Y:33.25, Z:16.74 [[ 9.15442194e-01 -3.82491826e-01 -1.25162263e-01 1.08222531e+02] [ 3.75943844e-01 9.23742209e-01 -7.32567989e-02 3.32528758e+01] [ 1.43637792e-01 2.00083824e-02 9.89428041e-01 1.67357608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:33.29, Z:16.74 [[ 9.16166472e-01 -3.80759776e-01 -1.25143872e-01 1.08265787e+02] [ 3.74191931e-01 9.24450777e-01 -7.32882029e-02 3.32916833e+01] [ 1.43594550e-01 2.03163671e-02 9.89428042e-01 1.67440568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:33.35, Z:16.75 [[ 9.12108203e-01 -3.90383468e-01 -1.25137420e-01 1.08299578e+02] [ 3.83901722e-01 9.20460044e-01 -7.32992188e-02 3.33485232e+01] [ 1.43798798e-01 1.88163478e-02 9.89428042e-01 1.67506493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:108.34, Y:33.39, Z:16.76 [[ 9.05428123e-01 -4.05642317e-01 -1.25116847e-01 1.08342226e+02] [ 3.99296940e-01 9.13884036e-01 -7.33343188e-02 3.33911337e+01] [ 1.44089792e-01 1.64401804e-02 9.89428043e-01 1.67591486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:33.43, Z:16.77 [[ 8.91434177e-01 -4.35540431e-01 -1.25098523e-01 1.08385190e+02] [ 4.29475540e-01 9.00093470e-01 -7.33655630e-02 3.34308843e+01] [ 1.44554033e-01 1.16738145e-02 9.89428044e-01 1.67741834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters Centerline goodness : 0.997416 with order 1 Centerline is valid? [True, True] Translation: X:108.43, Y:33.47, Z:16.79 [[ 8.76362846e-01 -4.65127053e-01 -1.25079920e-01 1.08429243e+02] [ 4.59350817e-01 8.85217300e-01 -7.33972659e-02 3.34702368e+01] [ 1.44861963e-01 6.86707335e-03 9.89428044e-01 1.67858561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters Centerline goodness : 0.996788 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:33.51, Z:16.80 [[ 8.67450196e-01 -4.81549446e-01 -1.25061137e-01 1.08475705e+02] [ 4.75936387e-01 8.76408980e-01 -7.34292559e-02 3.35050113e+01] [ 1.44964521e-01 4.17507655e-03 9.89428045e-01 1.67968957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters Centerline goodness : 0.996099 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:33.54, Z:16.81 [[ 8.57278861e-01 -4.99436951e-01 -1.25042741e-01 1.08522240e+02] [ 4.94006339e-01 8.66349400e-01 -7.34605707e-02 3.35379217e+01] [ 1.45019627e-01 1.20428798e-03 9.89428046e-01 1.68084183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters Centerline goodness : 0.995293 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:33.57, Z:16.82 [[ 8.53400145e-01 -5.06037664e-01 -1.25036299e-01 1.08571121e+02] [ 5.00675604e-01 8.62511376e-01 -7.34715340e-02 3.35702124e+01] [ 1.45024593e-01 9.79933885e-05 9.89428046e-01 1.68165894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:33.60, Z:16.82 [[ 8.52444500e-01 -5.07650363e-01 -1.25017937e-01 1.08620550e+02] [ 5.02300959e-01 8.61563166e-01 -7.35027651e-02 3.36022688e+01] [ 1.45024555e-01 -1.39601718e-04 9.89428046e-01 1.68186427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:33.63, Z:16.83 [[ 8.52592360e-01 -5.07406567e-01 -1.24999371e-01 1.08669917e+02] [ 5.02049929e-01 8.61706778e-01 -7.35343251e-02 3.36307715e+01] [ 1.45024605e-01 -6.11214060e-05 9.89428047e-01 1.68302897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:33.66, Z:16.84 [[ 8.54338822e-01 -5.04462067e-01 -1.24992798e-01 1.08722666e+02] [ 4.99072381e-01 8.63433737e-01 -7.35454964e-02 3.36575601e+01] [ 1.45023911e-01 4.52319689e-04 9.89428047e-01 1.68353221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters Centerline goodness : 0.994893 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:33.69, Z:16.85 [[ 8.55380990e-01 -5.02695622e-01 -1.24981892e-01 1.08772120e+02] [ 4.97284447e-01 8.64463136e-01 -7.35640251e-02 3.36866148e+01] [ 1.45022551e-01 7.73717703e-04 9.89428047e-01 1.68456083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters Centerline goodness : 0.995056 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:33.71, Z:16.85 [[ 8.57190007e-01 -4.99607206e-01 -1.24971724e-01 1.08823585e+02] [ 4.94160791e-01 8.66251064e-01 -7.35812944e-02 3.37149186e+01] [ 1.45018634e-01 1.31702437e-03 9.89428048e-01 1.68515752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:108.87, Y:33.75, Z:16.86 [[ 8.61604716e-01 -4.91959165e-01 -1.24953968e-01 1.08871466e+02] [ 4.86427961e-01 8.70614263e-01 -7.36114355e-02 3.37450826e+01] [ 1.45000527e-01 2.64285630e-03 9.89428048e-01 1.68642926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters Centerline goodness : 0.995773 with order 1 Centerline is valid? [True, True] Translation: X:108.92, Y:33.78, Z:16.87 [[ 8.66793569e-01 -4.82759899e-01 -1.24947144e-01 1.08921108e+02] [ 4.77131438e-01 8.75742680e-01 -7.36230155e-02 3.37752274e+01] [ 1.44963787e-01 4.19974574e-03 9.89428048e-01 1.68736025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters Centerline goodness : 0.995790 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:33.80, Z:16.88 [[ 8.69345287e-01 -4.78154246e-01 -1.24929133e-01 1.08971332e+02] [ 4.72474001e-01 8.78261619e-01 -7.36535652e-02 3.38032322e+01] [ 1.44938228e-01 5.00461225e-03 9.89428049e-01 1.68799439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:33.83, Z:16.89 [[ 8.71110912e-01 -4.74935339e-01 -1.24908775e-01 1.09025923e+02] [ 4.69217213e-01 8.80002997e-01 -7.36880747e-02 3.38270057e+01] [ 1.44917167e-01 5.58113858e-03 9.89428050e-01 1.68850201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters Centerline goodness : 0.996045 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:33.85, Z:16.89 [[ 8.71403934e-01 -4.74402294e-01 -1.24890540e-01 1.09078356e+02] [ 4.68674310e-01 8.80289671e-01 -7.37189685e-02 3.38506949e+01] [ 1.44912300e-01 5.70601175e-03 9.89428050e-01 1.68919406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:33.87, Z:16.90 [[ 8.71697862e-01 -4.73867493e-01 -1.24869678e-01 1.09133942e+02] [ 4.68129009e-01 8.80576820e-01 -7.37542886e-02 3.38705307e+01] [ 1.44907104e-01 5.83633712e-03 9.89428051e-01 1.69046333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters Centerline goodness : 0.996295 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:33.89, Z:16.92 [[ 8.71945130e-01 -4.73417167e-01 -1.24851418e-01 1.09187069e+02] [ 4.67669683e-01 8.80818264e-01 -7.37851864e-02 3.38939403e+01] [ 1.44902583e-01 5.94741087e-03 9.89428052e-01 1.69172080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters Centerline goodness : 0.996575 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:33.92, Z:16.93 [[ 8.73044614e-01 -4.71391272e-01 -1.24833371e-01 1.09242195e+02] [ 4.65618847e-01 8.81901543e-01 -7.38157059e-02 3.39153046e+01] [ 1.44886822e-01 6.31963410e-03 9.89428052e-01 1.69284694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:33.94, Z:16.93 [[ 8.74162440e-01 -4.69320019e-01 -1.24814857e-01 1.09297097e+02] [ 4.63522156e-01 8.83002736e-01 -7.38469990e-02 3.39360346e+01] [ 1.44869735e-01 6.69982125e-03 9.89428053e-01 1.69348244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters Centerline goodness : 0.996941 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:33.96, Z:16.94 [[ 8.74838972e-01 -4.68063468e-01 -1.24793280e-01 1.09350695e+02] [ 4.62247725e-01 8.83667515e-01 -7.38834445e-02 3.39589980e+01] [ 1.44857909e-01 6.95070697e-03 9.89428054e-01 1.69410384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:33.98, Z:16.95 [[ 8.75263141e-01 -4.67272481e-01 -1.24783264e-01 1.09404309e+02] [ 4.61446356e-01 8.84084836e-01 -7.39003572e-02 3.39811861e+01] [ 1.44850594e-01 7.10147645e-03 9.89428054e-01 1.69481201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:34.00, Z:16.96 [[ 8.75552035e-01 -4.66736544e-01 -1.24762307e-01 1.09460503e+02] [ 4.60899997e-01 8.84366837e-01 -7.39357202e-02 3.39989508e+01] [ 1.44844149e-01 7.23162330e-03 9.89428055e-01 1.69573221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters Centerline goodness : 0.997671 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:34.01, Z:16.97 [[ 8.75846700e-01 -4.66188902e-01 -1.24741595e-01 1.09516924e+02] [ 4.60341886e-01 8.84654561e-01 -7.39706478e-02 3.40145365e+01] [ 1.44837516e-01 7.36316645e-03 9.89428056e-01 1.69653311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:34.04, Z:16.97 [[ 8.76047773e-01 -4.65813329e-01 -1.24732682e-01 1.09571388e+02] [ 4.59960404e-01 8.84851709e-01 -7.39856746e-02 3.40355085e+01] [ 1.44833440e-01 7.44289047e-03 9.89428056e-01 1.69740483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters Centerline goodness : 0.998098 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:34.05, Z:16.99 [[ 8.76214117e-01 -4.65505739e-01 -1.24712583e-01 1.09627575e+02] [ 4.59644922e-01 8.85012799e-01 -7.40195391e-02 3.40522551e+01] [ 1.44828752e-01 7.53345951e-03 9.89428057e-01 1.69862155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:34.07, Z:17.00 [[ 8.76525950e-01 -4.64919961e-01 -1.24706408e-01 1.09681761e+02] [ 4.59051789e-01 8.85319729e-01 -7.40299409e-02 3.40740053e+01] [ 1.44823041e-01 7.64246443e-03 9.89428057e-01 1.69965483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:34.09, Z:17.00 [[ 8.77543668e-01 -4.63001410e-01 -1.24686825e-01 1.09735815e+02] [ 4.57109350e-01 8.86321458e-01 -7.40629102e-02 3.40941600e+01] [ 1.44803840e-01 7.99792433e-03 9.89428058e-01 1.70022094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:34.12, Z:17.01 [[ 8.78822946e-01 -4.60572167e-01 -1.24673607e-01 1.09791565e+02] [ 4.54652707e-01 8.87582281e-01 -7.40851542e-02 3.41153412e+01] [ 1.44779644e-01 8.42454060e-03 9.89428058e-01 1.70059630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters Centerline goodness : 0.998091 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:34.14, Z:17.01 [[ 8.78950168e-01 -4.60333831e-01 -1.24656997e-01 1.09845037e+02] [ 4.54408051e-01 8.87705228e-01 -7.41130921e-02 3.41394437e+01] [ 1.44775431e-01 8.49657165e-03 9.89428058e-01 1.70124225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters Centerline goodness : 0.998292 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:34.17, Z:17.02 [[ 8.78506283e-01 -4.61184838e-01 -1.24640507e-01 1.09896180e+02] [ 4.55263625e-01 8.87264432e-01 -7.41408138e-02 3.41663361e+01] [ 1.44781708e-01 8.38888168e-03 9.89428059e-01 1.70199025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:34.19, Z:17.03 [[ 8.76336882e-01 -4.65298909e-01 -1.24621806e-01 1.09951249e+02] [ 4.59414374e-01 8.85119717e-01 -7.41722350e-02 3.41866376e+01] [ 1.44817478e-01 7.74681627e-03 9.89428060e-01 1.70283094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:34.21, Z:17.04 [[ 8.74173546e-01 -4.69355552e-01 -1.24603279e-01 1.10004589e+02] [ 4.63507367e-01 8.82980625e-01 -7.42033453e-02 3.42102013e+01] [ 1.44850034e-01 7.11206359e-03 9.89428060e-01 1.70379829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:34.23, Z:17.05 [[ 8.69518078e-01 -4.77929215e-01 -1.24587226e-01 1.10059201e+02] [ 4.72164066e-01 8.78379735e-01 -7.42302893e-02 3.42300700e+01] [ 1.44911718e-01 5.71896733e-03 9.89428061e-01 1.70525067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:34.25, Z:17.06 [[ 8.62828824e-01 -4.89907047e-01 -1.24569284e-01 1.10114038e+02] [ 4.84260645e-01 8.71766610e-01 -7.42603867e-02 3.42503967e+01] [ 1.44976029e-01 3.75000043e-03 9.89428061e-01 1.70621740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:110.17, Y:34.27, Z:17.07 [[ 8.57621628e-01 -4.98968132e-01 -1.24563018e-01 1.10166242e+02] [ 4.93414660e-01 8.66617452e-01 -7.42708949e-02 3.42737293e+01] [ 1.45007295e-01 2.23510645e-03 9.89428061e-01 1.70681436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:34.30, Z:17.08 [[ 8.50322742e-01 -5.11309505e-01 -1.24554503e-01 1.10220342e+02] [ 5.05884520e-01 8.59396629e-01 -7.42851731e-02 3.42963808e+01] [ 1.45024435e-01 1.56177226e-04 9.89428062e-01 1.70765692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:34.32, Z:17.08 [[ 8.45904627e-01 -5.18590276e-01 -1.24537093e-01 1.10272338e+02] [ 5.13239090e-01 8.55022230e-01 -7.43143492e-02 3.43219597e+01] [ 1.45020682e-01 -1.05445225e-03 9.89428062e-01 1.70828054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:34.35, Z:17.09 [[ 8.40643454e-01 -5.27077427e-01 -1.24531001e-01 1.10324703e+02] [ 5.21816762e-01 8.49813584e-01 -7.43245562e-02 3.43462085e+01] [ 1.45002932e-01 -2.50191200e-03 9.89428062e-01 1.70912232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:110.38, Y:34.37, Z:17.10 [[ 8.38049838e-01 -5.31196042e-01 -1.24511981e-01 1.10375026e+02] [ 5.25975709e-01 8.47242987e-01 -7.43564050e-02 3.43734096e+01] [ 1.44989731e-01 -3.17590451e-03 9.89428063e-01 1.71020392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:34.40, Z:17.11 [[ 8.35661483e-01 -5.34950229e-01 -1.24491519e-01 1.10424530e+02] [ 5.29766092e-01 8.44875091e-01 -7.43906488e-02 3.44014908e+01] [ 1.44975078e-01 -3.78598558e-03 9.89428064e-01 1.71099782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:34.43, Z:17.12 [[ 8.35256368e-01 -5.35584640e-01 -1.24482503e-01 1.10472953e+02] [ 5.30405255e-01 8.44472648e-01 -7.44057332e-02 3.44321027e+01] [ 1.44972636e-01 -3.87831107e-03 9.89428064e-01 1.71183741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:34.46, Z:17.13 [[ 8.35476400e-01 -5.35245950e-01 -1.24462678e-01 1.10519811e+02] [ 5.30057895e-01 8.44687801e-01 -7.44388807e-02 3.44630150e+01] [ 1.44975215e-01 -3.78049708e-03 9.89428065e-01 1.71268384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:110.57, Y:34.50, Z:17.13 [[ 8.36159572e-01 -5.34180544e-01 -1.24452065e-01 1.10566245e+02] [ 5.28978113e-01 8.45362861e-01 -7.44566207e-02 3.44972519e+01] [ 1.44980432e-01 -3.57480224e-03 9.89428065e-01 1.71348025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:110.61, Y:34.53, Z:17.14 [[ 8.36492242e-01 -5.33663938e-01 -1.24432832e-01 1.10613194e+02] [ 5.28451048e-01 8.45689610e-01 -7.44887495e-02 3.45303057e+01] [ 1.44983512e-01 -3.44739912e-03 9.89428065e-01 1.71424372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:34.57, Z:17.15 [[ 8.36346184e-01 -5.33897234e-01 -1.24413839e-01 1.10659011e+02] [ 5.28682196e-01 8.45542333e-01 -7.45204582e-02 3.45651633e+01] [ 1.44983434e-01 -3.45048067e-03 9.89428066e-01 1.71514924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:34.60, Z:17.16 [[ 8.35815395e-01 -5.34732495e-01 -1.24393668e-01 1.10705708e+02] [ 5.29521640e-01 8.45013915e-01 -7.45541145e-02 3.45982083e+01] [ 1.44980888e-01 -3.55566221e-03 9.89428067e-01 1.71587891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:34.63, Z:17.17 [[ 8.34688407e-01 -5.36492561e-01 -1.24382454e-01 1.10752092e+02] [ 5.31298317e-01 8.43896317e-01 -7.45728178e-02 3.46326961e+01] [ 1.44973657e-01 -3.83912210e-03 9.89428067e-01 1.71719692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:110.80, Y:34.67, Z:17.18 [[ 8.34276893e-01 -5.37136394e-01 -1.24364623e-01 1.10799061e+02] [ 5.31944829e-01 8.43486312e-01 -7.46025426e-02 3.46663205e+01] [ 1.44971598e-01 -3.91594080e-03 9.89428068e-01 1.71811805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:110.84, Y:34.70, Z:17.19 [[ 8.35883734e-01 -5.34637151e-01 -1.24344278e-01 1.10844848e+02] [ 5.29413008e-01 8.45074712e-01 -7.46364376e-02 3.47022282e+01] [ 1.44983617e-01 -3.44209429e-03 9.89428068e-01 1.71880923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:34.74, Z:17.20 [[ 8.38608741e-01 -5.30357301e-01 -1.24324225e-01 1.10892847e+02] [ 5.25081296e-01 8.47770045e-01 -7.46698268e-02 3.47353444e+01] [ 1.45000041e-01 -2.66155559e-03 9.89428069e-01 1.71951452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:110.94, Y:34.77, Z:17.20 [[ 8.44590037e-01 -5.20783555e-01 -1.24306706e-01 1.10938062e+02] [ 5.15399389e-01 8.53688194e-01 -7.46989797e-02 3.47693195e+01] [ 1.45021168e-01 -9.77586211e-04 9.89428070e-01 1.72036467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:34.80, Z:17.21 [[ 8.48900487e-01 -5.13729454e-01 -1.24298076e-01 1.10985439e+02] [ 5.08267578e-01 8.57952205e-01 -7.47133378e-02 3.48019124e+01] [ 1.45024250e-01 2.47506928e-04 9.89428070e-01 1.72124648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:34.83, Z:17.22 [[ 8.52529675e-01 -5.07685587e-01 -1.24291989e-01 1.11033107e+02] [ 5.02158066e-01 8.61541457e-01 -7.47234624e-02 3.48325843e+01] [ 1.45018726e-01 1.28974446e-03 9.89428070e-01 1.72225607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:34.86, Z:17.23 [[ 8.53623480e-01 -5.05845765e-01 -1.24286024e-01 1.11083155e+02] [ 5.00297377e-01 8.62622430e-01 -7.47333827e-02 3.48619505e+01] [ 1.45015477e-01 1.61419856e-03 9.89428070e-01 1.72306531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.13, Y:34.89, Z:17.24 [[ 8.53508966e-01 -5.06043624e-01 -1.24267029e-01 1.11133174e+02] [ 5.00492726e-01 8.62506367e-01 -7.47649539e-02 3.48903678e+01] [ 1.45015432e-01 1.61781441e-03 9.89428071e-01 1.72379026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:34.92, Z:17.24 [[ 8.52219339e-01 -5.08217268e-01 -1.24247361e-01 1.11184553e+02] [ 5.02684556e-01 8.61227933e-01 -7.47976254e-02 3.49183132e+01] [ 1.45018743e-01 1.28675349e-03 9.89428071e-01 1.72449212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:34.94, Z:17.25 [[ 8.47483176e-01 -5.16080500e-01 -1.24230365e-01 1.11235796e+02] [ 5.10627238e-01 8.56540085e-01 -7.48258432e-02 3.49424219e+01] [ 1.45024446e-01 -2.17649075e-05 9.89428072e-01 1.72525951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.29, Y:34.97, Z:17.26 [[ 8.43506712e-01 -5.22556466e-01 -1.24222249e-01 1.11285616e+02] [ 5.17170749e-01 8.52603948e-01 -7.48393146e-02 3.49690496e+01] [ 1.45020148e-01 -1.11664935e-03 9.89428072e-01 1.72594889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:34.99, Z:17.27 [[ 8.37748126e-01 -5.31741924e-01 -1.24211931e-01 1.11336808e+02] [ 5.26453393e-01 8.46902202e-01 -7.48564360e-02 3.49946819e+01] [ 1.44999663e-01 -2.68095339e-03 9.89428072e-01 1.72699210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:35.02, Z:17.28 [[ 8.34574769e-01 -5.36713639e-01 -1.24191082e-01 1.11387042e+02] [ 5.31474489e-01 8.43757195e-01 -7.48910097e-02 3.50224085e+01] [ 1.44982145e-01 -3.50224466e-03 9.89428073e-01 1.72790458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:35.05, Z:17.29 [[ 8.31266997e-01 -5.41827337e-01 -1.24170516e-01 1.11436496e+02] [ 5.36639576e-01 8.40478552e-01 -7.49250928e-02 3.50511733e+01] [ 1.44959119e-01 -4.35205618e-03 9.89428074e-01 1.72862687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:35.08, Z:17.29 [[ 8.30720801e-01 -5.42669022e-01 -1.24150247e-01 1.11485237e+02] [ 5.37485582e-01 8.39934788e-01 -7.49586639e-02 3.50811578e+01] [ 1.44955856e-01 -4.45924639e-03 9.89428075e-01 1.72945373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.53, Y:35.11, Z:17.30 [[ 8.31188991e-01 -5.41956370e-01 -1.24129587e-01 1.11533429e+02] [ 5.36759929e-01 8.40395651e-01 -7.49928607e-02 3.51148312e+01] [ 1.44960824e-01 -4.29454805e-03 9.89428075e-01 1.73033482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:111.58, Y:35.15, Z:17.31 [[ 8.33078757e-01 -5.39051107e-01 -1.24111598e-01 1.11580621e+02] [ 5.33818124e-01 8.42264695e-01 -7.50226210e-02 3.51477162e+01] [ 1.44975844e-01 -3.75326842e-03 9.89428076e-01 1.73129192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:35.18, Z:17.32 [[ 8.38707019e-01 -5.30256484e-01 -1.24091081e-01 1.11625458e+02] [ 5.24922128e-01 8.47834462e-01 -7.50565423e-02 3.51839347e+01] [ 1.45007913e-01 -2.18770521e-03 9.89428077e-01 1.73218608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:35.22, Z:17.33 [[ 8.42658851e-01 -5.23958510e-01 -1.24070707e-01 1.11671449e+02] [ 5.18550970e-01 8.51743126e-01 -7.50902051e-02 3.52186917e+01] [ 1.45020524e-01 -1.06155959e-03 9.89428078e-01 1.73288312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:35.25, Z:17.34 [[ 8.46020222e-01 -5.18518579e-01 -1.24049453e-01 1.11716574e+02] [ 5.13047476e-01 8.55066358e-01 -7.51253018e-02 3.52534366e+01] [ 1.45024378e-01 -8.57340070e-05 9.89428078e-01 1.73361313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:35.28, Z:17.34 [[ 8.46274585e-01 -5.18105442e-01 -1.24040628e-01 1.11763427e+02] [ 5.12627788e-01 8.55316755e-01 -7.51398690e-02 3.52849021e+01] [ 1.45024403e-01 2.28867813e-06 9.89428079e-01 1.73439695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.81, Y:35.32, Z:17.35 [[ 8.45366932e-01 -5.19587205e-01 -1.24031800e-01 1.11810857e+02] [ 5.14123262e-01 8.54417393e-01 -7.51544382e-02 3.53183718e+01] [ 1.45024212e-01 -2.34556994e-04 9.89428079e-01 1.73542016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:35.35, Z:17.36 [[ 8.44790811e-01 -5.20527763e-01 -1.24013439e-01 1.11858284e+02] [ 5.15069451e-01 8.53844669e-01 -7.51847239e-02 3.53501250e+01] [ 1.45023950e-01 -3.60170148e-04 9.89428079e-01 1.73612101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.91, Y:35.38, Z:17.37 [[ 8.44715644e-01 -5.20651888e-01 -1.24004403e-01 1.11906239e+02] [ 5.15192718e-01 8.53768985e-01 -7.51996242e-02 3.53826366e+01] [ 1.45023940e-01 -3.63866638e-04 9.89428079e-01 1.73689280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:35.42, Z:17.38 [[ 8.45608304e-01 -5.19205757e-01 -1.23983780e-01 1.11953932e+02] [ 5.13726121e-01 8.54649271e-01 -7.52336120e-02 3.54158861e+01] [ 1.45024371e-01 -7.55391144e-05 9.89428080e-01 1.73768235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.00, Y:35.45, Z:17.39 [[ 8.47069525e-01 -5.16823328e-01 -1.23963168e-01 1.12001812e+02] [ 5.11313295e-01 8.56091998e-01 -7.52675582e-02 3.54469169e+01] [ 1.45023906e-01 3.72838737e-04 9.89428081e-01 1.73854660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:35.48, Z:17.39 [[ 8.49711702e-01 -5.12472731e-01 -1.23942424e-01 1.12050500e+02] [ 5.06911523e-01 8.58702720e-01 -7.53017035e-02 3.54780189e+01] [ 1.45019766e-01 1.15689596e-03 9.89428082e-01 1.73948806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:35.51, Z:17.40 [[ 8.51722955e-01 -5.09128184e-01 -1.23921345e-01 1.12099607e+02] [ 5.03526627e-01 8.60688890e-01 -7.53363762e-02 3.55085297e+01] [ 1.45013597e-01 1.76802412e-03 9.89428083e-01 1.74028851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:35.54, Z:17.41 [[ 8.55321452e-01 -5.03064529e-01 -1.23900335e-01 1.12149023e+02] [ 4.97394417e-01 8.64244190e-01 -7.53709144e-02 3.55389097e+01] [ 1.44996578e-01 2.83902522e-03 9.89428083e-01 1.74096560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.20, Y:35.57, Z:17.42 [[ 8.56829412e-01 -5.00497008e-01 -1.23879393e-01 1.12198582e+02] [ 4.94795189e-01 8.65731921e-01 -7.54053191e-02 3.55677275e+01] [ 1.44986481e-01 3.31456769e-03 9.89428084e-01 1.74167861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:35.60, Z:17.42 [[ 8.57937704e-01 -4.98600077e-01 -1.23858224e-01 1.12248558e+02] [ 4.92873562e-01 8.66824346e-01 -7.54400745e-02 3.55951779e+01] [ 1.44977751e-01 3.67644028e-03 9.89428085e-01 1.74249979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.30, Y:35.62, Z:17.43 [[ 8.57657542e-01 -4.99084193e-01 -1.23848730e-01 1.12298437e+02] [ 4.93360446e-01 8.66545967e-01 -7.54556575e-02 3.56220697e+01] [ 1.44979343e-01 3.61304917e-03 9.89428085e-01 1.74335046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:35.65, Z:17.44 [[ 8.54997782e-01 -5.03629429e-01 -1.23839374e-01 1.12349716e+02] [ 4.97950718e-01 8.63915048e-01 -7.54710100e-02 3.56464800e+01] [ 1.44996120e-01 2.86164115e-03 9.89428085e-01 1.74432763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:35.67, Z:17.46 [[ 8.50208173e-01 -5.11675679e-01 -1.23830780e-01 1.12402235e+02] [ 5.06079320e-01 8.59177351e-01 -7.54851073e-02 3.56696344e+01] [ 1.45016495e-01 1.50985806e-03 9.89428086e-01 1.74562083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:35.70, Z:17.47 [[ 8.46562592e-01 -5.17689973e-01 -1.23809812e-01 1.12453196e+02] [ 5.12152310e-01 8.55568126e-01 -7.55194844e-02 3.56957278e+01] [ 1.45023408e-01 5.22489496e-04 9.89428086e-01 1.74664519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.51, Y:35.72, Z:17.47 [[ 8.41081309e-01 -5.26553503e-01 -1.23788695e-01 1.12505372e+02] [ 5.21105645e-01 8.50141451e-01 -7.55540827e-02 3.57212129e+01] [ 1.45021168e-01 -9.59860938e-04 9.89428087e-01 1.74731219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:35.75, Z:17.48 [[ 8.38440577e-01 -5.30753341e-01 -1.23767078e-01 1.12555131e+02] [ 5.25345639e-01 8.47524744e-01 -7.55894780e-02 3.57480537e+01] [ 1.45015029e-01 -1.64320889e-03 9.89428088e-01 1.74800652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.61, Y:35.78, Z:17.49 [[ 8.35929433e-01 -5.34701772e-01 -1.23757821e-01 1.12605061e+02] [ 5.29334731e-01 8.45037681e-01 -7.56046300e-02 3.57767718e+01] [ 1.45005952e-01 -2.30917750e-03 9.89428088e-01 1.74875332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:35.81, Z:17.50 [[ 8.35247294e-01 -5.35771540e-01 -1.23736874e-01 1.12654206e+02] [ 5.30411089e-01 8.44359422e-01 -7.56388970e-02 3.58070330e+01] [ 1.45003564e-01 -2.45422622e-03 9.89428089e-01 1.74957230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:35.84, Z:17.50 [[ 8.34980702e-01 -5.36191743e-01 -1.23715978e-01 1.12703202e+02] [ 5.30830817e-01 8.44092549e-01 -7.56730606e-02 3.58379401e+01] [ 1.45003005e-01 -2.48670829e-03 9.89428090e-01 1.75020804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:35.87, Z:17.51 [[ 8.34760470e-01 -5.36539373e-01 -1.23695024e-01 1.12751858e+02] [ 5.31177171e-01 8.43871565e-01 -7.57072959e-02 3.58700250e+01] [ 1.45002659e-01 -2.50651515e-03 9.89428091e-01 1.75080087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:35.90, Z:17.52 [[ 8.35766778e-01 -5.34975293e-01 -1.23674288e-01 1.12799853e+02] [ 5.29591030e-01 8.44864852e-01 -7.57411549e-02 3.59019162e+01] [ 1.45007706e-01 -2.19485263e-03 9.89428091e-01 1.75165175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:35.94, Z:17.52 [[ 8.37975278e-01 -5.31514118e-01 -1.23653452e-01 1.12847479e+02] [ 5.26087256e-01 8.47048006e-01 -7.57751564e-02 3.59357940e+01] [ 1.45015976e-01 -1.55479756e-03 9.89428092e-01 1.75236716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:35.97, Z:17.53 [[ 8.40155439e-01 -5.28065642e-01 -1.23634608e-01 1.12895209e+02] [ 5.22597015e-01 8.49203054e-01 -7.58058901e-02 3.59676901e+01] [ 1.45021373e-01 -9.22346143e-04 9.89428093e-01 1.75305350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.94, Y:36.00, Z:17.54 [[ 8.44453943e-01 -5.21169138e-01 -1.23613383e-01 1.12943213e+02] [ 5.15621552e-01 8.53453359e-01 -7.58404850e-02 3.59989773e+01] [ 1.45023977e-01 3.06072176e-04 9.89428094e-01 1.75391673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:36.03, Z:17.55 [[ 8.45709660e-01 -5.19130539e-01 -1.23606856e-01 1.12991713e+02] [ 5.13559705e-01 8.54694704e-01 -7.58511212e-02 3.60289512e+01] [ 1.45022759e-01 6.68525250e-04 9.89428094e-01 1.75481186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:36.06, Z:17.56 [[ 8.50024258e-01 -5.12040274e-01 -1.23586076e-01 1.13041009e+02] [ 5.06389580e-01 8.58959292e-01 -7.58849642e-02 3.60580301e+01] [ 1.45011566e-01 1.92135927e-03 9.89428094e-01 1.75567194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:36.09, Z:17.56 [[ 8.52381698e-01 -5.08111253e-01 -1.23565350e-01 1.13091203e+02] [ 5.02414487e-01 8.61287429e-01 -7.59186981e-02 3.60872935e+01] [ 1.45000427e-01 2.63068695e-03 9.89428095e-01 1.75645288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.14, Y:36.11, Z:17.57 [[ 8.54862561e-01 -5.03931343e-01 -1.23544339e-01 1.13141977e+02] [ 4.98186101e-01 8.63737095e-01 -7.59528753e-02 3.61132680e+01] [ 1.44984863e-01 3.38119714e-03 9.89428096e-01 1.75734768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:36.15, Z:17.57 [[ 8.52506204e-01 -5.07909698e-01 -1.23535057e-01 1.13191412e+02] [ 5.02203690e-01 8.61406015e-01 -7.59679678e-02 3.61477087e+01] [ 1.44998709e-01 2.72340222e-03 9.89428096e-01 1.75706841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.24, Y:36.17, Z:17.59 [[ 8.56623494e-01 -5.00939336e-01 -1.23515065e-01 1.13244876e+02] [ 4.95156246e-01 8.65473409e-01 -7.60004599e-02 3.61658988e+01] [ 1.44970624e-01 3.94452370e-03 9.89428097e-01 1.75927265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.30, Y:36.19, Z:17.60 [[ 8.58555900e-01 -4.97621877e-01 -1.23508034e-01 1.13297643e+02] [ 4.91802954e-01 8.67382296e-01 -7.60118844e-02 3.61923442e+01] [ 1.44953858e-01 4.51883600e-03 9.89428097e-01 1.75972886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:36.22, Z:17.60 [[ 8.59284942e-01 -4.96366578e-01 -1.23489307e-01 1.13348921e+02] [ 4.90530398e-01 8.68099936e-01 -7.60422963e-02 3.62191934e+01] [ 1.44945914e-01 4.76674138e-03 9.89428098e-01 1.76038667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.40, Y:36.24, Z:17.61 [[ 8.60635684e-01 -4.94026249e-01 -1.23467749e-01 1.13401317e+02] [ 4.88161090e-01 8.69431422e-01 -7.60772837e-02 3.62442717e+01] [ 1.44930915e-01 5.20267434e-03 9.89428098e-01 1.76125724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:113.45, Y:36.27, Z:17.62 [[ 8.60984769e-01 -4.93423037e-01 -1.23446075e-01 1.13451511e+02] [ 4.87546684e-01 8.69773032e-01 -7.61124360e-02 3.62705314e+01] [ 1.44925696e-01 5.34592357e-03 9.89428099e-01 1.76192592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:36.30, Z:17.63 [[ 8.60566609e-01 -4.94155629e-01 -1.23431465e-01 1.13502208e+02] [ 4.88283367e-01 8.69357605e-01 -7.61361217e-02 3.62987121e+01] [ 1.44929176e-01 5.25067275e-03 9.89428100e-01 1.76282336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:36.33, Z:17.64 [[ 8.56717080e-01 -5.00805917e-01 -1.23406959e-01 1.13552655e+02] [ 4.94996205e-01 8.65549537e-01 -7.61758224e-02 3.63251308e+01] [ 1.44964139e-01 4.17515176e-03 9.89428101e-01 1.76407722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.60, Y:36.35, Z:17.65 [[ 8.54530573e-01 -5.04533766e-01 -1.23382246e-01 1.13602659e+02] [ 4.98756819e-01 8.63384493e-01 -7.62158303e-02 3.63541506e+01] [ 1.44979778e-01 3.59102077e-03 9.89428102e-01 1.76502760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:36.39, Z:17.65 [[ 8.49469605e-01 -5.13014044e-01 -1.23361185e-01 1.13652668e+02] [ 5.07320559e-01 8.58377424e-01 -7.62499041e-02 3.63878922e+01] [ 1.45007728e-01 2.18831064e-03 9.89428103e-01 1.76480466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:36.41, Z:17.67 [[ 8.49782568e-01 -5.12498109e-01 -1.23350217e-01 1.13703370e+02] [ 5.06796642e-01 8.58685280e-01 -7.62676423e-02 3.64111914e+01] [ 1.45006038e-01 2.29743703e-03 9.89428103e-01 1.76689533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:36.44, Z:17.68 [[ 8.48753058e-01 -5.14203033e-01 -1.23342961e-01 1.13752944e+02] [ 5.08517746e-01 8.57666112e-01 -7.62793746e-02 3.64402548e+01] [ 1.45010164e-01 2.02026773e-03 9.89428103e-01 1.76780557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.80, Y:36.47, Z:17.69 [[ 8.46690188e-01 -5.17597794e-01 -1.23321729e-01 1.13802141e+02] [ 5.11943247e-01 8.55622775e-01 -7.63136860e-02 3.64688235e+01] [ 1.45016676e-01 1.48032270e-03 9.89428104e-01 1.76880096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.85, Y:36.50, Z:17.70 [[ 8.44773334e-01 -5.20725442e-01 -1.23300563e-01 1.13851931e+02] [ 5.15098979e-01 8.53723635e-01 -7.63478687e-02 3.64975508e+01] [ 1.45020883e-01 9.84649274e-04 9.89428105e-01 1.76985143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:36.53, Z:17.71 [[ 8.41503636e-01 -5.25997897e-01 -1.23279533e-01 1.13901296e+02] [ 5.20422541e-01 8.50485860e-01 -7.63818114e-02 3.65262133e+01] [ 1.45024172e-01 1.18124184e-04 9.89428105e-01 1.77074927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:36.56, Z:17.71 [[ 8.39752941e-01 -5.28793272e-01 -1.23258563e-01 1.13951087e+02] [ 5.23242850e-01 8.48750594e-01 -7.64156362e-02 3.65560956e+01] [ 1.45023853e-01 -3.23906694e-04 9.89428106e-01 1.77149127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:36.59, Z:17.72 [[ 8.39333731e-01 -5.29463307e-01 -1.23237557e-01 1.14000035e+02] [ 5.23915095e-01 8.48332746e-01 -7.64494991e-02 3.65864370e+01] [ 1.45023659e-01 -3.99372979e-04 9.89428107e-01 1.77214330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.05, Y:36.62, Z:17.73 [[ 8.40767370e-01 -5.27188770e-01 -1.23216193e-01 1.14048568e+02] [ 5.21611169e-01 8.49748198e-01 -7.64839168e-02 3.66173285e+01] [ 1.45024200e-01 3.42393191e-05 9.89428108e-01 1.77277669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.10, Y:36.65, Z:17.73 [[ 8.44641111e-01 -5.20964813e-01 -1.23195200e-01 1.14097142e+02] [ 5.15316105e-01 8.53577384e-01 -7.65177162e-02 3.66502657e+01] [ 1.45019674e-01 1.14553830e-03 9.89428108e-01 1.77313810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:36.68, Z:17.74 [[ 8.49048232e-01 -5.13755353e-01 -1.23176853e-01 1.14146178e+02] [ 5.08026491e-01 8.57933333e-01 -7.65472397e-02 3.66826305e+01] [ 1.45004082e-01 2.41519425e-03 9.89428109e-01 1.77389686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:36.71, Z:17.75 [[ 8.51475157e-01 -5.09727529e-01 -1.23158040e-01 1.14194943e+02] [ 5.03952268e-01 8.60330168e-01 -7.65774962e-02 3.67134377e+01] [ 1.44990235e-01 3.13806202e-03 9.89428110e-01 1.77472156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:36.74, Z:17.76 [[ 8.51382931e-01 -5.09886768e-01 -1.23136462e-01 1.14243748e+02] [ 5.04108150e-01 8.60235751e-01 -7.66121785e-02 3.67447349e+01] [ 1.44989923e-01 3.15220715e-03 9.89428111e-01 1.77568681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:36.77, Z:17.77 [[ 8.51273349e-01 -5.10074286e-01 -1.23117456e-01 1.14293498e+02] [ 5.04293205e-01 8.60124560e-01 -7.66427085e-02 3.67745062e+01] [ 1.44989823e-01 3.15659843e-03 9.89428111e-01 1.77683136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.34, Y:36.80, Z:17.78 [[ 8.51783547e-01 -5.09226398e-01 -1.23098599e-01 1.14342174e+02] [ 5.03432134e-01 8.60626133e-01 -7.66729839e-02 3.68049646e+01] [ 1.44985779e-01 3.33699574e-03 9.89428112e-01 1.77755574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:36.83, Z:17.79 [[ 8.52564326e-01 -5.07923252e-01 -1.23077374e-01 1.14392087e+02] [ 5.02110560e-01 8.61394808e-01 -7.67070400e-02 3.68341733e+01] [ 1.44979500e-01 3.59923673e-03 9.89428113e-01 1.77850236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:36.86, Z:17.79 [[ 8.53169138e-01 -5.06911223e-01 -1.23058659e-01 1.14441769e+02] [ 5.01083731e-01 8.61989860e-01 -7.67370530e-02 3.68627505e+01] [ 1.44974189e-01 3.80699359e-03 9.89428113e-01 1.77945962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.49, Y:36.89, Z:17.80 [[ 8.53624607e-01 -5.06149092e-01 -1.23037093e-01 1.14491183e+02] [ 5.00308748e-01 8.62436824e-01 -7.67716154e-02 3.68917709e+01] [ 1.44969603e-01 3.97760608e-03 9.89428114e-01 1.78019231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.54, Y:36.92, Z:17.81 [[ 8.51987671e-01 -5.08904930e-01 -1.23015368e-01 1.14541377e+02] [ 5.03088073e-01 8.60815408e-01 -7.68064110e-02 3.69214498e+01] [ 1.44980685e-01 3.55055086e-03 9.89428115e-01 1.78094040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:36.95, Z:17.82 [[ 8.51263301e-01 -5.10120357e-01 -1.22995994e-01 1.14589825e+02] [ 5.04311627e-01 8.60096386e-01 -7.68374229e-02 3.69503340e+01] [ 1.44984744e-01 3.38056821e-03 9.89428116e-01 1.78168543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:36.98, Z:17.82 [[ 8.50346603e-01 -5.11649286e-01 -1.22986433e-01 1.14640358e+02] [ 5.05854228e-01 8.59188663e-01 -7.68527232e-02 3.69787163e+01] [ 1.44990190e-01 3.13824482e-03 9.89428116e-01 1.78239281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:37.01, Z:17.83 [[ 8.49148537e-01 -5.13636762e-01 -1.22979828e-01 1.14690723e+02] [ 5.07860870e-01 8.58003130e-01 -7.68632917e-02 3.70071897e+01] [ 1.44996890e-01 2.81170917e-03 9.89428116e-01 1.78336945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:37.04, Z:17.84 [[ 8.47883478e-01 -5.15727465e-01 -1.22958482e-01 1.14741123e+02] [ 5.09968460e-01 8.56749062e-01 -7.68974242e-02 3.70367478e+01] [ 1.45002678e-01 2.49510784e-03 9.89428117e-01 1.78441942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.79, Y:37.07, Z:17.85 [[ 8.46251093e-01 -5.18406107e-01 -1.22939806e-01 1.14791379e+02] [ 5.12670831e-01 8.55132045e-01 -7.69272708e-02 3.70651038e+01] [ 1.45009335e-01 2.07213441e-03 9.89428117e-01 1.78531006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.84, Y:37.09, Z:17.86 [[ 8.43728154e-01 -5.22507317e-01 -1.22918291e-01 1.14841734e+02] [ 5.16810206e-01 8.52633636e-01 -7.69616340e-02 3.70945912e+01] [ 1.45017286e-01 1.40927025e-03 9.89428118e-01 1.78606390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.89, Y:37.12, Z:17.87 [[ 8.41961888e-01 -5.25353169e-01 -1.22899254e-01 1.14891175e+02] [ 5.19681724e-01 8.50883737e-01 -7.69920218e-02 3.71231156e+01] [ 1.45020979e-01 9.55851892e-04 9.89428119e-01 1.78683249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:37.15, Z:17.88 [[ 8.42607820e-01 -5.24319997e-01 -1.22884511e-01 1.14939359e+02] [ 5.18634182e-01 8.51520517e-01 -7.70155462e-02 3.71533401e+01] [ 1.45019473e-01 1.16179382e-03 9.89428119e-01 1.78783455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:37.18, Z:17.89 [[ 8.43109417e-01 -5.23515334e-01 -1.22874754e-01 1.14987820e+02] [ 5.17818745e-01 8.52015232e-01 -7.70311100e-02 3.71847085e+01] [ 1.45018129e-01 1.31880369e-03 9.89428119e-01 1.78887020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.04, Y:37.22, Z:17.90 [[ 8.43557227e-01 -5.22797807e-01 -1.22856252e-01 1.15036594e+02] [ 5.17089346e-01 8.52455436e-01 -7.70606075e-02 3.72167234e+01] [ 1.45016596e-01 1.47737360e-03 9.89428120e-01 1.78990287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:37.25, Z:17.91 [[ 8.43012085e-01 -5.23680712e-01 -1.22837846e-01 1.15084672e+02] [ 5.17977298e-01 8.51913529e-01 -7.70899359e-02 3.72478249e+01] [ 1.45017735e-01 1.36053208e-03 9.89428120e-01 1.79073389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:37.28, Z:17.92 [[ 8.40591853e-01 -5.27561865e-01 -1.22816181e-01 1.15132557e+02] [ 5.21894511e-01 8.49516298e-01 -7.71244362e-02 3.72795554e+01] [ 1.45022259e-01 7.33082053e-04 9.89428121e-01 1.79161510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:37.31, Z:17.92 [[ 8.40117383e-01 -5.28322205e-01 -1.22794263e-01 1.15180409e+02] [ 5.22657829e-01 8.49043717e-01 -7.71593177e-02 3.73120740e+01] [ 1.45022678e-01 6.43501129e-04 9.89428122e-01 1.79212948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.23, Y:37.35, Z:17.93 [[ 8.39098174e-01 -5.29940998e-01 -1.22787594e-01 1.15228428e+02] [ 5.24292290e-01 8.48034431e-01 -7.71699290e-02 3.73458941e+01] [ 1.45023617e-01 3.76557657e-04 9.89428122e-01 1.79273545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.28, Y:37.38, Z:17.94 [[ 8.38896979e-01 -5.30263832e-01 -1.22768590e-01 1.15275593e+02] [ 5.24614140e-01 8.47832614e-01 -7.72001498e-02 3.73769012e+01] [ 1.45023662e-01 3.56833968e-04 9.89428123e-01 1.79360685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:37.41, Z:17.95 [[ 8.39113094e-01 -5.29924295e-01 -1.22757716e-01 1.15323620e+02] [ 5.24268458e-01 8.48044840e-01 -7.72174379e-02 3.74090084e+01] [ 1.45023444e-01 4.36164841e-04 9.89428123e-01 1.79463666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:37.44, Z:17.95 [[ 8.40492523e-01 -5.27738749e-01 -1.22736023e-01 1.15370857e+02] [ 5.22054654e-01 8.49406311e-01 -7.72519034e-02 3.74419487e+01] [ 1.45021575e-01 8.54735302e-04 9.89428124e-01 1.79537855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:37.47, Z:17.96 [[ 8.41717808e-01 -5.25784891e-01 -1.22724817e-01 1.15419558e+02] [ 5.20077510e-01 8.50616704e-01 -7.72697011e-02 3.74743402e+01] [ 1.45019021e-01 1.21286612e-03 9.89428124e-01 1.79633101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.47, Y:37.51, Z:17.97 [[ 8.43798866e-01 -5.22443010e-01 -1.22706051e-01 1.15466715e+02] [ 5.16696055e-01 8.52672256e-01 -7.72994909e-02 3.75066175e+01] [ 1.45012624e-01 1.82349037e-03 9.89428125e-01 1.79712932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.52, Y:37.54, Z:17.98 [[ 8.45026007e-01 -5.20460849e-01 -1.22684769e-01 1.15515015e+02] [ 5.14688179e-01 8.53882689e-01 -7.73332538e-02 3.75385074e+01] [ 1.45007331e-01 2.20421023e-03 9.89428125e-01 1.79792870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.56, Y:37.57, Z:17.99 [[ 8.47515734e-01 -5.16401846e-01 -1.22663007e-01 1.15562835e+02] [ 5.10581772e-01 8.56341336e-01 -7.73677568e-02 3.75702684e+01] [ 1.44994256e-01 2.94089584e-03 9.89428126e-01 1.79860946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:37.60, Z:17.99 [[ 8.48643301e-01 -5.14549125e-01 -1.22652948e-01 1.15610901e+02] [ 5.08707481e-01 8.57454641e-01 -7.73836996e-02 3.76016308e+01] [ 1.44987055e-01 3.27668580e-03 9.89428126e-01 1.79938325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:37.63, Z:18.00 [[ 8.47660070e-01 -5.16172427e-01 -1.22631282e-01 1.15660866e+02] [ 5.10342696e-01 8.56479295e-01 -7.74180196e-02 3.76323754e+01] [ 1.44992201e-01 3.04018489e-03 9.89428127e-01 1.80032199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:37.66, Z:18.01 [[ 8.44734500e-01 -5.20950856e-01 -1.22612517e-01 1.15711296e+02] [ 5.15166708e-01 8.53583688e-01 -7.74477282e-02 3.76616716e+01] [ 1.45006505e-01 2.25688129e-03 9.89428128e-01 1.80143383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:37.69, Z:18.02 [[ 8.41687871e-01 -5.25863471e-01 -1.22593385e-01 1.15760410e+02] [ 5.20126568e-01 8.50567759e-01 -7.74779999e-02 3.76908900e+01] [ 1.45016831e-01 1.44821597e-03 9.89428128e-01 1.80234018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:37.72, Z:18.04 [[ 8.34832903e-01 -5.36681803e-01 -1.22583304e-01 1.15811503e+02] [ 5.31057633e-01 8.43784616e-01 -7.74939477e-02 3.77186635e+01] [ 1.45023497e-01 -4.04301817e-04 9.89428129e-01 1.80356817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.86, Y:37.75, Z:18.05 [[ 8.29570005e-01 -5.44785783e-01 -1.22564504e-01 1.15860706e+02] [ 5.39244659e-01 8.38573359e-01 -7.75236706e-02 3.77482645e+01] [ 1.45013121e-01 -1.78094210e-03 9.89428129e-01 1.80462143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:37.78, Z:18.05 [[ 8.21647374e-01 -5.56667572e-01 -1.22543081e-01 1.15908930e+02] [ 5.51251543e-01 8.30726530e-01 -7.75575185e-02 3.77793618e+01] [ 1.44973544e-01 -3.82713133e-03 9.89428130e-01 1.80543150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:37.81, Z:18.06 [[ 8.16664924e-01 -5.63956362e-01 -1.22521931e-01 1.15957371e+02] [ 5.58616329e-01 8.25788984e-01 -7.75909166e-02 3.78105682e+01] [ 1.44935152e-01 -5.07697134e-03 9.89428131e-01 1.80630644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:37.84, Z:18.07 [[ 8.10832947e-01 -5.72314094e-01 -1.22501063e-01 1.16004060e+02] [ 5.67063088e-01 8.20008531e-01 -7.76238503e-02 3.78441560e+01] [ 1.44877140e-01 -6.52585556e-03 9.89428132e-01 1.80721452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:37.88, Z:18.08 [[ 8.07654117e-01 -5.76795811e-01 -1.22480286e-01 1.16048748e+02] [ 5.71590750e-01 8.16855841e-01 -7.76566196e-02 3.78819682e+01] [ 1.44840750e-01 -7.28890993e-03 9.89428132e-01 1.80807631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:37.92, Z:18.09 [[ 8.07424076e-01 -5.77121992e-01 -1.22460476e-01 1.16093356e+02] [ 5.71915929e-01 8.16625232e-01 -7.76878470e-02 3.79194547e+01] [ 1.44839679e-01 -7.31005852e-03 9.89428133e-01 1.80888156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.14, Y:37.95, Z:18.10 [[ 8.07975424e-01 -5.76354286e-01 -1.22439581e-01 1.16139775e+02] [ 5.71134508e-01 8.17168806e-01 -7.77207642e-02 3.79538747e+01] [ 1.44848502e-01 -7.13300235e-03 9.89428134e-01 1.80970772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:38.00, Z:18.10 [[ 8.11719331e-01 -5.71073964e-01 -1.22418359e-01 1.16178889e+02] [ 5.65789328e-01 8.20875584e-01 -7.77541772e-02 3.79973041e+01] [ 1.44893628e-01 -6.14843222e-03 9.89428135e-01 1.81038863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:38.04, Z:18.11 [[ 8.14615061e-01 -5.66938754e-01 -1.22404052e-01 1.16221411e+02] [ 5.61604247e-01 8.23742348e-01 -7.77766939e-02 3.80369599e+01] [ 1.44924023e-01 -5.38456897e-03 9.89428135e-01 1.81124038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.26, Y:38.08, Z:18.12 [[ 8.18248340e-01 -5.61686841e-01 -1.22382787e-01 1.16261468e+02] [ 5.56288735e-01 8.27338157e-01 -7.78101403e-02 3.80802374e+01] [ 1.44956881e-01 -4.41214741e-03 9.89428136e-01 1.81208487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:38.12, Z:18.13 [[ 8.20579129e-01 -5.58280913e-01 -1.22361410e-01 1.16302607e+02] [ 5.52840065e-01 8.29643426e-01 -7.78437428e-02 3.81231198e+01] [ 1.44975015e-01 -3.76933899e-03 9.89428136e-01 1.81275507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.35, Y:38.16, Z:18.14 [[ 8.20777432e-01 -5.57993966e-01 -1.22340270e-01 1.16347150e+02] [ 5.52545003e-01 8.29836852e-01 -7.78769518e-02 3.81610660e+01] [ 1.44977334e-01 -3.67886048e-03 9.89428137e-01 1.81355382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:38.20, Z:18.14 [[ 8.18323498e-01 -5.61591288e-01 -1.22318756e-01 1.16390102e+02] [ 5.56177100e-01 8.27403742e-01 -7.79107295e-02 3.82006080e+01] [ 1.44960983e-01 -4.27471004e-03 9.89428138e-01 1.81430991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.44, Y:38.24, Z:18.15 [[ 8.15196352e-01 -5.66125520e-01 -1.22298010e-01 1.16435496e+02] [ 5.60756948e-01 8.24303640e-01 -7.79432813e-02 3.82381155e+01] [ 1.44936375e-01 -5.04038010e-03 9.89428139e-01 1.81534818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:38.28, Z:18.16 [[ 8.11488552e-01 -5.71431783e-01 -1.22278562e-01 1.16478776e+02] [ 5.66118156e-01 8.20628005e-01 -7.79737802e-02 3.82773908e+01] [ 1.44901908e-01 -5.94928380e-03 9.89428139e-01 1.81638172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:38.31, Z:18.17 [[ 8.10471683e-01 -5.72877215e-01 -1.22259343e-01 1.16522793e+02] [ 5.67575353e-01 8.19617966e-01 -7.80039024e-02 3.83130634e+01] [ 1.44892613e-01 -6.17143581e-03 9.89428140e-01 1.81719006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:116.57, Y:38.35, Z:18.18 [[ 8.10669850e-01 -5.72599917e-01 -1.22244548e-01 1.16565974e+02] [ 5.67291439e-01 8.19812294e-01 -7.80270825e-02 3.83533623e+01] [ 1.44895884e-01 -6.09408216e-03 9.89428140e-01 1.81768084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:38.39, Z:18.18 [[ 8.12056000e-01 -5.70637113e-01 -1.22222492e-01 1.16609126e+02] [ 5.65301348e-01 8.21182544e-01 -7.80616161e-02 3.83925346e+01] [ 1.44911832e-01 -5.70213552e-03 9.89428141e-01 1.81827334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.65, Y:38.43, Z:18.19 [[ 8.14193160e-01 -5.67588337e-01 -1.22200567e-01 1.16654010e+02] [ 5.62213248e-01 8.23296599e-01 -7.80959230e-02 3.84288810e+01] [ 1.44933646e-01 -5.11761141e-03 9.89428142e-01 1.81915067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:38.47, Z:18.20 [[ 8.18809855e-01 -5.60912578e-01 -1.22178157e-01 1.16696454e+02] [ 5.55458016e-01 8.27865898e-01 -7.81309673e-02 3.84680789e+01] [ 1.44971772e-01 -3.89043070e-03 9.89428143e-01 1.82011866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:38.50, Z:18.21 [[ 8.20905935e-01 -5.57841936e-01 -1.22171272e-01 1.16740404e+02] [ 5.52351893e-01 8.29940513e-01 -7.81417320e-02 3.85036871e+01] [ 1.44985623e-01 -3.33452170e-03 9.89428143e-01 1.82096567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:116.78, Y:38.54, Z:18.22 [[ 8.22815539e-01 -5.55023478e-01 -1.22161889e-01 1.16784906e+02] [ 5.49500309e-01 8.31829903e-01 -7.81563977e-02 3.85416902e+01] [ 1.44996548e-01 -2.81969723e-03 9.89428143e-01 1.82172767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:38.58, Z:18.22 [[ 8.23735225e-01 -5.53662440e-01 -1.22140012e-01 1.16831103e+02] [ 5.48119310e-01 8.32737328e-01 -7.81905720e-02 3.85774780e+01] [ 1.45001730e-01 -2.53897049e-03 9.89428144e-01 1.82242077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:38.61, Z:18.23 [[ 8.24864014e-01 -5.51983884e-01 -1.22119408e-01 1.16876227e+02] [ 5.46417674e-01 8.33851863e-01 -7.82227387e-02 3.86138599e+01] [ 1.45007187e-01 -2.20508045e-03 9.89428145e-01 1.82305586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters Centerline goodness : 0.999898 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:38.65, Z:18.24 [[ 8.25232532e-01 -5.51434282e-01 -1.22112656e-01 1.16923096e+02] [ 5.45860526e-01 8.34215703e-01 -7.82332779e-02 3.86478820e+01] [ 1.45008806e-01 -2.09583246e-03 9.89428145e-01 1.82385800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:38.68, Z:18.25 [[ 8.26445322e-01 -5.49619786e-01 -1.22091032e-01 1.16969174e+02] [ 5.44021324e-01 8.35413116e-01 -7.82670089e-02 3.86822302e+01] [ 1.45013546e-01 -1.73672167e-03 9.89428146e-01 1.82480637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:38.72, Z:18.26 [[ 8.28473838e-01 -5.46562255e-01 -1.22068838e-01 1.17015748e+02] [ 5.40925596e-01 8.37417672e-01 -7.83016085e-02 3.87154667e+01] [ 1.45019306e-01 -1.15932506e-03 9.89428146e-01 1.82576042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters Centerline goodness : 0.999898 with order 1 Centerline is valid? [True, True] Translation: X:117.06, Y:38.75, Z:18.27 [[ 8.33247005e-01 -5.39262604e-01 -1.22046191e-01 1.17062012e+02] [ 5.33542418e-01 8.42137649e-01 -7.83368930e-02 3.87492371e+01] [ 1.45023849e-01 1.57161831e-04 9.89428147e-01 1.82669298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:38.78, Z:18.27 [[ 8.38981091e-01 -5.30299927e-01 -1.22035714e-01 1.17109559e+02] [ 5.24482397e-01 8.47808345e-01 -7.83532114e-02 3.87822214e+01] [ 1.45013599e-01 1.73127929e-03 9.89428147e-01 1.82745874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:38.81, Z:18.28 [[ 8.42636509e-01 -5.24477284e-01 -1.22013495e-01 1.17157870e+02] [ 5.18593758e-01 8.51419913e-01 -7.83877952e-02 3.88137177e+01] [ 1.44997337e-01 2.77698106e-03 9.89428148e-01 1.82824093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters Centerline goodness : 0.999837 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:38.84, Z:18.29 [[ 8.47487279e-01 -5.16607594e-01 -1.21991420e-01 1.17206605e+02] [ 5.10637592e-01 8.56212134e-01 -7.84221345e-02 3.88441249e+01] [ 1.44964005e-01 4.16835621e-03 9.89428149e-01 1.82892453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:38.87, Z:18.30 [[ 8.49783069e-01 -5.12827778e-01 -1.21968872e-01 1.17256221e+02] [ 5.06813951e-01 8.58477774e-01 -7.84571876e-02 3.88738667e+01] [ 1.44942591e-01 4.85606359e-03 9.89428150e-01 1.82966797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:117.31, Y:38.90, Z:18.31 [[ 8.50808670e-01 -5.11129838e-01 -1.21946284e-01 1.17306921e+02] [ 5.05093640e-01 8.59487857e-01 -7.84922819e-02 3.89010371e+01] [ 1.44931097e-01 5.18762166e-03 9.89428151e-01 1.83053346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:38.93, Z:18.32 [[ 8.48906057e-01 -5.14285232e-01 -1.21939357e-01 1.17359701e+02] [ 5.08279756e-01 8.57606531e-01 -7.85030405e-02 3.89266537e+01] [ 1.44948944e-01 4.66239963e-03 9.89428151e-01 1.83172752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:38.95, Z:18.33 [[ 8.46378810e-01 -5.18438501e-01 -1.21919770e-01 1.17410997e+02] [ 5.12471351e-01 8.55105614e-01 -7.85334498e-02 3.89533161e+01] [ 1.44969044e-01 3.98865872e-03 9.89428152e-01 1.83262959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:117.46, Y:38.98, Z:18.34 [[ 8.41099842e-01 -5.26964903e-01 -1.21897689e-01 1.17464396e+02] [ 5.21081282e-01 8.49883176e-01 -7.85677088e-02 3.89759093e+01] [ 1.45001220e-01 2.56468365e-03 9.89428152e-01 1.83363843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:39.00, Z:18.35 [[ 8.36578166e-01 -5.34119300e-01 -1.21875124e-01 1.17516418e+02] [ 5.28305707e-01 8.45408006e-01 -7.86026962e-02 3.90012956e+01] [ 1.45017422e-01 1.36997591e-03 9.89428153e-01 1.83452970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:39.02, Z:18.35 [[ 8.29815727e-01 -5.44571225e-01 -1.21852538e-01 1.17569778e+02] [ 5.38863710e-01 8.38714502e-01 -7.86376945e-02 3.90239343e+01] [ 1.45023316e-01 -4.07114989e-04 9.89428154e-01 1.83528548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:39.05, Z:18.36 [[ 8.27587949e-01 -5.47955796e-01 -1.21830344e-01 1.17619892e+02] [ 5.42279613e-01 8.36506741e-01 -7.86720630e-02 3.90524604e+01] [ 1.45020717e-01 -9.58060674e-04 9.89428155e-01 1.83615160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:39.08, Z:18.37 [[ 8.23666759e-01 -5.53837314e-01 -1.21808452e-01 1.17672867e+02] [ 5.48219800e-01 8.32622619e-01 -7.87059452e-02 3.90772858e+01] [ 1.45010761e-01 -1.95033416e-03 9.89428156e-01 1.83699668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:39.11, Z:18.38 [[ 8.22059675e-01 -5.56224876e-01 -1.21785786e-01 1.17722370e+02] [ 5.50628179e-01 8.31028557e-01 -7.87410021e-02 3.91058124e+01] [ 1.45005170e-01 -2.32888285e-03 9.89428157e-01 1.83776643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.77, Y:39.13, Z:18.39 [[ 8.20884409e-01 -5.57959973e-01 -1.21776253e-01 1.17771644e+02] [ 5.52380047e-01 8.29863734e-01 -7.87557417e-02 3.91344627e+01] [ 1.45000248e-01 -2.61741199e-03 9.89428157e-01 1.83868617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.82, Y:39.17, Z:18.39 [[ 8.20568687e-01 -5.58429097e-01 -1.21753746e-01 1.17819931e+02] [ 5.52849145e-01 8.29547995e-01 -7.87905229e-02 3.91652150e+01] [ 1.44999496e-01 -2.65841821e-03 9.89428158e-01 1.83946635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.87, Y:39.20, Z:18.40 [[ 8.21936702e-01 -5.56418522e-01 -1.21731209e-01 1.17868297e+02] [ 5.50811450e-01 8.30899100e-01 -7.88253273e-02 3.91986420e+01] [ 1.45006224e-01 -2.26151391e-03 9.89428158e-01 1.83992488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:39.23, Z:18.40 [[ 8.24437919e-01 -5.52710053e-01 -1.21711606e-01 1.17915858e+02] [ 5.47058197e-01 8.33372142e-01 -7.88555830e-02 3.92314471e+01] [ 1.45015336e-01 -1.57179913e-03 9.89428159e-01 1.84021608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:39.26, Z:18.41 [[ 8.25894675e-01 -5.50532421e-01 -1.21704721e-01 1.17964075e+02] [ 5.44855441e-01 8.34812955e-01 -7.88662076e-02 3.92635808e+01] [ 1.45019082e-01 -1.17629882e-03 9.89428159e-01 1.84084201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.01, Y:39.29, Z:18.42 [[ 8.27105336e-01 -5.48713364e-01 -1.21698013e-01 1.18012250e+02] [ 5.43015247e-01 8.36010126e-01 -7.88765583e-02 3.92948770e+01] [ 1.45021393e-01 -8.44654202e-04 9.89428159e-01 1.84179013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.06, Y:39.33, Z:18.43 [[ 8.27522460e-01 -5.48088912e-01 -1.21676302e-01 1.18061871e+02] [ 5.42379152e-01 8.36419788e-01 -7.89100356e-02 3.93254552e+01] [ 1.45022182e-01 -6.94862785e-04 9.89428160e-01 1.84296980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:39.36, Z:18.44 [[ 8.27964921e-01 -5.47424659e-01 -1.21656613e-01 1.18109619e+02] [ 5.41703303e-01 8.36854795e-01 -7.89403794e-02 3.93562219e+01] [ 1.45022830e-01 -5.41923969e-04 9.89428161e-01 1.84399206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:39.39, Z:18.45 [[ 8.28937573e-01 -5.45952242e-01 -1.21649700e-01 1.18158099e+02] [ 5.40213531e-01 8.37816254e-01 -7.89510315e-02 3.93881891e+01] [ 1.45023588e-01 -2.71337193e-04 9.89428161e-01 1.84488238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:39.42, Z:18.46 [[ 8.31810920e-01 -5.41568661e-01 -1.21630500e-01 1.18207015e+02] [ 5.35778835e-01 8.40656354e-01 -7.89805990e-02 3.94197902e+01] [ 1.45022870e-01 5.29877133e-04 9.89428161e-01 1.84593177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.26, Y:39.45, Z:18.47 [[ 8.34049237e-01 -5.38119478e-01 -1.21611256e-01 1.18255226e+02] [ 5.32288754e-01 8.42867764e-01 -7.90102200e-02 3.94511401e+01] [ 1.45019145e-01 1.16610991e-03 9.89428162e-01 1.84674611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.30, Y:39.48, Z:18.47 [[ 8.37293075e-01 -5.33063330e-01 -1.21588620e-01 1.18303705e+02] [ 5.27174302e-01 8.46072773e-01 -7.90450393e-02 3.94811046e+01] [ 1.45008832e-01 2.08546837e-03 9.89428163e-01 1.84736629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:39.51, Z:18.48 [[ 8.40920229e-01 -5.27325081e-01 -1.21578893e-01 1.18353938e+02] [ 5.21373990e-01 8.49657978e-01 -7.90599975e-02 3.95109252e+01] [ 1.44990796e-01 3.09507888e-03 9.89428163e-01 1.84788659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:39.54, Z:18.49 [[ 8.43151636e-01 -5.23754435e-01 -1.21559081e-01 1.18403816e+02] [ 5.17761959e-01 8.51861054e-01 -7.90904468e-02 3.95407814e+01] [ 1.44975419e-01 3.74657140e-03 9.89428164e-01 1.84857318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.46, Y:39.57, Z:18.50 [[ 8.45673073e-01 -5.19678717e-01 -1.21536350e-01 1.18455114e+02] [ 5.13639262e-01 8.54349978e-01 -7.91253629e-02 3.95675740e+01] [ 1.44954345e-01 4.48834786e-03 9.89428164e-01 1.84952828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:39.60, Z:18.50 [[ 8.46080514e-01 -5.19016761e-01 -1.21529280e-01 1.18505461e+02] [ 5.12968959e-01 8.54751604e-01 -7.91362202e-02 3.95957013e+01] [ 1.44950372e-01 4.61486566e-03 9.89428165e-01 1.85036881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:39.62, Z:18.51 [[ 8.45567254e-01 -5.19857817e-01 -1.21506663e-01 1.18557110e+02] [ 5.13813659e-01 8.54240884e-01 -7.91709307e-02 3.96218377e+01] [ 1.44953587e-01 4.51256316e-03 9.89428165e-01 1.85121897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.61, Y:39.65, Z:18.52 [[ 8.44987061e-01 -5.20801964e-01 -1.21499714e-01 1.18608791e+02] [ 5.14765968e-01 8.53666372e-01 -7.91815936e-02 3.96497942e+01] [ 1.44958150e-01 4.36350413e-03 9.89428165e-01 1.85222942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.66, Y:39.68, Z:18.53 [[ 8.43635619e-01 -5.22992817e-01 -1.21480272e-01 1.18661066e+02] [ 5.16975072e-01 8.52327594e-01 -7.92114115e-02 3.96753906e+01] [ 1.44967987e-01 4.02329598e-03 9.89428166e-01 1.85317004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:39.70, Z:18.54 [[ 8.41079184e-01 -5.27099512e-01 -1.21457443e-01 1.18712894e+02] [ 5.21119165e-01 8.49796931e-01 -7.92464000e-02 3.96997324e+01] [ 1.44984901e-01 3.35869607e-03 9.89428167e-01 1.85398290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:39.73, Z:18.55 [[ 8.38656046e-01 -5.30948691e-01 -1.21447617e-01 1.18765011e+02] [ 5.25006182e-01 8.47399629e-01 -7.92614559e-02 3.97258623e+01] [ 1.44998432e-01 2.71234952e-03 9.89428167e-01 1.85485814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:39.75, Z:18.55 [[ 8.33981292e-01 -5.38266659e-01 -1.21425733e-01 1.18819825e+02] [ 5.32396005e-01 8.42773280e-01 -7.92949674e-02 3.97481794e+01] [ 1.45016201e-01 1.48394412e-03 9.89428168e-01 1.85539561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.87, Y:39.77, Z:18.56 [[ 8.30987805e-01 -5.42881621e-01 -1.21403516e-01 1.18871081e+02] [ 5.37054829e-01 8.39808922e-01 -7.93289686e-02 3.97733610e+01] [ 1.45021995e-01 7.21061132e-04 9.89428169e-01 1.85638372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.93, Y:39.80, Z:18.57 [[ 8.28965861e-01 -5.45966326e-01 -1.21393460e-01 1.18925082e+02] [ 5.40170106e-01 8.37807096e-01 -7.93443537e-02 3.97975681e+01] [ 1.45023647e-01 2.00642367e-04 9.89428169e-01 1.85715588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:39.82, Z:18.58 [[ 8.29124870e-01 -5.45729001e-01 -1.21374663e-01 1.18977132e+02] [ 5.39926041e-01 8.37961682e-01 -7.93730981e-02 3.98236522e+01] [ 1.45023518e-01 2.76868560e-04 9.89428169e-01 1.85795886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.03, Y:39.85, Z:18.59 [[ 8.29939346e-01 -5.44494378e-01 -1.21353012e-01 1.19027342e+02] [ 5.38673435e-01 8.38764322e-01 -7.94061855e-02 3.98525618e+01] [ 1.45022799e-01 5.32673667e-04 9.89428170e-01 1.85876703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:39.88, Z:18.60 [[ 8.30695389e-01 -5.43345103e-01 -1.21331241e-01 1.19077218e+02] [ 5.37507093e-01 8.39509083e-01 -7.94394382e-02 3.98813592e+01] [ 1.45021708e-01 7.73572404e-04 9.89428171e-01 1.85963809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:39.91, Z:18.60 [[ 8.31906169e-01 -5.41491661e-01 -1.21321501e-01 1.19127567e+02] [ 5.35631846e-01 8.40705381e-01 -7.94543098e-02 3.99097045e+01] [ 1.45019485e-01 1.11487081e-03 9.89428171e-01 1.86045794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:39.94, Z:18.61 [[ 8.32894073e-01 -5.39975750e-01 -1.21299847e-01 1.19178339e+02] [ 5.34095108e-01 8.41679378e-01 -7.94873557e-02 3.99381361e+01] [ 1.45016824e-01 1.41889276e-03 9.89428172e-01 1.86122074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.23, Y:39.97, Z:18.62 [[ 8.33337363e-01 -5.39295730e-01 -1.21280483e-01 1.19226662e+02] [ 5.33403621e-01 8.42114981e-01 -7.95168897e-02 3.99682501e+01] [ 1.45015231e-01 1.57294649e-03 9.89428173e-01 1.86204217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.28, Y:40.00, Z:18.63 [[ 8.35054333e-01 -5.36635466e-01 -1.21270931e-01 1.19276299e+02] [ 5.30713280e-01 8.43811687e-01 -7.95314543e-02 3.99978952e+01] [ 1.45009228e-01 2.05299186e-03 9.89428173e-01 1.86274312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:40.03, Z:18.64 [[ 8.35897365e-01 -5.35326258e-01 -1.21249299e-01 1.19325584e+02] [ 5.29385576e-01 8.44642182e-01 -7.95644207e-02 4.00270702e+01] [ 1.45005196e-01 2.32005984e-03 9.89428174e-01 1.86370570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.37, Y:40.06, Z:18.65 [[ 8.36968497e-01 -5.33655040e-01 -1.21227197e-01 1.19374850e+02] [ 5.27692024e-01 8.45698098e-01 -7.95980807e-02 4.00557256e+01] [ 1.44999527e-01 2.65046072e-03 9.89428174e-01 1.86457221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.43, Y:40.09, Z:18.66 [[ 8.37732123e-01 -5.32458328e-01 -1.21214763e-01 1.19425047e+02] [ 5.26480104e-01 8.46451317e-01 -7.96170125e-02 4.00858584e+01] [ 1.44995137e-01 2.88056801e-03 9.89428175e-01 1.86550131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.47, Y:40.11, Z:18.66 [[ 8.39028208e-01 -5.30418034e-01 -1.21195605e-01 1.19474858e+02] [ 5.24414400e-01 8.47729925e-01 -7.96461644e-02 4.01142946e+01] [ 1.44986903e-01 3.26865808e-03 9.89428175e-01 1.86641561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.52, Y:40.14, Z:18.67 [[ 8.40481427e-01 -5.28117307e-01 -1.21173763e-01 1.19524586e+02] [ 5.22085071e-01 8.49163338e-01 -7.96793819e-02 4.01421609e+01] [ 1.44976377e-01 3.70602819e-03 9.89428176e-01 1.86703018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:40.17, Z:18.68 [[ 8.41703409e-01 -5.26170265e-01 -1.21161974e-01 1.19574948e+02] [ 5.20115370e-01 8.50369532e-01 -7.96973031e-02 4.01709521e+01] [ 1.44966803e-01 4.06328648e-03 9.89428176e-01 1.86790037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:40.20, Z:18.69 [[ 8.39976066e-01 -5.28928537e-01 -1.21139631e-01 1.19626454e+02] [ 5.22897211e-01 8.48658609e-01 -7.97312506e-02 4.02001425e+01] [ 1.44978325e-01 3.62876696e-03 9.89428177e-01 1.86858231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:40.23, Z:18.69 [[ 8.36103382e-01 -5.35033381e-01 -1.21121490e-01 1.19674362e+02] [ 5.29061474e-01 8.44826900e-01 -7.97587996e-02 4.02347823e+01] [ 1.45000313e-01 2.60588802e-03 9.89428178e-01 1.86851915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:40.26, Z:18.70 [[ 8.36947672e-01 -5.33713368e-01 -1.21114141e-01 1.19725711e+02] [ 5.27726089e-01 8.45660646e-01 -7.97699571e-02 4.02592195e+01] [ 1.44995756e-01 2.84818769e-03 9.89428178e-01 1.87015573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters Centerline goodness : 0.999925 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:40.29, Z:18.71 [[ 8.32997693e-01 -5.39859209e-01 -1.21106883e-01 1.19774597e+02] [ 5.33934622e-01 8.41753417e-01 -7.97809758e-02 4.02887409e+01] [ 1.45012627e-01 1.79421108e-03 9.89428178e-01 1.87098732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.82, Y:40.32, Z:18.72 [[ 8.29498367e-01 -5.45225591e-01 -1.21084740e-01 1.19823184e+02] [ 5.39352748e-01 8.38288881e-01 -7.98145684e-02 4.03198094e+01] [ 1.45020936e-01 8.98666843e-04 9.89428179e-01 1.87183309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.87, Y:40.35, Z:18.73 [[ 8.22571683e-01 -5.55625582e-01 -1.21062130e-01 1.19872218e+02] [ 5.49858830e-01 8.31432155e-01 -7.98488489e-02 4.03508234e+01] [ 1.45021011e-01 -8.85678963e-04 9.89428179e-01 1.87279702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:40.38, Z:18.74 [[ 8.19823163e-01 -5.59677255e-01 -1.21042763e-01 1.19920930e+02] [ 5.53949957e-01 8.28709188e-01 -7.98781964e-02 4.03820570e+01] [ 1.45015259e-01 -1.56563762e-03 9.89428180e-01 1.87406268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:40.42, Z:18.75 [[ 8.18014497e-01 -5.62321641e-01 -1.21023364e-01 1.19967809e+02] [ 5.56618721e-01 8.26916186e-01 -7.99075777e-02 4.04156492e+01] [ 1.45009938e-01 -1.99831278e-03 9.89428181e-01 1.87489222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:40.45, Z:18.75 [[ 8.19578845e-01 -5.60043910e-01 -1.21001387e-01 1.20014874e+02] [ 5.54311338e-01 8.28461467e-01 -7.99408420e-02 4.04513643e+01] [ 1.45015368e-01 -1.55461791e-03 9.89428181e-01 1.87529485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:40.48, Z:18.76 [[ 8.21086099e-01 -5.57835779e-01 -1.20982897e-01 1.20063213e+02] [ 5.52075196e-01 8.29950581e-01 -7.99688149e-02 4.04828278e+01] [ 1.45019292e-01 -1.13037448e-03 9.89428182e-01 1.87608403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:40.52, Z:18.77 [[ 8.20165940e-01 -5.59193519e-01 -1.20956351e-01 1.20108512e+02] [ 5.53441693e-01 8.29036104e-01 -8.00089471e-02 4.05165697e+01] [ 1.45017667e-01 -1.32167453e-03 9.89428183e-01 1.87726744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:40.55, Z:18.78 [[ 8.18680574e-01 -5.61369043e-01 -1.20941787e-01 1.20156068e+02] [ 5.55637536e-01 8.27563880e-01 -8.00309572e-02 4.05491034e+01] [ 1.45013956e-01 -1.68000633e-03 9.89428183e-01 1.87831170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:40.59, Z:18.78 [[ 8.13344160e-01 -5.69077289e-01 -1.20922770e-01 1.20199861e+02] [ 5.63425681e-01 8.22278511e-01 -8.00596803e-02 4.05905132e+01] [ 1.44992341e-01 -3.01492064e-03 9.89428184e-01 1.87832623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.25, Y:40.62, Z:18.80 [[ 8.15335435e-01 -5.66224877e-01 -1.20902928e-01 1.20248339e+02] [ 5.60537569e-01 8.24247101e-01 -8.00896343e-02 4.06185372e+01] [ 1.45002631e-01 -2.47071641e-03 9.89428185e-01 1.88021106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:40.65, Z:18.81 [[ 8.13965252e-01 -5.68194274e-01 -1.20895969e-01 1.20293640e+02] [ 5.62526967e-01 8.22889652e-01 -8.01001371e-02 4.06546458e+01] [ 1.44996481e-01 -2.80851459e-03 9.89428185e-01 1.88065640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.34, Y:40.69, Z:18.81 [[ 8.12208136e-01 -5.70707812e-01 -1.20874059e-01 1.20339599e+02] [ 5.65063205e-01 8.21146909e-01 -8.01331868e-02 4.06911589e+01] [ 1.44987996e-01 -3.21665697e-03 9.89428185e-01 1.88115318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:40.73, Z:18.82 [[ 8.11703422e-01 -5.71429470e-01 -1.20854940e-01 1.20385443e+02] [ 5.65788521e-01 8.20644504e-01 -8.01620107e-02 4.07263593e+01] [ 1.44985878e-01 -3.31055962e-03 9.89428186e-01 1.88193806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.43, Y:40.76, Z:18.83 [[ 8.13896680e-01 -5.68305873e-01 -1.20833060e-01 1.20429933e+02] [ 5.62625713e-01 8.22812902e-01 -8.01949797e-02 4.07638718e+01] [ 1.44998278e-01 -2.71335858e-03 9.89428187e-01 1.88280804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:40.80, Z:18.84 [[ 8.18681402e-01 -5.61395982e-01 -1.20811067e-01 1.20472929e+02] [ 5.55635664e-01 8.27546048e-01 -8.02280977e-02 4.08021999e+01] [ 1.45016453e-01 -1.44568584e-03 9.89428188e-01 1.88356600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.52, Y:40.84, Z:18.84 [[ 8.22330856e-01 -5.56039180e-01 -1.20798978e-01 1.20517776e+02] [ 5.50218438e-01 8.31155944e-01 -8.02462960e-02 4.08390283e+01] [ 1.45022873e-01 -4.76819602e-04 9.89428188e-01 1.88444824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.56, Y:40.88, Z:18.85 [[ 8.28306263e-01 -5.47102998e-01 -1.20776833e-01 1.20560420e+02] [ 5.41182188e-01 8.37064528e-01 -8.02796125e-02 4.08777426e+01] [ 1.45019219e-01 1.13383529e-03 9.89428189e-01 1.88533454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:40.91, Z:18.86 [[ 8.31853679e-01 -5.41698924e-01 -1.20754845e-01 1.20604803e+02] [ 5.35716422e-01 8.40569919e-01 -8.03126723e-02 4.09143826e+01] [ 1.45008179e-01 2.11803831e-03 9.89428189e-01 1.88613055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:40.95, Z:18.87 [[ 8.33063321e-01 -5.39841764e-01 -1.20732653e-01 1.20651135e+02] [ 5.33835000e-01 8.41762859e-01 -8.03460201e-02 4.09485170e+01] [ 1.45002400e-01 2.48200665e-03 9.89428190e-01 1.88687189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:40.99, Z:18.87 [[ 8.30614214e-01 -5.43607436e-01 -1.20710329e-01 1.20696289e+02] [ 5.37635244e-01 8.39337520e-01 -8.03795447e-02 4.09884630e+01] [ 1.45011627e-01 1.86626499e-03 9.89428191e-01 1.88661244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:41.01, Z:18.88 [[ 8.34508236e-01 -5.37614856e-01 -1.20690804e-01 1.20748479e+02] [ 5.31575795e-01 8.43185383e-01 -8.04088516e-02 4.10130521e+01] [ 1.44993715e-01 2.94553883e-03 9.89428192e-01 1.88822042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:41.04, Z:18.89 [[ 8.35315952e-01 -5.36363394e-01 -1.20671331e-01 1.20798577e+02] [ 5.30307117e-01 8.43981090e-01 -8.04380645e-02 4.10444287e+01] [ 1.44988355e-01 3.19833275e-03 9.89428192e-01 1.88881980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:41.07, Z:18.89 [[ 8.36931809e-01 -5.33843040e-01 -1.20651382e-01 1.20847752e+02] [ 5.27756362e-01 8.45575619e-01 -8.04679763e-02 4.10726733e+01] [ 1.44977136e-01 3.67167473e-03 9.89428193e-01 1.88947463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:41.10, Z:18.91 [[ 8.39110618e-01 -5.30413878e-01 -1.20641989e-01 1.20899053e+02] [ 5.24289858e-01 8.47728012e-01 -8.04820560e-02 4.10997710e+01] [ 1.44960393e-01 4.28197646e-03 9.89428193e-01 1.89056852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:41.13, Z:18.92 [[ 8.41101453e-01 -5.27255729e-01 -1.20622310e-01 1.20949718e+02] [ 5.21095137e-01 8.49692739e-01 -8.05115395e-02 4.11293913e+01] [ 1.44942071e-01 4.86267400e-03 9.89428194e-01 1.89150686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.00, Y:41.16, Z:18.92 [[ 8.43919250e-01 -5.22738263e-01 -1.20602684e-01 1.20999965e+02] [ 5.16527503e-01 8.52474338e-01 -8.05409279e-02 4.11571656e+01] [ 1.44912518e-01 5.67543649e-03 9.89428194e-01 1.89236597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.05, Y:41.19, Z:18.93 [[ 8.45284170e-01 -5.20533582e-01 -1.20579691e-01 1.21048446e+02] [ 5.14295615e-01 8.53819440e-01 -8.05753357e-02 4.11854468e+01] [ 1.44895453e-01 6.09544932e-03 9.89428195e-01 1.89326820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:41.21, Z:18.94 [[ 8.46282763e-01 -5.18910786e-01 -1.20569820e-01 1.21099128e+02] [ 5.12654356e-01 8.54804508e-01 -8.05901037e-02 4.12132024e+01] [ 1.44882700e-01 6.39137210e-03 9.89428195e-01 1.89397432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:41.24, Z:18.94 [[ 8.45866306e-01 -5.19594726e-01 -1.20546726e-01 1.21151626e+02] [ 5.13340278e-01 8.54389506e-01 -8.06246333e-02 4.12412752e+01] [ 1.44885992e-01 6.31617078e-03 9.89428196e-01 1.89440099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:41.27, Z:18.95 [[ 8.44261185e-01 -5.22203410e-01 -1.20526555e-01 1.21202481e+02] [ 5.15971011e-01 8.52800518e-01 -8.06547763e-02 4.12690256e+01] [ 1.44903308e-01 5.90548865e-03 9.89428197e-01 1.89522178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:41.29, Z:18.96 [[ 8.38169693e-01 -5.31930891e-01 -1.20503499e-01 1.21253876e+02] [ 5.25792706e-01 8.46776997e-01 -8.06892088e-02 4.12938800e+01] [ 1.44960674e-01 4.27138853e-03 9.89428198e-01 1.89631794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.31, Y:41.32, Z:18.97 [[ 8.30481536e-01 -5.43857541e-01 -1.20496445e-01 1.21305397e+02] [ 5.37841489e-01 8.39174644e-01 -8.06997418e-02 4.13215615e+01] [ 1.45006724e-01 2.21165814e-03 9.89428198e-01 1.89734053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:41.35, Z:18.99 [[ 8.27480377e-01 -5.48417554e-01 -1.20475776e-01 1.21355919e+02] [ 5.42444922e-01 8.36203372e-01 -8.07305871e-02 4.13464514e+01] [ 1.45016321e-01 1.45150400e-03 9.89428198e-01 1.89869880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.41, Y:41.37, Z:18.99 [[ 8.23723190e-01 -5.54048313e-01 -1.20459840e-01 1.21406668e+02] [ 5.48131835e-01 8.32484369e-01 -8.07543580e-02 4.13742835e+01] [ 1.45022750e-01 4.91364243e-04 9.89428199e-01 1.89947241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:41.40, Z:19.00 [[ 8.22604009e-01 -5.55713459e-01 -1.20437520e-01 1.21456424e+02] [ 5.49809844e-01 8.31373860e-01 -8.07876323e-02 4.14044866e+01] [ 1.45023381e-01 2.38495907e-04 9.89428200e-01 1.90022573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:41.43, Z:19.01 [[ 8.22404348e-01 -5.56013754e-01 -1.20415093e-01 1.21504725e+02] [ 5.50108447e-01 8.31173059e-01 -8.08210471e-02 4.14347570e+01] [ 1.45023395e-01 2.26220736e-04 9.89428200e-01 1.90096374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:41.47, Z:19.02 [[ 8.22941830e-01 -5.55220315e-01 -1.20404097e-01 1.21551720e+02] [ 5.49304158e-01 8.31703224e-01 -8.08374253e-02 4.14671497e+01] [ 1.45023056e-01 3.86027738e-04 9.89428201e-01 1.90178834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.60, Y:41.50, Z:19.03 [[ 8.23688973e-01 -5.54116237e-01 -1.20381357e-01 1.21598867e+02] [ 5.48183389e-01 8.32439072e-01 -8.08712746e-02 4.15009184e+01] [ 1.45022232e-01 6.21716673e-04 9.89428201e-01 1.90253189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:41.53, Z:19.03 [[ 8.22954629e-01 -5.55210968e-01 -1.20359709e-01 1.21644347e+02] [ 5.49285049e-01 8.31709421e-01 -8.09034811e-02 4.15344429e+01] [ 1.45022804e-01 4.68105671e-04 9.89428202e-01 1.90343572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:41.57, Z:19.04 [[ 8.17124526e-01 -5.63758795e-01 -1.20347538e-01 1.21690574e+02] [ 5.57921786e-01 8.25938846e-01 -8.09215825e-02 4.15693965e+01] [ 1.45019960e-01 -1.02150342e-03 9.89428202e-01 1.90437430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:41.61, Z:19.06 [[ 8.09446575e-01 -5.74733022e-01 -1.20325374e-01 1.21735770e+02] [ 5.69010584e-01 8.18335702e-01 -8.09545247e-02 4.16050957e+01] [ 1.44993788e-01 -2.93804870e-03 9.89428203e-01 1.90553794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.78, Y:41.65, Z:19.06 [[ 8.02090567e-01 -5.84959163e-01 -1.20305859e-01 1.21779130e+02] [ 5.79345652e-01 8.11048880e-01 -8.09835164e-02 4.16476163e+01] [ 1.44945982e-01 -4.74256164e-03 9.89428204e-01 1.90556212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.83, Y:41.68, Z:19.07 [[ 7.98800219e-01 -5.89446646e-01 -1.20294895e-01 1.21826541e+02] [ 5.83880998e-01 8.07788346e-01 -8.09997991e-02 4.16803302e+01] [ 1.44917874e-01 -5.53524602e-03 9.89428204e-01 1.90726101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:41.72, Z:19.08 [[ 7.98331746e-01 -5.90084675e-01 -1.20276766e-01 1.21870379e+02] [ 5.84522164e-01 8.07321815e-01 -8.10267099e-02 4.17172861e+01] [ 1.44914677e-01 -5.61824076e-03 9.89428204e-01 1.90824376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:41.76, Z:19.09 [[ 8.01172308e-01 -5.86226631e-01 -1.20255024e-01 1.21910553e+02] [ 5.80615983e-01 8.10132412e-01 -8.10589653e-02 4.17604440e+01] [ 1.44941417e-01 -4.87979065e-03 9.89428205e-01 1.90899535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:41.80, Z:19.10 [[ 8.06386653e-01 -5.79037731e-01 -1.20232572e-01 1.21951148e+02] [ 5.73342211e-01 8.15293049e-01 -8.10922539e-02 4.18030662e+01] [ 1.44980255e-01 -3.54269769e-03 9.89428206e-01 1.90982682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:41.84, Z:19.11 [[ 8.09163802e-01 -5.75155101e-01 -1.20210443e-01 1.21994183e+02] [ 5.69411968e-01 8.18039569e-01 -8.11250452e-02 4.18421325e+01] [ 1.44996383e-01 -2.80581494e-03 9.89428207e-01 1.91061808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.04, Y:41.88, Z:19.11 [[ 8.13432247e-01 -5.69107057e-01 -1.20187922e-01 1.22035108e+02] [ 5.63292991e-01 8.22261711e-01 -8.11583970e-02 4.18847465e+01] [ 1.45013743e-01 -1.68415670e-03 9.89428208e-01 1.91128413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:41.93, Z:19.12 [[ 8.17876597e-01 -5.62706050e-01 -1.20165607e-01 1.22076658e+02] [ 5.56818020e-01 8.26656909e-01 -8.11914237e-02 4.19257836e+01] [ 1.45022635e-01 -5.05810214e-04 9.89428208e-01 1.91201088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:41.96, Z:19.13 [[ 8.21147853e-01 -5.57926384e-01 -1.20143054e-01 1.22121107e+02] [ 5.51982363e-01 8.29890358e-01 -8.12247827e-02 4.19623454e+01] [ 1.45023012e-01 3.80708900e-04 9.89428209e-01 1.91272268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.16, Y:42.00, Z:19.14 [[ 8.25961950e-01 -5.50779334e-01 -1.20120703e-01 1.22164975e+02] [ 5.44754864e-01 8.34649210e-01 -8.12578242e-02 4.20000966e+01] [ 1.45013780e-01 1.67953370e-03 9.89428210e-01 1.91352356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.21, Y:42.03, Z:19.14 [[ 8.27421936e-01 -5.48588550e-01 -1.20098056e-01 1.22211459e+02] [ 5.42536224e-01 8.36089812e-01 -8.12912827e-02 4.20336772e+01] [ 1.45008228e-01 2.10464466e-03 9.89428211e-01 1.91439516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:42.07, Z:19.16 [[ 8.30579886e-01 -5.43800506e-01 -1.20075241e-01 1.22257496e+02] [ 5.37693350e-01 8.39209217e-01 -8.13249683e-02 4.20689453e+01] [ 1.44992808e-01 2.98322400e-03 9.89428212e-01 1.91552001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.30, Y:42.10, Z:19.16 [[ 8.31849026e-01 -5.41861531e-01 -1.20055321e-01 1.22304094e+02] [ 5.35730023e-01 8.40461070e-01 -8.13543649e-02 4.21039365e+01] [ 1.44984624e-01 3.35730924e-03 9.89428212e-01 1.91646571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.35, Y:42.14, Z:19.17 [[ 8.32031593e-01 -5.41585589e-01 -1.20035323e-01 1.22350852e+02] [ 5.35446972e-01 8.40638571e-01 -8.13838607e-02 4.21370515e+01] [ 1.44982649e-01 3.44139293e-03 9.89428213e-01 1.91724270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:42.17, Z:19.18 [[ 8.33296036e-01 -5.39643181e-01 -1.20012308e-01 1.22399213e+02] [ 5.33479622e-01 8.41885168e-01 -8.14177865e-02 4.21696412e+01] [ 1.44973135e-01 3.82099817e-03 9.89428214e-01 1.91786058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.45, Y:42.20, Z:19.19 [[ 8.34411723e-01 -5.37920928e-01 -1.19992294e-01 1.22447366e+02] [ 5.31735407e-01 8.42985053e-01 -8.14472717e-02 4.22017074e+01] [ 1.44963902e-01 4.15640710e-03 9.89428214e-01 1.91858415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:122.50, Y:42.23, Z:19.19 [[ 8.34821935e-01 -5.37289235e-01 -1.19969224e-01 1.22496705e+02] [ 5.31092350e-01 8.43387054e-01 -8.14812390e-02 4.22317207e+01] [ 1.44959483e-01 4.30758841e-03 9.89428215e-01 1.91934982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.55, Y:42.26, Z:19.20 [[ 8.33487899e-01 -5.39361554e-01 -1.19945975e-01 1.22548155e+02] [ 5.33181049e-01 8.42064843e-01 -8.15154491e-02 4.22599906e+01] [ 1.44968588e-01 3.98921949e-03 9.89428216e-01 1.92041464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:42.29, Z:19.21 [[ 8.31292840e-01 -5.42743125e-01 -1.19925452e-01 1.22598013e+02] [ 5.36593164e-01 8.39891711e-01 -8.15456321e-02 4.22866333e+01] [ 1.44982724e-01 3.43712260e-03 9.89428217e-01 1.92113303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:42.32, Z:19.22 [[ 8.30664096e-01 -5.43708419e-01 -1.19909609e-01 1.22647316e+02] [ 5.37565092e-01 8.39267707e-01 -8.15689212e-02 4.23165966e+01] [ 1.44985972e-01 3.29715409e-03 9.89428217e-01 1.92198802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:42.34, Z:19.23 [[ 8.31512218e-01 -5.42415711e-01 -1.19885899e-01 1.22696609e+02] [ 5.36253989e-01 8.40102664e-01 -8.16037540e-02 4.23438356e+01] [ 1.44979622e-01 3.56522665e-03 9.89428218e-01 1.92279050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:42.37, Z:19.24 [[ 8.32428641e-01 -5.41011791e-01 -1.19869929e-01 1.22746674e+02] [ 5.34832209e-01 8.41006247e-01 -8.16272061e-02 4.23720842e+01] [ 1.44972640e-01 3.83852508e-03 9.89428218e-01 1.92351036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:42.40, Z:19.24 [[ 8.32695707e-01 -5.40605738e-01 -1.19846968e-01 1.22796038e+02] [ 5.34417128e-01 8.41266801e-01 -8.16609051e-02 4.24015118e+01] [ 1.44969629e-01 3.95041279e-03 9.89428219e-01 1.92434154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:42.43, Z:19.25 [[ 8.31927555e-01 -5.41792109e-01 -1.19824260e-01 1.22847724e+02] [ 5.35610930e-01 8.40504008e-01 -8.16942113e-02 4.24285993e+01] [ 1.44974050e-01 3.78448200e-03 9.89428220e-01 1.92518467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.90, Y:42.45, Z:19.26 [[ 8.30453266e-01 -5.44054199e-01 -1.19801508e-01 1.22900266e+02] [ 5.37891576e-01 8.39043061e-01 -8.17275630e-02 4.24539284e+01] [ 1.44982848e-01 3.43069958e-03 9.89428221e-01 1.92612105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:42.48, Z:19.27 [[ 8.29231405e-01 -5.45919924e-01 -1.19777767e-01 1.22949907e+02] [ 5.39771607e-01 8.37831446e-01 -8.17623430e-02 4.24815340e+01] [ 1.44989272e-01 3.14726477e-03 9.89428222e-01 1.92676787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:42.51, Z:19.28 [[ 8.28580805e-01 -5.46909114e-01 -1.19767570e-01 1.23001713e+02] [ 5.40768908e-01 8.37186637e-01 -8.17772768e-02 4.25073307e+01] [ 1.44992547e-01 2.99250366e-03 9.89428222e-01 1.92774893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:42.53, Z:19.29 [[ 8.28691129e-01 -5.46744123e-01 -1.19757573e-01 1.23052597e+02] [ 5.40600089e-01 8.37294230e-01 -8.17919141e-02 4.25340983e+01] [ 1.44991573e-01 3.03927890e-03 9.89428222e-01 1.92865816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:42.56, Z:19.29 [[ 8.29072765e-01 -5.46170149e-01 -1.19735206e-01 1.23102346e+02] [ 5.40015435e-01 8.37668227e-01 -8.18246447e-02 4.25631958e+01] [ 1.44988556e-01 3.17972501e-03 9.89428223e-01 1.92948228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:42.59, Z:19.30 [[ 8.29629311e-01 -5.45329360e-01 -1.19712550e-01 1.23152928e+02] [ 5.39161158e-01 8.38215098e-01 -8.18577777e-02 4.25913615e+01] [ 1.44984317e-01 3.36725450e-03 9.89428224e-01 1.93013487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:42.62, Z:19.31 [[ 8.30301498e-01 -5.44310403e-01 -1.19689626e-01 1.23204234e+02] [ 5.38126838e-01 8.38876227e-01 -8.18912826e-02 4.26201644e+01] [ 1.44979059e-01 3.58625435e-03 9.89428224e-01 1.93082986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:42.65, Z:19.32 [[ 8.30852371e-01 -5.43473570e-01 -1.19669613e-01 1.23253248e+02] [ 5.37277162e-01 8.39417822e-01 -8.19205181e-02 4.26501378e+01] [ 1.44974443e-01 3.76810651e-03 9.89428225e-01 1.93162476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:42.68, Z:19.32 [[ 8.28355302e-01 -5.47277067e-01 -1.19646586e-01 1.23304520e+02] [ 5.41115141e-01 8.36945592e-01 -8.19541362e-02 4.26783706e+01] [ 1.44989302e-01 3.14456401e-03 9.89428226e-01 1.93233308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.35, Y:42.71, Z:19.33 [[ 8.25988480e-01 -5.50847095e-01 -1.19626538e-01 1.23354424e+02] [ 5.44718066e-01 8.34602272e-01 -8.19833892e-02 4.27083700e+01] [ 1.45000892e-01 2.55459842e-03 9.89428226e-01 1.93326053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.40, Y:42.74, Z:19.34 [[ 8.22891905e-01 -5.55466645e-01 -1.19606519e-01 1.23404994e+02] [ 5.49381735e-01 8.31536918e-01 -8.20125859e-02 4.27373378e+01] [ 1.45012492e-01 1.77785640e-03 9.89428227e-01 1.93441887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.45, Y:42.77, Z:19.36 [[ 8.20344191e-01 -5.59226629e-01 -1.19586731e-01 1.23454956e+02] [ 5.53177140e-01 8.29014026e-01 -8.20414294e-02 4.27674122e+01] [ 1.45018829e-01 1.14956426e-03 9.89428228e-01 1.93555002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.50, Y:42.80, Z:19.36 [[ 8.18726001e-01 -5.61597326e-01 -1.19566626e-01 1.23503478e+02] [ 5.55568664e-01 8.27410331e-01 -8.20707195e-02 4.27984506e+01] [ 1.45021358e-01 7.65961109e-04 9.89428228e-01 1.93633028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:42.83, Z:19.37 [[ 8.18079573e-01 -5.62543410e-01 -1.19543813e-01 1.23551452e+02] [ 5.56519937e-01 8.26767503e-01 -8.21039361e-02 4.28300829e+01] [ 1.45021968e-01 6.39037769e-04 9.89428229e-01 1.93710639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.60, Y:42.86, Z:19.38 [[ 8.17987109e-01 -5.62682791e-01 -1.19520569e-01 1.23599254e+02] [ 5.56655856e-01 8.26672636e-01 -8.21377597e-02 4.28629875e+01] [ 1.45021887e-01 6.55804267e-04 9.89428230e-01 1.93787190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.65, Y:42.90, Z:19.39 [[ 8.19036752e-01 -5.61158709e-01 -1.19497706e-01 1.23645221e+02] [ 5.55110761e-01 8.27707659e-01 -8.21710072e-02 4.28973598e+01] [ 1.45020143e-01 9.66612120e-04 9.89428231e-01 1.93860358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:42.93, Z:19.39 [[ 8.20186354e-01 -5.59482005e-01 -1.19474811e-01 1.23691672e+02] [ 5.53411483e-01 8.28841472e-01 -8.22042840e-02 4.29310174e+01] [ 1.45017496e-01 1.30409982e-03 9.89428232e-01 1.93944131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.74, Y:42.97, Z:19.40 [[ 8.20496924e-01 -5.59031418e-01 -1.19451544e-01 1.23739130e+02] [ 5.52951224e-01 8.29145248e-01 -8.22380798e-02 4.29653668e+01] [ 1.45016350e-01 1.42521430e-03 9.89428232e-01 1.94032239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:43.00, Z:19.41 [[ 8.20520348e-01 -5.59001364e-01 -1.19431291e-01 1.23785793e+02] [ 5.52916574e-01 8.29165438e-01 -8.22674821e-02 4.29993954e+01] [ 1.45015933e-01 1.46660307e-03 9.89428233e-01 1.94119099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.83, Y:43.03, Z:19.42 [[ 8.21132600e-01 -5.58106569e-01 -1.19408172e-01 1.23831322e+02] [ 5.52007481e-01 8.29767608e-01 -8.23010250e-02 4.30329595e+01] [ 1.45013776e-01 1.66585068e-03 9.89428234e-01 1.94203870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.88, Y:43.07, Z:19.43 [[ 8.21935944e-01 -5.56925638e-01 -1.19394881e-01 1.23877660e+02] [ 5.50811344e-01 8.30560191e-01 -8.23203015e-02 4.30681158e+01] [ 1.45010922e-01 1.89795992e-03 9.89428234e-01 1.94296307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:43.10, Z:19.44 [[ 8.21855104e-01 -5.57049545e-01 -1.19373331e-01 1.23923484e+02] [ 5.50932014e-01 8.30477056e-01 -8.23515391e-02 4.31025716e+01] [ 1.45010700e-01 1.91444293e-03 9.89428235e-01 1.94370805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:43.14, Z:19.44 [[ 8.21870115e-01 -5.57032210e-01 -1.19350874e-01 1.23970294e+02] [ 5.50909774e-01 8.30488583e-01 -8.23840729e-02 4.31365211e+01] [ 1.45010121e-01 1.95744428e-03 9.89428236e-01 1.94445896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:124.02, Y:43.17, Z:19.45 [[ 8.22444608e-01 -5.56188420e-01 -1.19328571e-01 1.24016178e+02] [ 5.50052458e-01 8.31053450e-01 -8.24163663e-02 4.31720652e+01] [ 1.45007449e-01 2.14592260e-03 9.89428236e-01 1.94493089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:43.21, Z:19.46 [[ 8.21617154e-01 -5.57412469e-01 -1.19317190e-01 1.24062073e+02] [ 5.51286941e-01 8.30233423e-01 -8.24328392e-02 4.32057380e+01] [ 1.45010211e-01 1.95022615e-03 9.89428237e-01 1.94607333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.11, Y:43.24, Z:19.47 [[ 8.20637980e-01 -5.58858047e-01 -1.19293707e-01 1.24109031e+02] [ 5.52742760e-01 8.29261519e-01 -8.24668091e-02 4.32399350e+01] [ 1.45012921e-01 1.73666290e-03 9.89428237e-01 1.94709213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.16, Y:43.27, Z:19.48 [[ 8.18986253e-01 -5.61280183e-01 -1.19273107e-01 1.24155904e+02] [ 5.55186063e-01 8.27624763e-01 -8.24965918e-02 4.32730287e+01] [ 1.45017079e-01 1.34480758e-03 9.89428238e-01 1.94793757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:43.31, Z:19.49 [[ 8.18448513e-01 -5.62068964e-01 -1.19249783e-01 1.24202352e+02] [ 5.55978259e-01 8.27089431e-01 -8.25302938e-02 4.33051258e+01] [ 1.45017952e-01 1.24650939e-03 9.89428239e-01 1.94871954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.25, Y:43.34, Z:19.50 [[ 8.18852741e-01 -5.61482584e-01 -1.19237145e-01 1.24249585e+02] [ 5.55383034e-01 8.27487416e-01 -8.25485488e-02 4.33378403e+01] [ 1.45016810e-01 1.37281801e-03 9.89428239e-01 1.94959267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:43.37, Z:19.50 [[ 8.20134536e-01 -5.59613461e-01 -1.19214584e-01 1.24297700e+02] [ 5.53489498e-01 8.28751914e-01 -8.25811181e-02 4.33716236e+01] [ 1.45012820e-01 1.74360663e-03 9.89428240e-01 1.95006403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.34, Y:43.40, Z:19.51 [[ 8.20551171e-01 -5.59006568e-01 -1.19194933e-01 1.24344597e+02] [ 5.52872114e-01 8.29161082e-01 -8.26094731e-02 4.34035111e+01] [ 1.45011037e-01 1.88574563e-03 9.89428240e-01 1.95077097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:43.44, Z:19.52 [[ 8.19547451e-01 -5.60479299e-01 -1.19184445e-01 1.24392394e+02] [ 5.54358117e-01 8.28166803e-01 -8.26246009e-02 4.34354228e+01] [ 1.45013979e-01 1.64391629e-03 9.89428241e-01 1.95177433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:43.47, Z:19.53 [[ 8.16445493e-01 -5.64993108e-01 -1.19161840e-01 1.24440685e+02] [ 5.58914826e-01 8.25095150e-01 -8.26571901e-02 4.34663547e+01] [ 1.45020599e-01 8.83771490e-04 9.89428241e-01 1.95307519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.49, Y:43.50, Z:19.54 [[ 8.12995705e-01 -5.69950161e-01 -1.19141923e-01 1.24489354e+02] [ 5.63920412e-01 8.21679264e-01 -8.26858889e-02 4.34980651e+01] [ 1.45023283e-01 3.67104614e-05 9.89428242e-01 1.95413802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:43.53, Z:19.55 [[ 8.07083643e-01 -5.78295721e-01 -1.19122005e-01 1.24538109e+02] [ 5.72351520e-01 8.15825984e-01 -8.27145732e-02 4.35292113e+01] [ 1.45016311e-01 -1.42208172e-03 9.89428243e-01 1.95513206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:43.56, Z:19.56 [[ 8.02778262e-01 -5.84261708e-01 -1.19102137e-01 1.24585555e+02] [ 5.78378224e-01 8.11561579e-01 -8.27431721e-02 4.35618804e+01] [ 1.45002385e-01 -2.46166257e-03 9.89428243e-01 1.95587039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:43.60, Z:19.57 [[ 8.01663888e-01 -5.85794457e-01 -1.19079238e-01 1.24632224e+02] [ 5.79922875e-01 8.10455164e-01 -8.27761141e-02 4.35954710e+01] [ 1.44998172e-01 -2.69815267e-03 9.89428244e-01 1.95668397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.68, Y:43.63, Z:19.57 [[ 8.02808707e-01 -5.84229158e-01 -1.19056591e-01 1.24678386e+02] [ 5.78335606e-01 8.11585270e-01 -8.28086745e-02 4.36302670e+01] [ 1.45003818e-01 -2.37514078e-03 9.89428245e-01 1.95737390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:43.67, Z:19.58 [[ 8.04535988e-01 -5.81852848e-01 -1.19034062e-01 1.24724889e+02] [ 5.75928583e-01 8.13291847e-01 -8.28410462e-02 4.36658587e+01] [ 1.45010731e-01 -1.90651585e-03 9.89428246e-01 1.95797712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.77, Y:43.70, Z:19.59 [[ 8.05148933e-01 -5.81008384e-01 -1.19014508e-01 1.24771482e+02] [ 5.75070785e-01 8.13895755e-01 -8.28691299e-02 4.37010340e+01] [ 1.45013062e-01 -1.71977484e-03 9.89428246e-01 1.95898087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.82, Y:43.74, Z:19.60 [[ 8.07123181e-01 -5.78266811e-01 -1.18994396e-01 1.24817789e+02] [ 5.72295242e-01 8.15846847e-01 -8.28979996e-02 4.37371907e+01] [ 1.45018364e-01 -1.19102940e-03 9.89428247e-01 1.95989363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.86, Y:43.77, Z:19.61 [[ 8.10696122e-01 -5.73251168e-01 -1.18974353e-01 1.24863540e+02] [ 5.67221404e-01 8.19379663e-01 -8.29267543e-02 4.37732220e+01] [ 1.45023024e-01 -2.56401673e-04 9.89428247e-01 1.96056918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:43.81, Z:19.61 [[ 8.13156669e-01 -5.69759956e-01 -1.18953034e-01 1.24910541e+02] [ 5.63688437e-01 8.21811066e-01 -8.29573247e-02 4.38075286e+01] [ 1.45022681e-01 4.04852073e-04 9.89428248e-01 1.96140453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:43.84, Z:19.62 [[ 8.16995333e-01 -5.64246034e-01 -1.18932918e-01 1.24957341e+02] [ 5.58111912e-01 8.25605470e-01 -8.29861545e-02 4.38425855e+01] [ 1.45016276e-01 1.42142272e-03 9.89428249e-01 1.96239820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:43.88, Z:19.63 [[ 8.19344367e-01 -5.60833856e-01 -1.18912550e-01 1.25003980e+02] [ 5.54659645e-01 8.27925802e-01 -8.30153292e-02 4.38758294e+01] [ 1.45008576e-01 2.06214931e-03 9.89428249e-01 1.96340763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.05, Y:43.91, Z:19.64 [[ 8.19656440e-01 -5.60379186e-01 -1.18905378e-01 1.25050962e+02] [ 5.54198725e-01 8.28233375e-01 -8.30256009e-02 4.39105987e+01] [ 1.45007221e-01 2.15525948e-03 9.89428249e-01 1.96440323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:43.94, Z:19.66 [[ 8.20213297e-01 -5.59568024e-01 -1.18885553e-01 1.25097379e+02] [ 5.53374969e-01 8.28781142e-01 -8.30539796e-02 4.39445440e+01] [ 1.45004455e-01 2.33368935e-03 9.89428250e-01 1.96567161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:43.98, Z:19.66 [[ 8.21999965e-01 -5.56944414e-01 -1.18865374e-01 1.25143942e+02] [ 5.50719841e-01 8.30544940e-01 -8.30828496e-02 4.39794306e+01] [ 1.44995564e-01 2.83257966e-03 9.89428251e-01 1.96640849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:44.02, Z:19.66 [[ 8.22745555e-01 -5.55847315e-01 -1.18842392e-01 1.25190984e+02] [ 5.49606605e-01 8.31278749e-01 -8.31157102e-02 4.40160315e+01] [ 1.44990799e-01 3.06651761e-03 9.89428251e-01 1.96637599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:44.05, Z:19.67 [[ 8.23168515e-01 -5.55225067e-01 -1.18822224e-01 1.25237660e+02] [ 5.48973749e-01 8.31693940e-01 -8.31445319e-02 4.40497788e+01] [ 1.44987652e-01 3.21167880e-03 9.89428252e-01 1.96715853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:44.08, Z:19.68 [[ 8.26335231e-01 -5.50506290e-01 -1.18797770e-01 1.25284883e+02] [ 5.44201281e-01 8.34821025e-01 -8.31794585e-02 4.40818625e+01] [ 1.44965691e-01 4.08421861e-03 9.89428253e-01 1.96800062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.33, Y:44.12, Z:19.68 [[ 8.26059629e-01 -5.50921369e-01 -1.18790294e-01 1.25332544e+02] [ 5.44619090e-01 8.34547451e-01 -8.31901343e-02 4.41172159e+01] [ 1.44967359e-01 4.02454987e-03 9.89428253e-01 1.96841348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.38, Y:44.15, Z:19.70 [[ 8.27537512e-01 -5.48703795e-01 -1.18767887e-01 1.25380521e+02] [ 5.42374190e-01 8.36004975e-01 -8.32221118e-02 4.41473413e+01] [ 1.44954833e-01 4.45278308e-03 9.89428254e-01 1.96961904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:44.18, Z:19.71 [[ 8.27590719e-01 -5.48625247e-01 -1.18760015e-01 1.25428554e+02] [ 5.42293229e-01 8.36056376e-01 -8.32333436e-02 4.41786473e+01] [ 1.44953981e-01 4.48039079e-03 9.89428254e-01 1.97090852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.48, Y:44.21, Z:19.72 [[ 8.28490137e-01 -5.47270526e-01 -1.18739478e-01 1.25476109e+02] [ 5.40920475e-01 8.36942276e-01 -8.32626311e-02 4.42110906e+01] [ 1.44945273e-01 4.75365391e-03 9.89428254e-01 1.97228299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:44.24, Z:19.73 [[ 8.28597379e-01 -5.47112626e-01 -1.18718824e-01 1.25523275e+02] [ 5.40756753e-01 8.37045140e-01 -8.32920704e-02 4.42442496e+01] [ 1.44943158e-01 4.81758563e-03 9.89428255e-01 1.97324948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:44.28, Z:19.74 [[ 8.28751744e-01 -5.46883919e-01 -1.18695096e-01 1.25571058e+02] [ 5.40520882e-01 8.37194109e-01 -8.33258698e-02 4.42776439e+01] [ 1.44940413e-01 4.89928197e-03 9.89428256e-01 1.97384268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:44.31, Z:19.74 [[ 8.27688971e-01 -5.48495487e-01 -1.18674632e-01 1.25620371e+02] [ 5.42144718e-01 8.36140567e-01 -8.33550054e-02 4.43103138e+01] [ 1.44948518e-01 4.65319386e-03 9.89428257e-01 1.97423050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:44.34, Z:19.75 [[ 8.25730255e-01 -5.51444230e-01 -1.18654151e-01 1.25668238e+02] [ 5.45119463e-01 8.34201327e-01 -8.33841490e-02 4.43422022e+01] [ 1.44963158e-01 4.17212735e-03 9.89428257e-01 1.97498210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:44.37, Z:19.76 [[ 8.20776006e-01 -5.58796473e-01 -1.18630727e-01 1.25716188e+02] [ 5.52542797e-01 8.29299695e-01 -8.34174614e-02 4.43724328e+01] [ 1.44993809e-01 2.91849695e-03 9.89428258e-01 1.97605488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.76, Y:44.40, Z:19.77 [[ 8.16775379e-01 -5.64629473e-01 -1.18623517e-01 1.25764832e+02] [ 5.58435190e-01 8.25342326e-01 -8.34277128e-02 4.44042800e+01] [ 1.45010755e-01 1.89815532e-03 9.89428258e-01 1.97730366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.81, Y:44.44, Z:19.78 [[ 8.10884463e-01 -5.73061636e-01 -1.18603323e-01 1.25812486e+02] [ 5.66952248e-01 8.19512157e-01 -8.34564124e-02 4.44354987e+01] [ 1.45022533e-01 4.31087755e-04 9.89428259e-01 1.97835370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:44.47, Z:19.79 [[ 8.07754392e-01 -5.77470014e-01 -1.18580038e-01 1.25859293e+02] [ 5.71402856e-01 8.16411834e-01 -8.34894836e-02 4.44695930e+01] [ 1.45022820e-01 -3.17975530e-04 9.89428259e-01 1.97919004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:44.50, Z:19.80 [[ 8.06827469e-01 -5.78769186e-01 -1.18556590e-01 1.25906577e+02] [ 5.72711077e-01 8.15491244e-01 -8.35227674e-02 4.45037565e+01] [ 1.45022265e-01 -5.10209373e-04 9.89428260e-01 1.97991179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.95, Y:44.54, Z:19.80 [[ 8.06357816e-01 -5.79427457e-01 -1.18536469e-01 1.25954205e+02] [ 5.73372224e-01 8.15023601e-01 -8.35513142e-02 4.45384089e+01] [ 1.45021945e-01 -5.93263460e-04 9.89428261e-01 1.98046655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:44.57, Z:19.81 [[ 8.07441416e-01 -5.77920626e-01 -1.18516288e-01 1.26001219e+02] [ 5.71845020e-01 8.16092928e-01 -8.35799306e-02 4.45715977e+01] [ 1.45022870e-01 -2.87051634e-04 9.89428262e-01 1.98138669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:44.61, Z:19.82 [[ 8.11576740e-01 -5.72103619e-01 -1.18493229e-01 1.26047232e+02] [ 5.65961231e-01 8.20180966e-01 -8.36126094e-02 4.46062925e+01] [ 1.45020967e-01 7.95475189e-04 9.89428262e-01 1.98222413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.09, Y:44.64, Z:19.83 [[ 8.15998328e-01 -5.65784033e-01 -1.18470070e-01 1.26093897e+02] [ 5.59570252e-01 8.24551137e-01 -8.36454099e-02 4.46403317e+01] [ 1.45009869e-01 1.96218748e-03 9.89428263e-01 1.98333007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:44.67, Z:19.84 [[ 8.18997679e-01 -5.61437901e-01 -1.18449500e-01 1.26140602e+02] [ 5.55174529e-01 8.27514239e-01 -8.36745289e-02 4.46742612e+01] [ 1.44996700e-01 2.76909931e-03 9.89428264e-01 1.98419123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:44.71, Z:19.85 [[ 8.22280571e-01 -5.56620895e-01 -1.18439185e-01 1.26187012e+02] [ 5.50305540e-01 8.30758655e-01 -8.36891277e-02 4.47083952e+01] [ 1.44977495e-01 3.63820407e-03 9.89428264e-01 1.98510963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:44.74, Z:19.86 [[ 8.24074028e-01 -5.53967191e-01 -1.18416000e-01 1.26234604e+02] [ 5.47619830e-01 8.32528175e-01 -8.37219211e-02 4.47429022e+01] [ 1.44963853e-01 4.14611116e-03 9.89428265e-01 1.98588027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.28, Y:44.78, Z:19.87 [[ 8.25692203e-01 -5.51556932e-01 -1.18394835e-01 1.26281243e+02] [ 5.45180612e-01 8.34124529e-01 -8.37518409e-02 4.47764495e+01] [ 1.44949944e-01 4.60667363e-03 9.89428265e-01 1.98664343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.33, Y:44.81, Z:19.87 [[ 8.26908492e-01 -5.49733357e-01 -1.18387425e-01 1.26328590e+02] [ 5.43336946e-01 8.35325588e-01 -8.37623141e-02 4.48111976e+01] [ 1.44938983e-01 4.93950708e-03 9.89428265e-01 1.98724347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.38, Y:44.84, Z:19.88 [[ 8.27264739e-01 -5.49201577e-01 -1.18366716e-01 1.26376261e+02] [ 5.42795578e-01 8.35674538e-01 -8.37915680e-02 4.48442151e+01] [ 1.44934512e-01 5.06887961e-03 9.89428266e-01 1.98814394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:44.88, Z:19.89 [[ 8.26605153e-01 -5.50198285e-01 -1.18345966e-01 1.26423789e+02] [ 5.43798239e-01 8.35019484e-01 -8.38208653e-02 4.48758471e+01] [ 1.44939283e-01 4.93043146e-03 9.89428267e-01 1.98906491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.47, Y:44.91, Z:19.90 [[ 8.24872799e-01 -5.52797107e-01 -1.18322543e-01 1.26471965e+02] [ 5.46418840e-01 8.33303650e-01 -8.38539161e-02 4.49076290e+01] [ 1.44952809e-01 4.51514779e-03 9.89428268e-01 1.99004392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.52, Y:44.95, Z:19.90 [[ 8.21495077e-01 -5.57808699e-01 -1.18301705e-01 1.26517577e+02] [ 5.51477649e-01 8.29961442e-01 -8.38833043e-02 4.49450896e+01] [ 1.44976690e-01 3.66897541e-03 9.89428268e-01 1.99023065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.57, Y:44.97, Z:19.92 [[ 8.21772692e-01 -5.57403031e-01 -1.18285687e-01 1.26567424e+02] [ 5.51064555e-01 8.30233497e-01 -8.39058861e-02 4.49711973e+01] [ 1.44974135e-01 3.76851656e-03 9.89428269e-01 1.99216885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.62, Y:45.00, Z:19.93 [[ 8.19988734e-01 -5.60026387e-01 -1.18274775e-01 1.26616016e+02] [ 5.53712765e-01 8.28468102e-01 -8.39212643e-02 4.50036648e+01] [ 1.44985001e-01 3.32423851e-03 9.89428269e-01 1.99289266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:45.04, Z:19.94 [[ 8.19087424e-01 -5.61348084e-01 -1.18254473e-01 1.26664764e+02] [ 5.55044019e-01 8.27573898e-01 -8.39498635e-02 4.50357707e+01] [ 1.44989410e-01 3.12583975e-03 9.89428269e-01 1.99372814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.71, Y:45.07, Z:19.95 [[ 8.17961844e-01 -5.62991230e-01 -1.18234076e-01 1.26713767e+02] [ 5.56700065e-01 8.26457885e-01 -8.39785801e-02 4.50666753e+01] [ 1.44994689e-01 2.87035643e-03 9.89428270e-01 1.99463372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:45.10, Z:19.95 [[ 8.17417507e-01 -5.63785642e-01 -1.18213232e-01 1.26760581e+02] [ 5.57498494e-01 8.25916521e-01 -8.40079114e-02 4.50989714e+01] [ 1.44996716e-01 2.76583873e-03 9.89428271e-01 1.99542264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.81, Y:45.13, Z:19.96 [[ 8.16785498e-01 -5.64703613e-01 -1.18200173e-01 1.26809277e+02] [ 5.58423360e-01 8.25289607e-01 -8.40262814e-02 4.51297134e+01] [ 1.44999319e-01 2.62571027e-03 9.89428271e-01 1.99615745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:45.16, Z:19.97 [[ 8.17274343e-01 -5.64000771e-01 -1.18176900e-01 1.26857749e+02] [ 5.57708475e-01 8.25769545e-01 -8.40590008e-02 4.51612775e+01] [ 1.44996226e-01 2.79100590e-03 9.89428272e-01 1.99694142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:45.20, Z:19.98 [[ 8.18391669e-01 -5.62383181e-01 -1.18153434e-01 1.26905402e+02] [ 5.56069338e-01 8.26870868e-01 -8.40919725e-02 4.51950474e+01] [ 1.44989543e-01 3.11866816e-03 9.89428272e-01 1.99755037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:45.23, Z:19.98 [[ 8.16051055e-01 -5.65778425e-01 -1.18133188e-01 1.26953391e+02] [ 5.59495750e-01 8.24553372e-01 -8.41204036e-02 4.52286798e+01] [ 1.45000628e-01 2.55152718e-03 9.89428273e-01 1.99838966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:45.26, Z:19.99 [[ 8.15218281e-01 -5.66981923e-01 -1.18112881e-01 1.27000478e+02] [ 5.60707672e-01 8.23726816e-01 -8.41489080e-02 4.52620065e+01] [ 1.45003657e-01 2.37292979e-03 9.89428274e-01 1.99943172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:45.30, Z:20.00 [[ 8.14928540e-01 -5.67402393e-01 -1.18093181e-01 1.27046604e+02] [ 5.61128528e-01 8.23437359e-01 -8.41765453e-02 4.52978635e+01] [ 1.45004310e-01 2.33241645e-03 9.89428274e-01 2.00040358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.09, Y:45.33, Z:20.01 [[ 8.15305846e-01 -5.66864393e-01 -1.18072594e-01 1.27093371e+02] [ 5.60580734e-01 8.23807435e-01 -8.42054120e-02 4.53321476e+01] [ 1.45002131e-01 2.46394304e-03 9.89428275e-01 2.00131126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.14, Y:45.37, Z:20.02 [[ 8.11228776e-01 -5.72687975e-01 -1.18052348e-01 1.27139843e+02] [ 5.66461225e-01 8.19772133e-01 -8.42337868e-02 4.53661043e+01] [ 1.45015702e-01 1.46079391e-03 9.89428275e-01 2.00245522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.19, Y:45.40, Z:20.03 [[ 8.09451030e-01 -5.75202148e-01 -1.18031856e-01 1.27185342e+02] [ 5.68997750e-01 8.18010632e-01 -8.42624919e-02 4.54038431e+01] [ 1.45019279e-01 1.04650045e-03 9.89428276e-01 2.00291749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:45.44, Z:20.03 [[ 8.08581061e-01 -5.76428743e-01 -1.18010898e-01 1.27230662e+02] [ 5.70233046e-01 8.17146963e-01 -8.42918342e-02 4.54392737e+01] [ 1.45020483e-01 8.63067053e-04 9.89428277e-01 2.00336556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:45.47, Z:20.04 [[ 8.07261660e-01 -5.78276556e-01 -1.18003545e-01 1.27276801e+02] [ 5.72098962e-01 8.15840627e-01 -8.43021262e-02 4.54724017e+01] [ 1.45022029e-01 5.44168763e-04 9.89428277e-01 2.00439208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.32, Y:45.51, Z:20.05 [[ 8.06746728e-01 -5.78999462e-01 -1.17980251e-01 1.27322894e+02] [ 5.72824790e-01 8.15327797e-01 -8.43347138e-02 4.55063839e+01] [ 1.45022332e-01 4.54742009e-04 9.89428278e-01 2.00547489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.37, Y:45.54, Z:20.07 [[ 8.07632205e-01 -5.77765151e-01 -1.17973098e-01 1.27369227e+02] [ 5.71575903e-01 8.16202766e-01 -8.43447180e-02 4.55408386e+01] [ 1.45021408e-01 6.88930267e-04 9.89428278e-01 2.00660859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.42, Y:45.58, Z:20.07 [[ 8.09922149e-01 -5.74554788e-01 -1.17952988e-01 1.27415603e+02] [ 5.68327475e-01 8.18465092e-01 -8.43728318e-02 4.55750921e+01] [ 1.45017218e-01 1.29950124e-03 9.89428278e-01 2.00749187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:45.61, Z:20.08 [[ 8.14468654e-01 -5.68096205e-01 -1.17930123e-01 1.27462114e+02] [ 5.61796531e-01 8.22958377e-01 -8.44047801e-02 4.56108117e+01] [ 1.45001618e-01 2.49231387e-03 9.89428279e-01 2.00811758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.51, Y:45.65, Z:20.09 [[ 8.17329175e-01 -5.63977265e-01 -1.17909555e-01 1.27507572e+02] [ 5.57630673e-01 8.25783880e-01 -8.44335023e-02 4.56458665e+01] [ 1.44986386e-01 3.25998034e-03 9.89428280e-01 2.00876150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:45.68, Z:20.10 [[ 8.19839954e-01 -5.60326045e-01 -1.17886274e-01 1.27554660e+02] [ 5.53937137e-01 8.28262727e-01 -8.44659946e-02 4.56811864e+01] [ 1.44969304e-01 3.94701184e-03 9.89428280e-01 2.00955273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:45.71, Z:20.10 [[ 8.17385456e-01 -5.63904880e-01 -1.17865612e-01 1.27602426e+02] [ 5.57548703e-01 8.25832955e-01 -8.44948170e-02 4.57142591e+01] [ 1.44984347e-01 3.34901520e-03 9.89428281e-01 2.01039148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:45.75, Z:20.11 [[ 8.15188168e-01 -5.67081047e-01 -1.17844548e-01 1.27649525e+02] [ 5.60753543e-01 8.23657165e-01 -8.45241858e-02 4.57463467e+01] [ 1.44995570e-01 2.82136846e-03 9.89428282e-01 2.01142702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:45.78, Z:20.12 [[ 8.13430057e-01 -5.69602175e-01 -1.17834223e-01 1.27696878e+02] [ 5.63298838e-01 8.21917057e-01 -8.45385776e-02 4.57801858e+01] [ 1.45003315e-01 2.39033940e-03 9.89428282e-01 2.01229970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:45.81, Z:20.13 [[ 8.13484229e-01 -5.69529121e-01 -1.17813368e-01 1.27743750e+02] [ 5.63220815e-01 8.21967536e-01 -8.45676303e-02 4.58132573e+01] [ 1.45002492e-01 2.43949219e-03 9.89428282e-01 2.01317048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:45.85, Z:20.14 [[ 8.14948585e-01 -5.67433988e-01 -1.17802690e-01 1.27791168e+02] [ 5.61101725e-01 8.23414024e-01 -8.45825027e-02 4.58459721e+01] [ 1.44995374e-01 2.83109821e-03 9.89428283e-01 2.01422745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:45.88, Z:20.15 [[ 8.17628905e-01 -5.63569838e-01 -1.17779506e-01 1.27836445e+02] [ 5.57192927e-01 8.26060762e-01 -8.46147743e-02 4.58794978e+01] [ 1.44979363e-01 3.55757777e-03 9.89428283e-01 2.01506246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:45.91, Z:20.16 [[ 8.19673079e-01 -5.60595832e-01 -1.17763990e-01 1.27882629e+02] [ 5.54185234e-01 8.28079352e-01 -8.46363631e-02 4.59145695e+01] [ 1.44964721e-01 4.11108399e-03 9.89428284e-01 2.01576651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.93, Y:45.95, Z:20.16 [[ 8.20564429e-01 -5.59295134e-01 -1.17741117e-01 1.27927589e+02] [ 5.52866654e-01 8.28957034e-01 -8.46681713e-02 4.59495221e+01] [ 1.44956823e-01 4.38055246e-03 9.89428285e-01 2.01648548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:45.98, Z:20.17 [[ 8.19452801e-01 -5.60925190e-01 -1.17728660e-01 1.27974538e+02] [ 5.54510921e-01 8.27856272e-01 -8.46854887e-02 4.59836250e+01] [ 1.44964633e-01 4.11393341e-03 9.89428285e-01 2.01723961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.02, Y:46.02, Z:20.18 [[ 8.16575322e-01 -5.65110494e-01 -1.17706724e-01 1.28020773e+02] [ 5.58734914e-01 8.25008182e-01 -8.47159671e-02 4.60178869e+01] [ 1.44982892e-01 3.41011173e-03 9.89428285e-01 2.01836761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:46.05, Z:20.19 [[ 8.14828028e-01 -5.67631783e-01 -1.17683660e-01 1.28067197e+02] [ 5.61277676e-01 8.23277078e-01 -8.47479951e-02 4.60520809e+01] [ 1.44991915e-01 3.00183064e-03 9.89428286e-01 2.01939490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:46.09, Z:20.20 [[ 8.13237931e-01 -5.69912398e-01 -1.17660218e-01 1.28113988e+02] [ 5.63577282e-01 8.21701229e-01 -8.47805289e-02 4.60871762e+01] [ 1.44999020e-01 2.63611627e-03 9.89428287e-01 2.02043823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.16, Y:46.12, Z:20.21 [[ 8.12835992e-01 -5.70489769e-01 -1.17639597e-01 1.28159575e+02] [ 5.64156526e-01 8.21300691e-01 -8.48091324e-02 4.61215278e+01] [ 1.45000224e-01 2.56876901e-03 9.89428288e-01 2.02133814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.21, Y:46.16, Z:20.22 [[ 8.13245679e-01 -5.69910423e-01 -1.17616224e-01 1.28205324e+02] [ 5.63566466e-01 8.21702350e-01 -8.48415348e-02 4.61559592e+01] [ 1.44997602e-01 2.71245209e-03 9.89428288e-01 2.02219373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:46.19, Z:20.23 [[ 8.13341039e-01 -5.69779188e-01 -1.17592652e-01 1.28251658e+02] [ 5.63429147e-01 8.21793142e-01 -8.48741935e-02 4.61901267e+01] [ 1.44996384e-01 2.77653727e-03 9.89428289e-01 2.02294674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.30, Y:46.23, Z:20.24 [[ 8.13564548e-01 -5.69464877e-01 -1.17569046e-01 1.28297825e+02] [ 5.63106849e-01 8.22010643e-01 -8.49068808e-02 4.62256364e+01] [ 1.44994493e-01 2.87329312e-03 9.89428290e-01 2.02364069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:46.26, Z:20.25 [[ 8.14535206e-01 -5.68080502e-01 -1.17545487e-01 1.28343069e+02] [ 5.61703418e-01 8.22966922e-01 -8.49394836e-02 4.62593597e+01] [ 1.44988512e-01 3.16049813e-03 9.89428291e-01 2.02454884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:46.29, Z:20.25 [[ 8.15531070e-01 -5.66652587e-01 -1.17532632e-01 1.28389195e+02] [ 5.60258179e-01 8.23949656e-01 -8.49572675e-02 4.62932027e+01] [ 1.44982227e-01 3.43667299e-03 9.89428291e-01 2.02544679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:46.33, Z:20.26 [[ 8.17896357e-01 -5.63238066e-01 -1.17509273e-01 1.28435770e+02] [ 5.56803883e-01 8.26284581e-01 -8.49895641e-02 4.63274007e+01] [ 1.44965458e-01 4.08303524e-03 9.89428292e-01 2.02624529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:46.36, Z:20.27 [[ 8.20438562e-01 -5.59533403e-01 -1.17485900e-01 1.28482286e+02] [ 5.53056733e-01 8.28794023e-01 -8.50218619e-02 4.63640943e+01] [ 1.44944184e-01 4.77884601e-03 9.89428293e-01 2.02664749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:46.40, Z:20.28 [[ 8.22501041e-01 -5.56501886e-01 -1.17463558e-01 1.28527801e+02] [ 5.49990027e-01 8.30829107e-01 -8.50527183e-02 4.63979309e+01] [ 1.44924141e-01 5.35216392e-03 9.89428293e-01 2.02795622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.57, Y:46.43, Z:20.29 [[ 8.23697306e-01 -5.54731389e-01 -1.17455667e-01 1.28573107e+02] [ 5.48200082e-01 8.32010127e-01 -8.50636146e-02 4.64331011e+01] [ 1.44911761e-01 5.67746415e-03 9.89428293e-01 2.02882756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:46.47, Z:20.30 [[ 8.23733939e-01 -5.54682258e-01 -1.17430792e-01 1.28618636e+02] [ 5.48145572e-01 8.32042531e-01 -8.50979399e-02 4.64671331e+01] [ 1.44909731e-01 5.72889230e-03 9.89428294e-01 2.02956611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:46.50, Z:20.30 [[ 8.23389362e-01 -5.55196458e-01 -1.17417421e-01 1.28665018e+02] [ 5.48662337e-01 8.31699971e-01 -8.51163852e-02 4.65015574e+01] [ 1.44912382e-01 5.66140935e-03 9.89428295e-01 2.03048049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:46.54, Z:20.31 [[ 8.23281616e-01 -5.55361341e-01 -1.17393189e-01 1.28711213e+02] [ 5.48824131e-01 8.31589794e-01 -8.51497937e-02 4.65360963e+01] [ 1.44911882e-01 5.67404477e-03 9.89428295e-01 2.03129182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:128.76, Y:46.57, Z:20.32 [[ 8.22440362e-01 -5.56611448e-01 -1.17369275e-01 1.28757403e+02] [ 5.50082174e-01 8.30754778e-01 -8.51827442e-02 4.65707462e+01] [ 1.44918776e-01 5.49498112e-03 9.89428296e-01 2.03200175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:46.61, Z:20.33 [[ 8.21125552e-01 -5.58554271e-01 -1.17345446e-01 1.28804697e+02] [ 5.52039992e-01 8.29451720e-01 -8.52155575e-02 4.66051923e+01] [ 1.44929896e-01 5.19329248e-03 9.89428297e-01 2.03271836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:46.64, Z:20.34 [[ 8.20209980e-01 -5.59902291e-01 -1.17324392e-01 1.28851969e+02] [ 5.53397559e-01 8.28543608e-01 -8.52445345e-02 4.66386503e+01] [ 1.44936986e-01 4.99138563e-03 9.89428298e-01 2.03369351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:46.67, Z:20.34 [[ 8.19786903e-01 -5.60526030e-01 -1.17303040e-01 1.28896956e+02] [ 5.54023444e-01 8.28122204e-01 -8.52739072e-02 4.66721526e+01] [ 1.44939497e-01 4.91779817e-03 9.89428298e-01 2.03445634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.94, Y:46.71, Z:20.35 [[ 8.18341870e-01 -5.62636524e-01 -1.17289067e-01 1.28944347e+02] [ 5.56152686e-01 8.26691764e-01 -8.52931224e-02 4.67058075e+01] [ 1.44950931e-01 4.56830379e-03 9.89428299e-01 2.03545847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.99, Y:46.74, Z:20.36 [[ 8.16796550e-01 -5.64881931e-01 -1.17268064e-01 1.28991788e+02] [ 5.58416912e-01 8.25161021e-01 -8.53219892e-02 4.67391866e+01] [ 1.44961885e-01 4.20623641e-03 9.89428299e-01 2.03629100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.04, Y:46.77, Z:20.37 [[ 8.13899192e-01 -5.69053592e-01 -1.17243824e-01 1.29039476e+02] [ 5.62626660e-01 8.22292963e-01 -8.53552858e-02 4.67699913e+01] [ 1.44980503e-01 3.50609722e-03 9.89428300e-01 2.03704280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:46.80, Z:20.38 [[ 8.12896240e-01 -5.70488232e-01 -1.17230033e-01 1.29086646e+02] [ 5.64073386e-01 8.21299250e-01 -8.53742214e-02 4.68026224e+01] [ 1.44985927e-01 3.27404165e-03 9.89428300e-01 2.03779249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:46.83, Z:20.38 [[ 8.12744734e-01 -5.70708928e-01 -1.17206302e-01 1.29134790e+02] [ 5.64291670e-01 8.21145902e-01 -8.54067885e-02 4.68346712e+01] [ 1.44985892e-01 3.27537752e-03 9.89428301e-01 2.03844980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:46.87, Z:20.39 [[ 8.13443529e-01 -5.69717330e-01 -1.17182717e-01 1.29182213e+02] [ 5.63285175e-01 8.21833295e-01 -8.54391367e-02 4.68680020e+01] [ 1.44980815e-01 3.49262552e-03 9.89428302e-01 2.03923141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.23, Y:46.90, Z:20.40 [[ 8.14786544e-01 -5.67799773e-01 -1.17159317e-01 1.29228954e+02] [ 5.61343267e-01 8.23157584e-01 -8.54712122e-02 4.69015703e+01] [ 1.44971115e-01 3.87419972e-03 9.89428303e-01 2.04005032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.28, Y:46.94, Z:20.41 [[ 8.14631741e-01 -5.68026833e-01 -1.17135152e-01 1.29276034e+02] [ 5.61567905e-01 8.23000912e-01 -8.55043165e-02 4.69360912e+01] [ 1.44971083e-01 3.87518813e-03 9.89428304e-01 2.04085270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:46.97, Z:20.42 [[ 8.13701786e-01 -5.69362658e-01 -1.17113481e-01 1.29323225e+02] [ 5.62913204e-01 8.22078258e-01 -8.55339895e-02 4.69687026e+01] [ 1.44976306e-01 3.67443533e-03 9.89428304e-01 2.04179308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:47.00, Z:20.43 [[ 8.12582713e-01 -5.70960879e-01 -1.17102557e-01 1.29369751e+02] [ 5.64525747e-01 8.20970194e-01 -8.55489425e-02 4.70010348e+01] [ 1.44982808e-01 3.40818332e-03 9.89428304e-01 2.04278904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:47.03, Z:20.43 [[ 8.11758658e-01 -5.72134009e-01 -1.17092088e-01 1.29417351e+02] [ 5.65708935e-01 8.20153844e-01 -8.55632698e-02 4.70340582e+01] [ 1.44987182e-01 3.21668492e-03 9.89428305e-01 2.04345677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:47.07, Z:20.44 [[ 8.11658264e-01 -5.72281328e-01 -1.17068115e-01 1.29465073e+02] [ 5.65853051e-01 8.20050998e-01 -8.55960568e-02 4.70673844e+01] [ 1.44986850e-01 3.23139670e-03 9.89428305e-01 2.04406624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:47.10, Z:20.45 [[ 8.10610777e-01 -5.73768967e-01 -1.17044182e-01 1.29512551e+02] [ 5.67351373e-01 8.19011681e-01 -8.56287699e-02 4.70995415e+01] [ 1.44991684e-01 3.00642613e-03 9.89428306e-01 2.04483633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:47.13, Z:20.46 [[ 8.10276716e-01 -5.74245467e-01 -1.17020460e-01 1.29560149e+02] [ 5.67828135e-01 8.18677820e-01 -8.56611769e-02 4.71324147e+01] [ 1.44992598e-01 2.96174753e-03 9.89428307e-01 2.04558289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:47.17, Z:20.46 [[ 8.10443513e-01 -5.74014866e-01 -1.16996774e-01 1.29607508e+02] [ 5.67590478e-01 8.18839221e-01 -8.56935160e-02 4.71656815e+01] [ 1.44990899e-01 3.04349948e-03 9.89428308e-01 2.04649686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:47.20, Z:20.47 [[ 8.09717063e-01 -5.75044009e-01 -1.16972928e-01 1.29655272e+02] [ 5.68625594e-01 8.18117337e-01 -8.57260532e-02 4.71976156e+01] [ 1.44993834e-01 2.90004711e-03 9.89428309e-01 2.04732338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:47.23, Z:20.48 [[ 8.09702279e-01 -5.75069666e-01 -1.16949131e-01 1.29702136e+02] [ 5.68646832e-01 8.18099174e-01 -8.57585062e-02 4.72311585e+01] [ 1.44993103e-01 2.93610523e-03 9.89428309e-01 2.04820345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:47.27, Z:20.49 [[ 8.09511678e-01 -5.75342781e-01 -1.16925304e-01 1.29747897e+02] [ 5.68918093e-01 8.17907153e-01 -8.57909797e-02 4.72655482e+01] [ 1.44993264e-01 2.92787878e-03 9.89428310e-01 2.04901915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.79, Y:47.30, Z:20.50 [[ 8.01168679e-01 -5.86909542e-01 -1.16901400e-01 1.29793902e+02] [ 5.80601340e-01 8.09652027e-01 -8.58235397e-02 4.73013095e+01] [ 1.45020110e-01 8.86022273e-04 9.89428311e-01 2.05023175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:47.34, Z:20.51 [[ 7.98862971e-01 -5.90048199e-01 -1.16880608e-01 1.29840288e+02] [ 5.83769185e-01 8.07367945e-01 -8.58518472e-02 4.73384747e+01] [ 1.45022384e-01 3.52564465e-04 9.89428312e-01 2.05059013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.89, Y:47.38, Z:20.51 [[ 7.97848758e-01 -5.91422895e-01 -1.16860252e-01 1.29885253e+02] [ 5.85154478e-01 8.06361544e-01 -8.58795460e-02 4.73778966e+01] [ 1.45022743e-01 1.37589046e-04 9.89428312e-01 2.05078207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.93, Y:47.41, Z:20.52 [[ 8.00375885e-01 -5.88002587e-01 -1.16839208e-01 1.29931319e+02] [ 5.81693614e-01 8.08858657e-01 -8.59081679e-02 4.74120241e+01] [ 1.45020630e-01 7.94204877e-04 9.89428313e-01 2.05210774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:47.45, Z:20.53 [[ 8.02794179e-01 -5.84700729e-01 -1.16818508e-01 1.29976523e+02] [ 5.78352773e-01 8.11247818e-01 -8.59363070e-02 4.74482979e+01] [ 1.45015781e-01 1.42685926e-03 9.89428313e-01 2.05304473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.02, Y:47.48, Z:20.54 [[ 8.05120085e-01 -5.81497986e-01 -1.16797866e-01 1.30021035e+02] [ 5.75112336e-01 8.13545285e-01 -8.59643527e-02 4.74845393e+01] [ 1.45008451e-01 2.03973346e-03 9.89428314e-01 2.05372332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:47.52, Z:20.55 [[ 8.07462297e-01 -5.78245979e-01 -1.16774256e-01 1.30067752e+02] [ 5.71821764e-01 8.15858129e-01 -8.59964132e-02 4.75187843e+01] [ 1.44998306e-01 2.66480054e-03 9.89428315e-01 2.05453362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:47.55, Z:20.55 [[ 8.07514739e-01 -5.78177563e-01 -1.16750383e-01 1.30114681e+02] [ 5.71747955e-01 8.15906441e-01 -8.60288111e-02 4.75510608e+01] [ 1.44997318e-01 2.71774033e-03 9.89428316e-01 2.05546988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:47.58, Z:20.56 [[ 8.07765682e-01 -5.77831698e-01 -1.16726741e-01 1.30161020e+02] [ 5.71393865e-01 8.16151074e-01 -8.60608774e-02 4.75835948e+01] [ 1.44995358e-01 2.82007950e-03 9.89428316e-01 2.05613738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.21, Y:47.62, Z:20.57 [[ 8.08924443e-01 -5.76211122e-01 -1.16713270e-01 1.30208977e+02] [ 5.69753858e-01 8.17294881e-01 -8.60791426e-02 4.76161344e+01] [ 1.44988918e-01 3.13368666e-03 9.89428317e-01 2.05722401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.26, Y:47.65, Z:20.58 [[ 8.10299834e-01 -5.74279466e-01 -1.16693072e-01 1.30256083e+02] [ 5.67798310e-01 8.18651786e-01 -8.61065157e-02 4.76487923e+01] [ 1.44980196e-01 3.51396642e-03 9.89428317e-01 2.05820645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:47.68, Z:20.59 [[ 8.10175380e-01 -5.74459698e-01 -1.16670090e-01 1.30302451e+02] [ 5.67975921e-01 8.18525296e-01 -8.61376446e-02 4.76832057e+01] [ 1.44980025e-01 3.52079743e-03 9.89428318e-01 2.05895879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:47.72, Z:20.60 [[ 8.09818369e-01 -5.74967673e-01 -1.16646407e-01 1.30349163e+02] [ 5.68484520e-01 8.18168768e-01 -8.61697040e-02 4.77173367e+01] [ 1.44981241e-01 3.47013276e-03 9.89428319e-01 2.05967306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:47.75, Z:20.60 [[ 8.08888099e-01 -5.76280476e-01 -1.16622715e-01 1.30394399e+02] [ 5.69806257e-01 8.17245426e-01 -8.62017569e-02 4.77507361e+01] [ 1.44985770e-01 3.27522268e-03 9.89428320e-01 2.06038560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:47.78, Z:20.61 [[ 8.08266516e-01 -5.77154587e-01 -1.16609699e-01 1.30440986e+02] [ 5.70686869e-01 8.16628875e-01 -8.62193610e-02 4.77833557e+01] [ 1.44988747e-01 3.14059877e-03 9.89428320e-01 2.06134348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:47.82, Z:20.62 [[ 8.08380396e-01 -5.76999711e-01 -1.16586744e-01 1.30485947e+02] [ 5.70525919e-01 8.16738053e-01 -8.62503894e-02 4.78171124e+01] [ 1.44987280e-01 3.20736471e-03 9.89428321e-01 2.06213505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.53, Y:47.86, Z:20.62 [[ 8.04869672e-01 -5.81890006e-01 -1.16571143e-01 1.30528918e+02] [ 5.75463950e-01 8.13264087e-01 -8.62714698e-02 4.78576032e+01] [ 1.45003630e-01 2.35479915e-03 9.89428321e-01 2.06197830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:47.89, Z:20.64 [[ 8.06511861e-01 -5.79616795e-01 -1.16546076e-01 1.30575986e+02] [ 5.73162191e-01 8.14884344e-01 -8.63053199e-02 4.78862705e+01] [ 1.44995586e-01 2.80645969e-03 9.89428322e-01 2.06385517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:47.92, Z:20.65 [[ 8.04281818e-01 -5.82709747e-01 -1.16533717e-01 1.30621609e+02] [ 5.76284927e-01 8.12677178e-01 -8.63220046e-02 4.79207268e+01] [ 1.45004966e-01 2.27059415e-03 9.89428322e-01 2.06490905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:47.96, Z:20.66 [[ 8.01103584e-01 -5.87076306e-01 -1.16509480e-01 1.30668223e+02] [ 5.80692494e-01 8.09530168e-01 -8.63547058e-02 4.79553599e+01] [ 1.45014740e-01 1.52288388e-03 9.89428323e-01 2.06556372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:47.99, Z:20.66 [[ 7.99552527e-01 -5.89191687e-01 -1.16485675e-01 1.30715023e+02] [ 5.82825494e-01 8.07992428e-01 -8.63868044e-02 4.79894359e+01] [ 1.45017931e-01 1.17996644e-03 9.89428324e-01 2.06639992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.76, Y:48.02, Z:20.67 [[ 7.98800259e-01 -5.90215865e-01 -1.16461918e-01 1.30761317e+02] [ 5.83855825e-01 8.07244797e-01 -8.64188207e-02 4.80226667e+01] [ 1.45019037e-01 1.03440700e-03 9.89428324e-01 2.06735436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:48.06, Z:20.68 [[ 7.99955567e-01 -5.88653897e-01 -1.16437453e-01 1.30806895e+02] [ 5.82272573e-01 8.08384031e-01 -8.64517719e-02 4.80568701e+01] [ 1.45016350e-01 1.35924077e-03 9.89428325e-01 2.06816119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.85, Y:48.09, Z:20.69 [[ 8.02820637e-01 -5.84743066e-01 -1.16424100e-01 1.30852362e+02] [ 5.78318080e-01 8.11215865e-01 -8.64697507e-02 4.80915823e+01] [ 1.45007664e-01 2.08953829e-03 9.89428325e-01 2.06891490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:48.13, Z:20.70 [[ 8.06116314e-01 -5.80196091e-01 -1.16400102e-01 1.30898680e+02] [ 5.73719096e-01 8.14471482e-01 -8.65020436e-02 4.81260333e+01] [ 1.44992711e-01 2.94974732e-03 9.89428326e-01 2.06962477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:48.16, Z:20.70 [[ 8.07318678e-01 -5.78526716e-01 -1.16376075e-01 1.30945447e+02] [ 5.72027790e-01 8.15656798e-01 -8.65343567e-02 4.81596670e+01] [ 1.44985374e-01 3.29045354e-03 9.89428327e-01 2.07039136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:48.19, Z:20.71 [[ 8.07777059e-01 -5.77891399e-01 -1.16351854e-01 1.30992103e+02] [ 5.71381230e-01 8.16106402e-01 -8.65669115e-02 4.81938384e+01] [ 1.44981766e-01 3.44549980e-03 9.89428328e-01 2.07106128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:48.23, Z:20.72 [[ 8.08058987e-01 -5.77501954e-01 -1.16327840e-01 1.31038008e+02] [ 5.70983131e-01 8.16381558e-01 -8.65991689e-02 4.82282729e+01] [ 1.44979093e-01 3.55600227e-03 9.89428329e-01 2.07175945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.08, Y:48.26, Z:20.73 [[ 8.08433019e-01 -5.76983088e-01 -1.16303786e-01 1.31084923e+02] [ 5.70454282e-01 8.16747759e-01 -8.66314619e-02 4.82614949e+01] [ 1.44975745e-01 3.68974141e-03 9.89428329e-01 2.07252669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:48.30, Z:20.74 [[ 8.06364896e-01 -5.79874652e-01 -1.16280018e-01 1.31131022e+02] [ 5.73371069e-01 8.14699380e-01 -8.66633530e-02 4.82958397e+01] [ 1.44987140e-01 3.21068734e-03 9.89428330e-01 2.07350378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.18, Y:48.33, Z:20.74 [[ 8.05365207e-01 -5.81267193e-01 -1.16255469e-01 1.31177193e+02] [ 5.74773273e-01 8.13707220e-01 -8.66962725e-02 4.83300563e+01] [ 1.44991613e-01 3.00162502e-03 9.89428331e-01 2.07448659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:48.36, Z:20.75 [[ 8.04063079e-01 -5.83072039e-01 -1.16230645e-01 1.31222247e+02] [ 5.76592039e-01 8.12415908e-01 -8.67295409e-02 4.83640178e+01] [ 1.44997195e-01 2.71835735e-03 9.89428332e-01 2.07536486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:48.41, Z:20.75 [[ 7.99201711e-01 -5.89720576e-01 -1.16216467e-01 1.31265085e+02] [ 5.83307312e-01 8.07605889e-01 -8.67485350e-02 4.84063907e+01] [ 1.45014499e-01 1.53966269e-03 9.89428332e-01 2.07493152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.31, Y:48.43, Z:20.77 [[ 8.02295294e-01 -5.85509879e-01 -1.16191405e-01 1.31312728e+02] [ 5.79047652e-01 8.10661881e-01 -8.67820894e-02 4.84338800e+01] [ 1.45003714e-01 2.34450142e-03 9.89428333e-01 2.07694328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.36, Y:48.47, Z:20.78 [[ 8.02479324e-01 -5.85260288e-01 -1.16178005e-01 1.31357880e+02] [ 5.78792864e-01 8.10841893e-01 -8.68000252e-02 4.84690053e+01] [ 1.45002601e-01 2.41222517e-03 9.89428333e-01 2.07787827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:48.51, Z:20.78 [[ 8.03641203e-01 -5.83668636e-01 -1.16153953e-01 1.31402332e+02] [ 5.77180001e-01 8.11987324e-01 -8.68321999e-02 4.85063578e+01] [ 1.44996769e-01 2.74019498e-03 9.89428334e-01 2.07847231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:48.54, Z:20.79 [[ 8.04179130e-01 -5.82932030e-01 -1.16129991e-01 1.31447866e+02] [ 5.76431128e-01 8.12515698e-01 -8.68642346e-02 4.85421516e+01] [ 1.44993386e-01 2.91346277e-03 9.89428335e-01 2.07915752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.49, Y:48.58, Z:20.80 [[ 8.04282032e-01 -5.82794790e-01 -1.16106182e-01 1.31492934e+02] [ 5.76287875e-01 8.12613907e-01 -8.68960477e-02 4.85791020e+01] [ 1.44992062e-01 2.97834509e-03 9.89428336e-01 2.08008988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:48.61, Z:20.81 [[ 8.03971279e-01 -5.83227576e-01 -1.16085215e-01 1.31538107e+02] [ 5.76721105e-01 8.12303500e-01 -8.69240492e-02 4.86146929e+01] [ 1.44992929e-01 2.93564582e-03 9.89428336e-01 2.08121134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.58, Y:48.65, Z:20.82 [[ 8.03648432e-01 -5.83676557e-01 -1.16064096e-01 1.31583800e+02] [ 5.77170673e-01 8.11981110e-01 -8.69522388e-02 4.86503668e+01] [ 1.44993837e-01 2.89023812e-03 9.89428337e-01 2.08199441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:48.69, Z:20.83 [[ 8.02823856e-01 -5.84814991e-01 -1.16040001e-01 1.31629346e+02] [ 5.78316279e-01 8.11162129e-01 -8.69843819e-02 4.86861827e+01] [ 1.44997025e-01 2.72531528e-03 9.89428338e-01 2.08270318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:48.72, Z:20.83 [[ 8.02092710e-01 -5.85822107e-01 -1.16016136e-01 1.31674900e+02] [ 5.79329264e-01 8.10435553e-01 -8.70162007e-02 4.87206420e+01] [ 1.44999615e-01 2.58351746e-03 9.89428338e-01 2.08348826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:48.76, Z:20.84 [[ 8.00712543e-01 -5.87711808e-01 -1.15992477e-01 1.31720168e+02] [ 5.81234090e-01 8.09067133e-01 -8.70477269e-02 4.87556132e+01] [ 1.45004678e-01 2.28142491e-03 9.89428339e-01 2.08432458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:48.79, Z:20.85 [[ 7.99903791e-01 -5.88816745e-01 -1.15968815e-01 1.31765715e+02] [ 5.82346000e-01 8.08263783e-01 -8.70792394e-02 4.87912076e+01] [ 1.45007107e-01 2.12103821e-03 9.89428340e-01 2.08515615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:48.83, Z:20.86 [[ 8.00742839e-01 -5.87679953e-01 -1.15944723e-01 1.31810642e+02] [ 5.81192699e-01 8.09090024e-01 -8.71113065e-02 4.88264811e+01] [ 1.45003287e-01 2.36752869e-03 9.89428341e-01 2.08575056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.86, Y:48.86, Z:20.87 [[ 8.01800901e-01 -5.86238131e-01 -1.15931743e-01 1.31856402e+02] [ 5.79733371e-01 8.10134452e-01 -8.71285770e-02 4.88611881e+01] [ 1.44998393e-01 2.65027144e-03 9.89428341e-01 2.08661105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.90, Y:48.90, Z:20.87 [[ 8.04516817e-01 -5.82510133e-01 -1.15907881e-01 1.31902836e+02] [ 5.75962193e-01 8.12816482e-01 -8.71603098e-02 4.88964943e+01] [ 1.44983599e-01 3.36337791e-03 9.89428342e-01 2.08732804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:48.93, Z:20.88 [[ 8.06129318e-01 -5.80280719e-01 -1.15887053e-01 1.31950319e+02] [ 5.73705852e-01 8.14407668e-01 -8.71879932e-02 4.89314587e+01] [ 1.44972816e-01 3.79971702e-03 9.89428342e-01 2.08804014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:48.97, Z:20.89 [[ 8.05220736e-01 -5.81545293e-01 -1.15864738e-01 1.31996586e+02] [ 5.74979166e-01 8.13506019e-01 -8.72176376e-02 4.89662995e+01] [ 1.44977669e-01 3.60963983e-03 9.89428343e-01 2.08854371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.04, Y:49.00, Z:20.90 [[ 8.04202935e-01 -5.82953537e-01 -1.15856864e-01 1.32044350e+02] [ 5.76400413e-01 8.12498506e-01 -8.72280967e-02 4.89982773e+01] [ 1.44983456e-01 3.36914738e-03 9.89428343e-01 2.08977836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:49.03, Z:20.91 [[ 8.03245579e-01 -5.84276195e-01 -1.15835517e-01 1.32090697e+02] [ 5.77732648e-01 8.11548706e-01 -8.72564353e-02 4.90320754e+01] [ 1.44988022e-01 3.16638594e-03 9.89428344e-01 2.09071131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:49.07, Z:20.92 [[ 8.02489142e-01 -5.85319464e-01 -1.15811495e-01 1.32137471e+02] [ 5.78782115e-01 8.10797148e-01 -8.72883066e-02 4.90662627e+01] [ 1.44991175e-01 3.01829612e-03 9.89428345e-01 2.09162966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:49.10, Z:20.93 [[ 8.01341252e-01 -5.86894171e-01 -1.15790458e-01 1.32184168e+02] [ 5.80369120e-01 8.09658919e-01 -8.73162042e-02 4.91003911e+01] [ 1.44996149e-01 2.76887002e-03 9.89428345e-01 2.09278688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:49.14, Z:20.94 [[ 8.00020074e-01 -5.88697947e-01 -1.15769636e-01 1.32229610e+02] [ 5.82187657e-01 8.08349300e-01 -8.73438035e-02 4.91351861e+01] [ 1.45001422e-01 2.47714317e-03 9.89428346e-01 2.09373215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.27, Y:49.17, Z:20.94 [[ 7.98950593e-01 -5.90153388e-01 -1.15745106e-01 1.32273701e+02] [ 5.83653566e-01 8.07287989e-01 -8.73762981e-02 4.91702652e+01] [ 1.45005052e-01 2.25430145e-03 9.89428347e-01 2.09446769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:49.21, Z:20.95 [[ 7.96932728e-01 -5.92878664e-01 -1.15728631e-01 1.32319282e+02] [ 5.86404189e-01 8.05289822e-01 -8.73981133e-02 4.92052755e+01] [ 1.45011565e-01 1.78666301e-03 9.89428347e-01 2.09530607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:49.24, Z:20.96 [[ 7.95385304e-01 -5.94957668e-01 -1.15704757e-01 1.32364168e+02] [ 5.88500442e-01 8.03755732e-01 -8.74297088e-02 4.92409881e+01] [ 1.45015337e-01 1.44800520e-03 9.89428348e-01 2.09609896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:49.28, Z:20.97 [[ 7.94240944e-01 -5.96489228e-01 -1.15680267e-01 1.32407481e+02] [ 5.90043425e-01 8.02620171e-01 -8.74620992e-02 4.92773496e+01] [ 1.45017516e-01 1.20959912e-03 9.89428349e-01 2.09661157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.45, Y:49.31, Z:20.97 [[ 7.93860079e-01 -5.96998570e-01 -1.15667120e-01 1.32452103e+02] [ 5.90555610e-01 8.02241492e-01 -8.74794828e-02 4.93137200e+01] [ 1.45018089e-01 1.13860240e-03 9.89428349e-01 2.09744083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:49.35, Z:20.98 [[ 7.94339239e-01 -5.96365567e-01 -1.15642917e-01 1.32495683e+02] [ 5.89911272e-01 8.02711925e-01 -8.75114665e-02 4.93496510e+01] [ 1.45016774e-01 1.29473139e-03 9.89428350e-01 2.09831652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:49.39, Z:20.99 [[ 7.96269157e-01 -5.93788912e-01 -1.15629402e-01 1.32539259e+02] [ 5.87304932e-01 8.04618875e-01 -8.75293207e-02 4.93879856e+01] [ 1.45011539e-01 1.78718046e-03 9.89428350e-01 2.09923213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.58, Y:49.43, Z:21.00 [[ 7.98423787e-01 -5.90893243e-01 -1.15605503e-01 1.32583418e+02] [ 5.84374416e-01 8.06746326e-01 -8.75608742e-02 4.94253636e+01] [ 1.45003444e-01 2.35378646e-03 9.89428351e-01 2.10001134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:49.46, Z:21.01 [[ 8.02915695e-01 -5.84779811e-01 -1.15580962e-01 1.32625678e+02] [ 5.78192972e-01 8.11184510e-01 -8.75932561e-02 4.94636254e+01] [ 1.44980254e-01 3.50190002e-03 9.89428351e-01 2.10078311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:49.50, Z:21.02 [[ 8.04195721e-01 -5.83020861e-01 -1.15567802e-01 1.32670610e+02] [ 5.76413445e-01 8.12448103e-01 -8.76106157e-02 4.94994493e+01] [ 1.44971658e-01 3.84124726e-03 9.89428352e-01 2.10162991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:132.71, Y:49.54, Z:21.02 [[ 8.06540554e-01 -5.79777564e-01 -1.15543551e-01 1.32714310e+02] [ 5.73132394e-01 8.14762564e-01 -8.76425872e-02 4.95369006e+01] [ 1.44953766e-01 4.46554868e-03 9.89428352e-01 2.10227453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:132.75, Y:49.58, Z:21.02 [[ 8.06471974e-01 -5.79877885e-01 -1.15518800e-01 1.32754064e+02] [ 5.73229074e-01 8.14691039e-01 -8.76751992e-02 4.95817161e+01] [ 1.44953040e-01 4.48885629e-03 9.89428353e-01 2.10243942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:49.62, Z:21.03 [[ 8.08490820e-01 -5.77062191e-01 -1.15506804e-01 1.32798411e+02] [ 5.70382507e-01 8.16684813e-01 -8.76909998e-02 4.96174347e+01] [ 1.44935813e-01 5.01430772e-03 9.89428353e-01 2.10348435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:49.65, Z:21.04 [[ 8.06666061e-01 -5.79611820e-01 -1.15498934e-01 1.32843683e+02] [ 5.72956557e-01 8.14879902e-01 -8.77013646e-02 4.96548838e+01] [ 1.44950508e-01 4.56984284e-03 9.89428354e-01 2.10400842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:49.68, Z:21.05 [[ 8.06139377e-01 -5.80348495e-01 -1.15476964e-01 1.32894052e+02] [ 5.73696601e-01 8.14355946e-01 -8.77302839e-02 4.96822512e+01] [ 1.44953490e-01 4.47409484e-03 9.89428354e-01 2.10540085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:49.72, Z:21.06 [[ 8.03491524e-01 -5.84010466e-01 -1.15469243e-01 1.32940594e+02] [ 5.77394569e-01 8.11737104e-01 -8.77404445e-02 4.97159832e+01] [ 1.44972007e-01 3.82738975e-03 9.89428354e-01 2.10630641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:49.75, Z:21.07 [[ 7.99904407e-01 -5.88918840e-01 -1.15444962e-01 1.32987938e+02] [ 5.82348943e-01 8.08186685e-01 -8.77723811e-02 4.97492952e+01] [ 1.44991890e-01 2.98026291e-03 9.89428355e-01 2.10731118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.03, Y:49.78, Z:21.08 [[ 7.97900910e-01 -5.91634702e-01 -1.15423214e-01 1.33033986e+02] [ 5.85088864e-01 8.06202215e-01 -8.78009712e-02 4.97829343e+01] [ 1.45000552e-01 2.52363768e-03 9.89428356e-01 2.10833082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:49.82, Z:21.09 [[ 7.97280667e-01 -5.92475266e-01 -1.15397562e-01 1.33079026e+02] [ 5.85933304e-01 8.05585026e-01 -8.78346727e-02 4.98170947e+01] [ 1.45002419e-01 2.41361146e-03 9.89428357e-01 2.10894710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:49.85, Z:21.10 [[ 7.97723144e-01 -5.91881722e-01 -1.15385496e-01 1.33125248e+02] [ 5.85331290e-01 8.06020823e-01 -8.78505212e-02 4.98524785e+01] [ 1.45000230e-01 2.54165296e-03 9.89428357e-01 2.10967539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:49.89, Z:21.11 [[ 7.98338060e-01 -5.91056154e-01 -1.15364483e-01 1.33171142e+02] [ 5.84493157e-01 8.06625804e-01 -8.78781067e-02 4.98878054e+01] [ 1.44996864e-01 2.72668651e-03 9.89428357e-01 2.11050642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:49.92, Z:21.11 [[ 7.99532965e-01 -5.89443469e-01 -1.15340514e-01 1.33216137e+02] [ 5.82859222e-01 8.07803836e-01 -8.79095547e-02 4.99236024e+01] [ 1.44990223e-01 3.05930469e-03 9.89428358e-01 2.11149330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:49.96, Z:21.12 [[ 8.00271745e-01 -5.88444840e-01 -1.15316102e-01 1.33262825e+02] [ 5.81845663e-01 8.08530707e-01 -8.79415658e-02 4.99592309e+01] [ 1.44985370e-01 3.28097643e-03 9.89428359e-01 2.11232164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:49.99, Z:21.13 [[ 8.00065268e-01 -5.88729732e-01 -1.15294708e-01 1.33309951e+02] [ 5.82129458e-01 8.08323353e-01 -8.79696053e-02 4.99941345e+01] [ 1.44985727e-01 3.26497978e-03 9.89428360e-01 2.11315350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.36, Y:50.03, Z:21.14 [[ 7.99595070e-01 -5.89372411e-01 -1.15273090e-01 1.33356643e+02] [ 5.82774695e-01 8.07855198e-01 -8.79979247e-02 5.00276313e+01] [ 1.44987514e-01 3.18446714e-03 9.89428360e-01 2.11391403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:50.06, Z:21.15 [[ 7.99640839e-01 -5.89311803e-01 -1.15265464e-01 1.33404048e+02] [ 5.82712022e-01 8.07899317e-01 -8.80079121e-02 5.00595759e+01] [ 1.44986991e-01 3.20814895e-03 9.89428360e-01 2.11503881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.45, Y:50.09, Z:21.16 [[ 8.00353059e-01 -5.88348993e-01 -1.15240807e-01 1.33450895e+02] [ 5.81734635e-01 8.08599864e-01 -8.80401873e-02 5.00925681e+01] [ 1.44982056e-01 3.42366437e-03 9.89428361e-01 2.11594735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.50, Y:50.13, Z:21.17 [[ 8.02133218e-01 -5.85924478e-01 -1.15216353e-01 1.33499095e+02] [ 5.79280604e-01 8.10356263e-01 -8.80721783e-02 5.01259415e+01] [ 1.44969938e-01 3.90302122e-03 9.89428362e-01 2.11675090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:50.16, Z:21.18 [[ 8.03311410e-01 -5.84312344e-01 -1.15194894e-01 1.33545842e+02] [ 5.77647951e-01 8.11517833e-01 -8.81002365e-02 5.01595283e+01] [ 1.44960767e-01 4.22983048e-03 9.89428363e-01 2.11760282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:50.19, Z:21.18 [[ 8.04332990e-01 -5.82910141e-01 -1.15170347e-01 1.33593931e+02] [ 5.76226856e-01 8.12524034e-01 -8.81323144e-02 5.01929748e+01] [ 1.44951895e-01 4.52348079e-03 9.89428363e-01 2.11846903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.64, Y:50.23, Z:21.19 [[ 8.04111382e-01 -5.83220094e-01 -1.15148631e-01 1.33641361e+02] [ 5.76535910e-01 8.12301692e-01 -8.81606784e-02 5.02263481e+01] [ 1.44952507e-01 4.50368397e-03 9.89428364e-01 2.11933421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.69, Y:50.26, Z:21.20 [[ 8.03324590e-01 -5.84308190e-01 -1.15124029e-01 1.33688477e+02] [ 5.77630505e-01 8.11520198e-01 -8.81927935e-02 5.02583643e+01] [ 1.44957246e-01 4.34828849e-03 9.89428365e-01 2.12049050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:50.29, Z:21.21 [[ 8.02591063e-01 -5.85320405e-01 -1.15098263e-01 1.33735166e+02] [ 5.78648241e-01 8.10791165e-01 -8.82264075e-02 5.02917376e+01] [ 1.44961371e-01 4.20831861e-03 9.89428366e-01 2.12117718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:50.32, Z:21.22 [[ 8.01442870e-01 -5.86894121e-01 -1.15085260e-01 1.33783498e+02] [ 5.80235629e-01 8.09654077e-01 -8.82433660e-02 5.03246012e+01] [ 1.44968763e-01 3.94544831e-03 9.89428366e-01 2.12212910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:50.36, Z:21.23 [[ 8.00435355e-01 -5.88271681e-01 -1.15063774e-01 1.33830504e+02] [ 5.81623299e-01 8.08654749e-01 -8.82713739e-02 5.03581577e+01] [ 1.44974417e-01 3.73175678e-03 9.89428367e-01 2.12309759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:50.39, Z:21.24 [[ 7.98850796e-01 -5.90425814e-01 -1.15042440e-01 1.33877596e+02] [ 5.83795598e-01 8.07084851e-01 -8.82991695e-02 5.03907000e+01] [ 1.44983119e-01 3.37659197e-03 9.89428367e-01 2.12402594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.93, Y:50.42, Z:21.25 [[ 7.97576951e-01 -5.92150152e-01 -1.15018283e-01 1.33925505e+02] [ 5.85533205e-01 8.05821671e-01 -8.83306256e-02 5.04244676e+01] [ 1.44989218e-01 3.10344734e-03 9.89428368e-01 2.12488246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.97, Y:50.46, Z:21.26 [[ 7.95965924e-01 -5.94317986e-01 -1.14997299e-01 1.33971716e+02] [ 5.87719552e-01 8.04225468e-01 -8.83579353e-02 5.04582562e+01] [ 1.44996467e-01 2.74374443e-03 9.89428369e-01 2.12563058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:50.49, Z:21.27 [[ 7.94508965e-01 -5.96266721e-01 -1.14984795e-01 1.34018717e+02] [ 5.89686193e-01 8.02782781e-01 -8.83742047e-02 5.04921251e+01] [ 1.45002411e-01 2.40915182e-03 9.89428369e-01 2.12674633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.06, Y:50.53, Z:21.28 [[ 7.93567771e-01 -5.97522875e-01 -1.14963501e-01 1.34064761e+02] [ 5.90951434e-01 8.01848806e-01 -8.84018971e-02 5.05265578e+01] [ 1.45005502e-01 2.21505054e-03 9.89428369e-01 2.12779438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.11, Y:50.56, Z:21.29 [[ 7.93127182e-01 -5.98112309e-01 -1.14938850e-01 1.34110820e+02] [ 5.91542380e-01 8.01409415e-01 -8.84339372e-02 5.05623683e+01] [ 1.45006503e-01 2.14815869e-03 9.89428370e-01 2.12864031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:50.60, Z:21.30 [[ 7.92306442e-01 -5.99203192e-01 -1.14917525e-01 1.34157037e+02] [ 5.92640649e-01 8.00594528e-01 -8.84616391e-02 5.05983007e+01] [ 1.45008838e-01 1.98392969e-03 9.89428371e-01 2.12966293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:50.63, Z:21.30 [[ 7.88992815e-01 -6.03563872e-01 -1.14895567e-01 1.34199840e+02] [ 5.97042988e-01 7.97313717e-01 -8.84901492e-02 5.06348605e+01] [ 1.45017269e-01 1.22049897e-03 9.89428371e-01 2.13033605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.25, Y:50.67, Z:21.31 [[ 7.87427046e-01 -6.05608432e-01 -1.14878521e-01 1.34245384e+02] [ 5.99105927e-01 7.95762318e-01 -8.85122732e-02 5.06695748e+01] [ 1.45019777e-01 8.72554898e-04 9.89428372e-01 2.13133637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:134.29, Y:50.71, Z:21.32 [[ 7.86402457e-01 -6.06940683e-01 -1.14865933e-01 1.34289973e+02] [ 6.00449914e-01 7.94746870e-01 -8.85286060e-02 5.07078865e+01] [ 1.45020954e-01 6.47873483e-04 9.89428372e-01 2.13223837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:50.74, Z:21.33 [[ 7.86528488e-01 -6.06781177e-01 -1.14845726e-01 1.34334781e+02] [ 6.00284888e-01 7.94868604e-01 -8.85548131e-02 5.07445660e+01] [ 1.45020656e-01 7.10729535e-04 9.89428373e-01 2.13294200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:50.78, Z:21.34 [[ 7.87788643e-01 -6.05148880e-01 -1.14821111e-01 1.34379046e+02] [ 5.98630660e-01 7.96111629e-01 -8.85867175e-02 5.07806940e+01] [ 1.45018575e-01 1.05217233e-03 9.89428373e-01 2.13394149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:50.82, Z:21.35 [[ 7.89104009e-01 -6.03434812e-01 -1.14809802e-01 1.34423472e+02] [ 5.96896382e-01 7.97411128e-01 -8.86013721e-02 5.08173051e+01] [ 1.45015766e-01 1.38614260e-03 9.89428373e-01 2.13486582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:50.85, Z:21.36 [[ 7.92815842e-01 -5.98554389e-01 -1.14785384e-01 1.34466198e+02] [ 5.91960250e-01 8.01078807e-01 -8.86329946e-02 5.08549229e+01] [ 1.45003807e-01 2.32125750e-03 9.89428374e-01 2.13576663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:50.89, Z:21.37 [[ 7.95162718e-01 -5.95434540e-01 -1.14777871e-01 1.34510642e+02] [ 5.88806580e-01 8.03398580e-01 -8.86427231e-02 5.08926661e+01] [ 1.44993318e-01 2.90342291e-03 9.89428374e-01 2.13673221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.56, Y:50.93, Z:21.37 [[ 7.96910720e-01 -5.93097150e-01 -1.14756591e-01 1.34555239e+02] [ 5.86441073e-01 8.05123874e-01 -8.86702640e-02 5.09321004e+01] [ 1.44983352e-01 3.36430576e-03 9.89428375e-01 2.13716694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:50.97, Z:21.38 [[ 7.97244897e-01 -5.92651889e-01 -1.14735840e-01 1.34600754e+02] [ 5.85987365e-01 8.05451197e-01 -8.86971062e-02 5.09682080e+01] [ 1.44980628e-01 3.47956248e-03 9.89428376e-01 2.13806948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.65, Y:51.00, Z:21.39 [[ 7.97141639e-01 -5.92795139e-01 -1.14713249e-01 1.34646243e+02] [ 5.86127890e-01 8.05345725e-01 -8.87263147e-02 5.10043964e+01] [ 1.44980353e-01 3.49080534e-03 9.89428376e-01 2.13910347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:51.04, Z:21.40 [[ 7.96147529e-01 -5.94133931e-01 -1.14690825e-01 1.34692788e+02] [ 5.87476307e-01 8.04359426e-01 -8.87552918e-02 5.10382898e+01] [ 1.44985176e-01 3.28416413e-03 9.89428377e-01 2.13991412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:51.07, Z:21.41 [[ 7.95706883e-01 -5.94728781e-01 -1.14665750e-01 1.34738990e+02] [ 5.88072633e-01 8.03919976e-01 -8.87876745e-02 5.10716067e+01] [ 1.44986673e-01 3.21717399e-03 9.89428378e-01 2.14070931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.79, Y:51.11, Z:21.42 [[ 7.94735182e-01 -5.96028807e-01 -1.14654492e-01 1.34787190e+02] [ 5.89383999e-01 8.02957452e-01 -8.88022105e-02 5.11051870e+01] [ 1.44991354e-01 2.99871802e-03 9.89428378e-01 2.14153138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:134.83, Y:51.14, Z:21.42 [[ 7.94412676e-01 -5.96462705e-01 -1.14633071e-01 1.34833728e+02] [ 5.89818402e-01 8.02635353e-01 -8.88298533e-02 5.11372601e+01] [ 1.44992250e-01 2.95486642e-03 9.89428378e-01 2.14231198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.88, Y:51.17, Z:21.43 [[ 7.94176912e-01 -5.96779237e-01 -1.14619261e-01 1.34880397e+02] [ 5.90135641e-01 8.02400160e-01 -8.88476702e-02 5.11712021e+01] [ 1.44992958e-01 2.91985753e-03 9.89428379e-01 2.14312207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:51.22, Z:21.43 [[ 7.89289573e-01 -6.03232976e-01 -1.14594705e-01 1.34922071e+02] [ 5.96652035e-01 7.97563047e-01 -8.88793302e-02 5.12151077e+01] [ 1.45011445e-01 1.77836432e-03 9.89428380e-01 2.14271324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:51.24, Z:21.45 [[ 7.93467381e-01 -5.97731660e-01 -1.14570407e-01 1.34973315e+02] [ 5.91088846e-01 8.01691259e-01 -8.89106415e-02 5.12415124e+01] [ 1.44994799e-01 2.82640429e-03 9.89428380e-01 2.14465040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:51.28, Z:21.45 [[ 7.93253875e-01 -5.98019073e-01 -1.14549019e-01 1.35019333e+02] [ 5.91375263e-01 8.01476947e-01 -8.89381888e-02 5.12764128e+01] [ 1.44995131e-01 2.80910683e-03 9.89428381e-01 2.14543714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.06, Y:51.32, Z:21.45 [[ 7.88258290e-01 -6.04593188e-01 -1.14524868e-01 1.35060135e+02] [ 5.98013455e-01 7.96532721e-01 -8.89692773e-02 5.13195164e+01] [ 1.45013023e-01 1.64335865e-03 9.89428382e-01 2.14504543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.11, Y:51.35, Z:21.47 [[ 7.92419524e-01 -5.99130365e-01 -1.14516828e-01 1.35111187e+02] [ 5.92492101e-01 8.00647074e-01 -8.89796241e-02 5.13462858e+01] [ 1.44997958e-01 2.65887535e-03 9.89428382e-01 2.14692486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.16, Y:51.38, Z:21.48 [[ 7.91309198e-01 -6.00598751e-01 -1.14502809e-01 1.35156978e+02] [ 5.93973147e-01 7.99546945e-01 -8.89976604e-02 5.13815129e+01] [ 1.45002255e-01 2.41307332e-03 9.89428382e-01 2.14777855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:51.41, Z:21.49 [[ 7.90621169e-01 -6.01509585e-01 -1.14474391e-01 1.35203023e+02] [ 5.94888183e-01 7.98862292e-01 -8.90341996e-02 5.14139860e+01] [ 1.45004199e-01 2.29286071e-03 9.89428383e-01 2.14854972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:51.45, Z:21.50 [[ 7.90618448e-01 -6.01516054e-01 -1.14459194e-01 1.35248492e+02] [ 5.94891891e-01 7.98857353e-01 -8.90537319e-02 5.14488010e+01] [ 1.45003818e-01 2.31667702e-03 9.89428383e-01 2.14951804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.29, Y:51.48, Z:21.50 [[ 7.92520642e-01 -5.99012268e-01 -1.14434851e-01 1.35293042e+02] [ 5.92357566e-01 8.00734898e-01 -8.90850024e-02 5.14840636e+01] [ 1.44994988e-01 2.81535378e-03 9.89428384e-01 2.15010282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.34, Y:51.52, Z:21.51 [[ 7.95455436e-01 -5.95112252e-01 -1.14420525e-01 1.35338165e+02] [ 5.88414639e-01 8.03634741e-01 -8.91033978e-02 5.15200265e+01] [ 1.44978833e-01 3.55107000e-03 9.89428384e-01 2.15075976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:51.56, Z:21.51 [[ 7.97025710e-01 -5.93012326e-01 -1.14395797e-01 1.35384013e+02] [ 5.86288614e-01 8.05183574e-01 -8.91351347e-02 5.15553512e+01] [ 1.44967850e-01 3.97404082e-03 9.89428385e-01 2.15140468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:51.59, Z:21.52 [[ 7.94867678e-01 -5.95906721e-01 -1.14370249e-01 1.35429538e+02] [ 5.89208008e-01 8.03046081e-01 -8.91679031e-02 5.15886538e+01] [ 1.44980333e-01 3.48881735e-03 9.89428386e-01 2.15216780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.47, Y:51.62, Z:21.53 [[ 7.94748582e-01 -5.96068175e-01 -1.14356556e-01 1.35474959e+02] [ 5.89368600e-01 8.02926277e-01 -8.91854606e-02 5.16235769e+01] [ 1.44980499e-01 3.48185479e-03 9.89428386e-01 2.15300941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:51.66, Z:21.54 [[ 7.94317911e-01 -5.96646743e-01 -1.14331627e-01 1.35521159e+02] [ 5.89948529e-01 8.02496721e-01 -8.92174079e-02 5.16587087e+01] [ 1.44982031e-01 3.41721002e-03 9.89428387e-01 2.15371089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:51.69, Z:21.55 [[ 7.94055641e-01 -5.97000566e-01 -1.14306443e-01 1.35566108e+02] [ 5.90301357e-01 8.02233635e-01 -8.92496619e-02 5.16930619e+01] [ 1.44982572e-01 3.39394890e-03 9.89428388e-01 2.15452046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.61, Y:51.73, Z:21.55 [[ 7.93198468e-01 -5.98141610e-01 -1.14292628e-01 1.35612294e+02] [ 5.91451619e-01 8.01384004e-01 -8.92673501e-02 5.17272681e+01] [ 1.44986801e-01 3.20816537e-03 9.89428388e-01 2.15537933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.66, Y:51.76, Z:21.56 [[ 7.92077549e-01 -5.99629854e-01 -1.14268085e-01 1.35658503e+02] [ 5.92950716e-01 8.00271942e-01 -8.92987558e-02 5.17623087e+01] [ 1.44991742e-01 2.97619672e-03 9.89428389e-01 2.15620473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.70, Y:51.81, Z:21.56 [[ 7.87049046e-01 -6.06219612e-01 -1.14243522e-01 1.35700669e+02] [ 5.99604537e-01 7.95295241e-01 -8.93301698e-02 5.18050387e+01] [ 1.45011030e-01 1.80629080e-03 9.89428390e-01 2.15643745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:51.84, Z:21.57 [[ 7.84630063e-01 -6.09351398e-01 -1.14221442e-01 1.35746408e+02] [ 6.02765131e-01 7.92899284e-01 -8.93583930e-02 5.18398095e+01] [ 1.45016762e-01 1.26457892e-03 9.89428390e-01 2.15735009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:51.87, Z:21.58 [[ 7.83400153e-01 -6.10936696e-01 -1.14195241e-01 1.35791108e+02] [ 6.04362284e-01 7.91678801e-01 -8.93918649e-02 5.18744230e+01] [ 1.45018722e-01 1.01430427e-03 9.89428391e-01 2.15812739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:51.91, Z:21.59 [[ 7.83493336e-01 -6.10820501e-01 -1.14177531e-01 1.35835724e+02] [ 6.04241565e-01 7.91768389e-01 -8.94144797e-02 5.19081058e+01] [ 1.45018357e-01 1.06483910e-03 9.89428392e-01 2.15909499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.88, Y:51.94, Z:21.61 [[ 7.86698033e-01 -6.06692154e-01 -1.14152683e-01 1.35884508e+02] [ 6.00065195e-01 7.94934677e-01 -8.94461908e-02 5.19395360e+01] [ 1.45010228e-01 1.86809021e-03 9.89428393e-01 2.16052879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:51.98, Z:21.61 [[ 7.88964138e-01 -6.03746478e-01 -1.14130538e-01 1.35927622e+02] [ 5.97084684e-01 7.97172632e-01 -8.94744382e-02 5.19762135e+01] [ 1.45001618e-01 2.44652666e-03 9.89428393e-01 2.16120324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:52.01, Z:21.62 [[ 7.90898434e-01 -6.01212896e-01 -1.14117135e-01 1.35971247e+02] [ 5.94522345e-01 7.99083505e-01 -8.94915293e-02 5.20122159e+01] [ 1.44992582e-01 2.93352351e-03 9.89428393e-01 2.16189391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:52.05, Z:21.63 [[ 7.94165162e-01 -5.96893582e-01 -1.14104109e-01 1.36015490e+02] [ 5.90156137e-01 8.02311677e-01 -8.95081346e-02 5.20486938e+01] [ 1.44973890e-01 3.74500169e-03 9.89428394e-01 2.16281097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.06, Y:52.09, Z:21.63 [[ 7.95608621e-01 -5.94972942e-01 -1.14079448e-01 1.36060284e+02] [ 5.88211334e-01 8.03735090e-01 -8.95395551e-02 5.20865293e+01] [ 1.44963268e-01 4.13561770e-03 9.89428394e-01 2.16348576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:52.12, Z:21.64 [[ 7.97411085e-01 -5.92559014e-01 -1.14058657e-01 1.36105243e+02] [ 5.85769027e-01 8.05513857e-01 -8.95660321e-02 5.21236841e+01] [ 1.44948988e-01 4.60891845e-03 9.89428395e-01 2.16432862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.15, Y:52.16, Z:21.65 [[ 7.96747993e-01 -5.93454623e-01 -1.14036159e-01 1.36149304e+02] [ 5.86669652e-01 8.04854965e-01 -8.95946679e-02 5.21602735e+01] [ 1.44952938e-01 4.48281841e-03 9.89428396e-01 2.16517856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:52.20, Z:21.66 [[ 7.95446438e-01 -5.95202874e-01 -1.14010976e-01 1.36193434e+02] [ 5.88431137e-01 8.03564466e-01 -8.96267025e-02 5.21952697e+01] [ 1.44961240e-01 4.20563335e-03 9.89428396e-01 2.16606786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:52.23, Z:21.67 [[ 7.93387312e-01 -5.97947507e-01 -1.13997155e-01 1.36238196e+02] [ 5.91201335e-01 8.01526597e-01 -8.96442783e-02 5.22323173e+01] [ 1.44974324e-01 3.72736310e-03 9.89428397e-01 2.16684824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:52.27, Z:21.68 [[ 7.91841416e-01 -5.99997638e-01 -1.13973704e-01 1.36283868e+02] [ 5.93268254e-01 7.99994586e-01 -8.96740829e-02 5.22696136e+01] [ 1.44982584e-01 3.39067210e-03 9.89428397e-01 2.16751399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:52.31, Z:21.68 [[ 7.89485678e-01 -6.03098058e-01 -1.13952168e-01 1.36329225e+02] [ 5.96396750e-01 7.97661938e-01 -8.97014425e-02 5.23050818e+01] [ 1.44994073e-01 2.85730183e-03 9.89428398e-01 2.16849265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:52.34, Z:21.70 [[ 7.86165823e-01 -6.07423891e-01 -1.13927676e-01 1.36374409e+02] [ 6.00763072e-01 7.94375102e-01 -8.97325381e-02 5.23400071e+01] [ 1.45006997e-01 2.10111403e-03 9.89428399e-01 2.16993688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:52.38, Z:21.71 [[ 7.84474709e-01 -6.09610535e-01 -1.13905343e-01 1.36418916e+02] [ 6.02968486e-01 7.92699180e-01 -8.97608784e-02 5.23756662e+01] [ 1.45011849e-01 1.73380673e-03 9.89428399e-01 2.17088670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:52.41, Z:21.72 [[ 7.83080945e-01 -6.11401332e-01 -1.13897520e-01 1.36463435e+02] [ 6.04776648e-01 7.91319410e-01 -8.97708043e-02 5.24123649e+01] [ 1.45015307e-01 1.41524606e-03 9.89428399e-01 2.17194791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:52.45, Z:21.73 [[ 7.82901516e-01 -6.11635096e-01 -1.13875922e-01 1.36508496e+02] [ 6.05008888e-01 7.91138755e-01 -8.97981931e-02 5.24480126e+01] [ 1.45015382e-01 1.40719648e-03 9.89428400e-01 2.17292905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.55, Y:52.48, Z:21.74 [[ 7.82898504e-01 -6.11643523e-01 -1.13851367e-01 1.36554097e+02] [ 6.05012879e-01 7.91132170e-01 -8.98293153e-02 5.24845299e+01] [ 1.45014998e-01 1.44569341e-03 9.89428401e-01 2.17399868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.60, Y:52.52, Z:21.75 [[ 7.83337184e-01 -6.11085618e-01 -1.13829804e-01 1.36598134e+02] [ 6.04445140e-01 7.91562921e-01 -8.98566304e-02 5.25194028e+01] [ 1.45013547e-01 1.58416769e-03 9.89428401e-01 2.17474313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:52.55, Z:21.76 [[ 7.84413922e-01 -6.09705298e-01 -1.13816734e-01 1.36642657e+02] [ 6.03047945e-01 7.92626007e-01 -8.98731825e-02 5.25544497e+01] [ 1.45010259e-01 1.86082774e-03 9.89428402e-01 2.17553536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:52.59, Z:21.76 [[ 7.84703466e-01 -6.09334951e-01 -1.13804170e-01 1.36687343e+02] [ 6.02671416e-01 7.92910535e-01 -8.98890896e-02 5.25901317e+01] [ 1.45009089e-01 1.94975982e-03 9.89428402e-01 2.17646401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.73, Y:52.63, Z:21.77 [[ 7.85311906e-01 -6.08555154e-01 -1.13779762e-01 1.36732266e+02] [ 6.01878996e-01 7.93508710e-01 -8.99199748e-02 5.26254721e+01] [ 1.45006496e-01 2.13357809e-03 9.89428403e-01 2.17741185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.78, Y:52.66, Z:21.78 [[ 7.85782610e-01 -6.07951886e-01 -1.13754975e-01 1.36777348e+02] [ 6.01264899e-01 7.93970580e-01 -8.99513209e-02 5.26615211e+01] [ 1.45004179e-01 2.28531021e-03 9.89428403e-01 2.17827966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:52.70, Z:21.79 [[ 7.86453430e-01 -6.07088490e-01 -1.13730238e-01 1.36821801e+02] [ 6.00387994e-01 7.94630348e-01 -8.99825863e-02 5.26987228e+01] [ 1.45000891e-01 2.48484407e-03 9.89428404e-01 2.17906512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:52.74, Z:21.80 [[ 7.88574648e-01 -6.04335255e-01 -1.13705428e-01 1.36865553e+02] [ 5.97601696e-01 7.96724360e-01 -9.00139263e-02 5.27355215e+01] [ 1.44990474e-01 3.03214345e-03 9.89428405e-01 2.17993852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.91, Y:52.77, Z:21.81 [[ 7.89880739e-01 -6.02631883e-01 -1.13680393e-01 1.36909128e+02] [ 5.95876205e-01 7.98012124e-01 -9.00455324e-02 5.27730648e+01] [ 1.44982641e-01 3.38579016e-03 9.89428406e-01 2.18056257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:52.81, Z:21.81 [[ 7.90387617e-01 -6.01971727e-01 -1.13654976e-01 1.36953552e+02] [ 5.95204651e-01 7.98509517e-01 -9.00776025e-02 5.28092671e+01] [ 1.44978750e-01 3.54825110e-03 9.89428407e-01 2.18132964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.00, Y:52.85, Z:21.82 [[ 7.91241379e-01 -6.00853862e-01 -1.13629731e-01 1.36998592e+02] [ 5.94070744e-01 7.99349886e-01 -9.01094377e-02 5.28452837e+01] [ 1.44972516e-01 3.79421698e-03 9.89428407e-01 2.18223996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.04, Y:52.88, Z:21.83 [[ 7.90071478e-01 -6.02396074e-01 -1.13604708e-01 1.37044136e+02] [ 5.95624254e-01 7.98189422e-01 -9.01409737e-02 5.28801764e+01] [ 1.44978645e-01 3.55209267e-03 9.89428408e-01 2.18324559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.09, Y:52.92, Z:21.84 [[ 7.89201394e-01 -6.03540187e-01 -1.13579937e-01 1.37088957e+02] [ 5.96775649e-01 7.97325406e-01 -9.01721755e-02 5.29163118e+01] [ 1.44982701e-01 3.38226588e-03 9.89428409e-01 2.18397901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:52.95, Z:21.85 [[ 7.88315499e-01 -6.04701532e-01 -1.13554972e-01 1.37135616e+02] [ 5.97944439e-01 7.96445703e-01 -9.02036043e-02 5.29515314e+01] [ 1.44986627e-01 3.20933553e-03 9.89428410e-01 2.18485263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:52.99, Z:21.86 [[ 7.86585958e-01 -6.06953878e-01 -1.13532021e-01 1.37181492e+02] [ 6.00215902e-01 7.94732011e-01 -9.02324809e-02 5.29865420e+01] [ 1.44994486e-01 2.83187787e-03 9.89428411e-01 2.18572177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:53.02, Z:21.86 [[ 7.83327289e-01 -6.11158319e-01 -1.13507125e-01 1.37228176e+02] [ 6.04459536e-01 7.91505602e-01 -9.02637880e-02 5.30217081e+01] [ 1.45006990e-01 2.09562409e-03 9.89428411e-01 2.18646398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:53.06, Z:21.87 [[ 7.81189524e-01 -6.13892550e-01 -1.13485084e-01 1.37274380e+02] [ 6.07218370e-01 7.89387926e-01 -9.02914907e-02 5.30566985e+01] [ 1.45013029e-01 1.62453870e-03 9.89428412e-01 2.18732272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.32, Y:53.09, Z:21.88 [[ 7.78370319e-01 -6.17467700e-01 -1.13460504e-01 1.37319843e+02] [ 6.10826677e-01 7.86595602e-01 -9.03223684e-02 5.30910401e+01] [ 1.45018678e-01 9.99548363e-04 9.89428413e-01 2.18822911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.37, Y:53.13, Z:21.89 [[ 7.76760606e-01 -6.19496044e-01 -1.13435497e-01 1.37365469e+02] [ 6.12871915e-01 7.84999499e-01 -9.03537642e-02 5.31271319e+01] [ 1.45020607e-01 6.61814650e-04 9.89428414e-01 2.18929140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.41, Y:53.16, Z:21.90 [[ 7.75343022e-01 -6.21273345e-01 -1.13413530e-01 1.37409527e+02] [ 6.14664069e-01 7.83593834e-01 -9.03813281e-02 5.31636961e+01] [ 1.45021653e-01 3.65310006e-04 9.89428414e-01 2.19027294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:53.20, Z:21.91 [[ 7.75416150e-01 -6.21186690e-01 -1.13388227e-01 1.37453597e+02] [ 6.14571852e-01 7.83662502e-01 -9.04130614e-02 5.32004000e+01] [ 1.45021492e-01 4.22535210e-04 9.89428415e-01 2.19097793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.50, Y:53.24, Z:21.92 [[ 7.75653213e-01 -6.20892070e-01 -1.13380467e-01 1.37497569e+02] [ 6.14272677e-01 7.83895910e-01 -9.04227923e-02 5.32377704e+01] [ 1.45021279e-01 4.90206634e-04 9.89428415e-01 2.19187086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.54, Y:53.28, Z:21.93 [[ 7.76284823e-01 -6.20106714e-01 -1.13355798e-01 1.37540662e+02] [ 6.13474467e-01 7.84517179e-01 -9.04537065e-02 5.32761680e+01] [ 1.45020522e-01 6.76951423e-04 9.89428416e-01 2.19289934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:53.31, Z:21.94 [[ 7.77006744e-01 -6.19205806e-01 -1.13334416e-01 1.37584632e+02] [ 6.12560108e-01 7.85228244e-01 -9.04804896e-02 5.33129205e+01] [ 1.45019429e-01 8.79808368e-04 9.89428416e-01 2.19391260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:53.35, Z:21.95 [[ 7.78487136e-01 -6.17348088e-01 -1.13309833e-01 1.37627212e+02] [ 6.10678291e-01 7.86689097e-01 -9.05112650e-02 5.33503177e+01] [ 1.45016567e-01 1.26600021e-03 9.89428417e-01 2.19467941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.67, Y:53.39, Z:21.95 [[ 7.81367533e-01 -6.13700790e-01 -1.13296593e-01 1.37669910e+02] [ 6.06990308e-01 7.89536242e-01 -9.05278347e-02 5.33868368e+01] [ 1.45008770e-01 1.96557670e-03 9.89428417e-01 2.19547522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.71, Y:53.42, Z:21.97 [[ 7.83474001e-01 -6.11013216e-01 -1.13275500e-01 1.37713696e+02] [ 6.04270901e-01 7.91616454e-01 -9.05542212e-02 5.34234654e+01] [ 1.45000575e-01 2.49778967e-03 9.89428418e-01 2.19652986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:53.46, Z:21.97 [[ 7.85568577e-01 -6.08322622e-01 -1.13250163e-01 1.37757909e+02] [ 6.01547858e-01 7.93684049e-01 -9.05858970e-02 5.34602743e+01] [ 1.44990299e-01 3.03604106e-03 9.89428419e-01 2.19728671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.80, Y:53.50, Z:21.98 [[ 7.86013563e-01 -6.07752215e-01 -1.13225107e-01 1.37803064e+02] [ 6.00967055e-01 7.94120345e-01 -9.06172044e-02 5.34957428e+01] [ 1.44987168e-01 3.18179254e-03 9.89428420e-01 2.19818272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.85, Y:53.53, Z:21.99 [[ 7.85750980e-01 -6.08096365e-01 -1.13199859e-01 1.37849297e+02] [ 6.01310216e-01 7.93856933e-01 -9.06487335e-02 5.35310676e+01] [ 1.44987659e-01 3.15909928e-03 9.89428420e-01 2.19910675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:53.57, Z:22.00 [[ 7.85095430e-01 -6.08946735e-01 -1.13177030e-01 1.37894727e+02] [ 6.02165261e-01 7.93205294e-01 -9.06772272e-02 5.35659865e+01] [ 1.44990221e-01 3.03900055e-03 9.89428421e-01 2.19976563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.94, Y:53.60, Z:22.01 [[ 7.84094425e-01 -6.10239850e-01 -1.13151482e-01 1.37941273e+02] [ 6.03467155e-01 7.92211621e-01 -9.07090971e-02 5.36002117e+01] [ 1.44994225e-01 2.84129464e-03 9.89428422e-01 2.20064455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:53.64, Z:22.02 [[ 7.84310126e-01 -6.09967209e-01 -1.13126607e-01 1.37986682e+02] [ 6.03187222e-01 7.92421231e-01 -9.07401086e-02 5.36356291e+01] [ 1.44992416e-01 2.93186213e-03 9.89428423e-01 2.20163152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:53.67, Z:22.02 [[ 7.85752386e-01 -6.08112939e-01 -1.13101022e-01 1.38031056e+02] [ 6.01309227e-01 7.93843599e-01 -9.07719877e-02 5.36707090e+01] [ 1.44984143e-01 3.31561792e-03 9.89428423e-01 2.20248819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:53.71, Z:22.03 [[ 7.87549900e-01 -6.05785883e-01 -1.13086777e-01 1.38076994e+02] [ 5.98955720e-01 7.95618797e-01 -9.07897314e-02 5.37074562e+01] [ 1.44973103e-01 3.76747208e-03 9.89428424e-01 2.20311420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:53.74, Z:22.04 [[ 7.87607446e-01 -6.05715166e-01 -1.13064801e-01 1.38122641e+02] [ 5.98880355e-01 7.95672405e-01 -9.08170908e-02 5.37437753e+01] [ 1.44971831e-01 3.81592867e-03 9.89428424e-01 2.20392488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:53.78, Z:22.05 [[ 7.87389226e-01 -6.06002928e-01 -1.13042730e-01 1.38167915e+02] [ 5.99167125e-01 7.95453344e-01 -9.08445552e-02 5.37792884e+01] [ 1.44972284e-01 3.79853644e-03 9.89428425e-01 2.20470804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:53.81, Z:22.06 [[ 7.86783963e-01 -6.06793200e-01 -1.13017733e-01 1.38213387e+02] [ 5.99961036e-01 7.94851164e-01 -9.08756429e-02 5.38149675e+01] [ 1.44974999e-01 3.69326222e-03 9.89428426e-01 2.20566401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:53.85, Z:22.06 [[ 7.86172256e-01 -6.07590124e-01 -1.12993031e-01 1.38257737e+02] [ 6.00761730e-01 7.94242646e-01 -9.09063467e-02 5.38508344e+01] [ 1.44977682e-01 3.58615895e-03 9.89428426e-01 2.20642658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:53.89, Z:22.07 [[ 7.86468825e-01 -6.07208539e-01 -1.12980428e-01 1.38302962e+02] [ 6.00373981e-01 7.94533996e-01 -9.09220075e-02 5.38851711e+01] [ 1.44975410e-01 3.67681514e-03 9.89428427e-01 2.20744199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:53.92, Z:22.09 [[ 7.87004192e-01 -6.06516471e-01 -1.12969783e-01 1.38348055e+02] [ 5.99672926e-01 7.95061737e-01 -9.09352316e-02 5.39212786e+01] [ 1.44971668e-01 3.82148815e-03 9.89428427e-01 2.20861838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:53.96, Z:22.09 [[ 7.86482076e-01 -6.07197519e-01 -1.12947414e-01 1.38392452e+02] [ 6.00356965e-01 7.94542161e-01 -9.09630068e-02 5.39571643e+01] [ 1.44973995e-01 3.73200756e-03 9.89428427e-01 2.20926122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.44, Y:54.00, Z:22.10 [[ 7.84593414e-01 -6.09638447e-01 -1.12934225e-01 1.38435834e+02] [ 6.02820617e-01 7.92672730e-01 -9.09793789e-02 5.39975779e+01] [ 1.44984408e-01 3.30274226e-03 9.89428428e-01 2.20956319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.48, Y:54.03, Z:22.11 [[ 7.85996442e-01 -6.07833128e-01 -1.12909175e-01 1.38483556e+02] [ 6.00992282e-01 7.94056278e-01 -9.10104567e-02 5.40278988e+01] [ 1.44975410e-01 3.67635243e-03 9.89428428e-01 2.21139191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.53, Y:54.06, Z:22.12 [[ 7.83898088e-01 -6.10538456e-01 -1.12900755e-01 1.38530216e+02] [ 6.03723927e-01 7.91980187e-01 -9.10209001e-02 5.40631478e+01] [ 1.44986921e-01 3.19022215e-03 9.89428429e-01 2.21237597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.58, Y:54.10, Z:22.13 [[ 7.81824233e-01 -6.13195994e-01 -1.12878437e-01 1.38576852e+02] [ 6.06404946e-01 7.89926072e-01 -9.10485699e-02 5.40973787e+01] [ 1.44996239e-01 2.73393590e-03 9.89428429e-01 2.21322015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.62, Y:54.13, Z:22.14 [[ 7.80730868e-01 -6.14592242e-01 -1.12852501e-01 1.38622351e+02] [ 6.07811042e-01 7.88840949e-01 -9.10807056e-02 5.41325854e+01] [ 1.45000169e-01 2.51652216e-03 9.89428430e-01 2.21401167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:54.17, Z:22.15 [[ 7.79895910e-01 -6.15656183e-01 -1.12826562e-01 1.38668462e+02] [ 6.08881401e-01 7.88011353e-01 -9.11128260e-02 5.41657523e+01] [ 1.45002787e-01 2.36052494e-03 9.89428431e-01 2.21495878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:54.20, Z:22.16 [[ 7.79691979e-01 -6.15916545e-01 -1.12815019e-01 1.38714107e+02] [ 6.09142406e-01 7.87807957e-01 -9.11271171e-02 5.42011071e+01] [ 1.45003269e-01 2.33067025e-03 9.89428431e-01 2.21585377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:54.23, Z:22.17 [[ 7.79103150e-01 -6.16665926e-01 -1.12789262e-01 1.38760246e+02] [ 6.09894981e-01 7.87221793e-01 -9.11589854e-02 5.42348513e+01] [ 1.45004805e-01 2.23264768e-03 9.89428432e-01 2.21656847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:54.27, Z:22.17 [[ 7.78180131e-01 -6.17832816e-01 -1.12775421e-01 1.38807173e+02] [ 6.11071565e-01 7.86306848e-01 -9.11761054e-02 5.42702623e+01] [ 1.45007676e-01 2.03758057e-03 9.89428432e-01 2.21744185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:54.30, Z:22.18 [[ 7.77244574e-01 -6.19013335e-01 -1.12753550e-01 1.38854011e+02] [ 6.12260506e-01 7.85378290e-01 -9.12031449e-02 5.43040084e+01] [ 1.45010153e-01 1.85260409e-03 9.89428433e-01 2.21843735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.90, Y:54.34, Z:22.19 [[ 7.77284823e-01 -6.18967448e-01 -1.12727998e-01 1.38899503e+02] [ 6.12209561e-01 7.85414336e-01 -9.12347163e-02 5.43400227e+01] [ 1.45009505e-01 1.90220212e-03 9.89428433e-01 2.21924456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:54.38, Z:22.20 [[ 7.77262148e-01 -6.19000611e-01 -1.12702252e-01 1.38945056e+02] [ 6.12238462e-01 7.85388114e-01 -9.12665098e-02 5.43766284e+01] [ 1.45009034e-01 1.93735020e-03 9.89428434e-01 2.22004185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:138.99, Y:54.41, Z:22.21 [[ 7.76267573e-01 -6.20251534e-01 -1.12679590e-01 1.38989013e+02] [ 6.13498421e-01 7.84401049e-01 -9.12944797e-02 5.44126020e+01] [ 1.45011530e-01 1.74019343e-03 9.89428435e-01 2.22079678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:54.45, Z:22.22 [[ 7.75638260e-01 -6.21040795e-01 -1.12665973e-01 1.39034035e+02] [ 6.14293517e-01 7.83776578e-01 -9.13112822e-02 5.44489017e+01] [ 1.45012982e-01 1.61454746e-03 9.89428435e-01 2.22175374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:54.49, Z:22.23 [[ 7.75613569e-01 -6.21076190e-01 -1.12640835e-01 1.39078141e+02] [ 6.14324782e-01 7.83748461e-01 -9.13422810e-02 5.44860409e+01] [ 1.45012597e-01 1.64825602e-03 9.89428436e-01 2.22257549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:54.52, Z:22.23 [[ 7.76602461e-01 -6.19843835e-01 -1.12615446e-01 1.39122364e+02] [ 6.13074982e-01 7.84722841e-01 -9.13735725e-02 5.45230023e+01] [ 1.45009258e-01 1.91922858e-03 9.89428437e-01 2.22347840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.17, Y:54.56, Z:22.24 [[ 7.79450000e-01 -6.16263936e-01 -1.12589779e-01 1.39166441e+02] [ 6.09453226e-01 7.87535305e-01 -9.14051889e-02 5.45615312e+01] [ 1.44998147e-01 2.62757051e-03 9.89428438e-01 2.22447848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.21, Y:54.60, Z:22.25 [[ 7.81355295e-01 -6.13850499e-01 -1.12567615e-01 1.39209849e+02] [ 6.07010888e-01 7.89416167e-01 -9.14324757e-02 5.45993655e+01] [ 1.44988566e-01 3.11148081e-03 9.89428438e-01 2.22534121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.25, Y:54.64, Z:22.26 [[ 7.84165332e-01 -6.10261351e-01 -1.12542504e-01 1.39252608e+02] [ 6.03380422e-01 7.92190960e-01 -9.14633744e-02 5.46371888e+01] [ 1.44971717e-01 3.81646372e-03 9.89428439e-01 2.22629610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:54.67, Z:22.27 [[ 7.85495947e-01 -6.08552485e-01 -1.12516624e-01 1.39296491e+02] [ 6.01649544e-01 7.93502649e-01 -9.14952004e-02 5.46745444e+01] [ 1.44961871e-01 4.17353332e-03 9.89428440e-01 2.22710200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:54.71, Z:22.28 [[ 7.86637687e-01 -6.07080703e-01 -1.12490751e-01 1.39340248e+02] [ 6.00158242e-01 7.94627518e-01 -9.15269999e-02 5.47123804e+01] [ 1.44952522e-01 4.48633602e-03 9.89428441e-01 2.22786934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:54.75, Z:22.29 [[ 7.85967176e-01 -6.07953351e-01 -1.12464755e-01 1.39384148e+02] [ 6.01035199e-01 7.93960737e-01 -9.15589314e-02 5.47495243e+01] [ 1.44956159e-01 4.36703809e-03 9.89428442e-01 2.22873538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:54.79, Z:22.30 [[ 7.79801505e-01 -6.15846739e-01 -1.12438462e-01 1.39428163e+02] [ 6.09004879e-01 7.87860462e-01 -9.15912098e-02 5.47877893e+01] [ 1.44991966e-01 2.94739123e-03 9.89428442e-01 2.22973461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:54.82, Z:22.31 [[ 7.77394535e-01 -6.18886500e-01 -1.12415461e-01 1.39471205e+02] [ 6.12072077e-01 7.85476704e-01 -9.16194323e-02 5.48246228e+01] [ 1.45001755e-01 2.41808160e-03 9.89428443e-01 2.23050210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:54.87, Z:22.31 [[ 7.76102808e-01 -6.20508004e-01 -1.12402174e-01 1.39514205e+02] [ 6.13708107e-01 7.84197202e-01 -9.16357304e-02 5.48652487e+01] [ 1.45006174e-01 2.13662248e-03 9.89428443e-01 2.23099939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:54.90, Z:22.32 [[ 7.76950917e-01 -6.19449750e-01 -1.12380068e-01 1.39558055e+02] [ 6.12634910e-01 7.85032733e-01 -9.16628323e-02 5.49026132e+01] [ 1.45002551e-01 2.36956875e-03 9.89428444e-01 2.23205093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.60, Y:54.94, Z:22.33 [[ 7.77765228e-01 -6.18431579e-01 -1.12354938e-01 1.39601331e+02] [ 6.11601713e-01 7.85834349e-01 -9.16936250e-02 5.49408440e+01] [ 1.44998603e-01 2.59964050e-03 9.89428445e-01 2.23292669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:54.98, Z:22.33 [[ 7.78143486e-01 -6.17960264e-01 -1.12329103e-01 1.39644819e+02] [ 6.11120946e-01 7.86204595e-01 -9.17252633e-02 5.49782299e+01] [ 1.44996225e-01 2.72874832e-03 9.89428445e-01 2.23329784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:55.01, Z:22.35 [[ 7.77973636e-01 -6.18179448e-01 -1.12299563e-01 1.39689091e+02] [ 6.11337184e-01 7.86032245e-01 -9.17614154e-02 5.50146256e+01] [ 1.44996099e-01 2.73506336e-03 9.89428447e-01 2.23457383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:55.05, Z:22.35 [[ 7.77532280e-01 -6.18739982e-01 -1.12269265e-01 1.39732500e+02] [ 6.11898180e-01 7.85591279e-01 -9.17984698e-02 5.50512939e+01] [ 1.44997139e-01 2.67891441e-03 9.89428448e-01 2.23539431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:55.09, Z:22.37 [[ 7.76796793e-01 -6.19666237e-01 -1.12251937e-01 1.39776363e+02] [ 6.12830985e-01 7.84861347e-01 -9.18196546e-02 5.50892868e+01] [ 1.44999746e-01 2.53374830e-03 9.89428448e-01 2.23652583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:55.13, Z:22.37 [[ 7.76382411e-01 -6.20189418e-01 -1.12229397e-01 1.39820851e+02] [ 6.13355621e-01 7.84448198e-01 -9.18471958e-02 5.51260969e+01] [ 1.45000807e-01 2.47201564e-03 9.89428449e-01 2.23738264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.87, Y:55.16, Z:22.38 [[ 7.75464854e-01 -6.21340943e-01 -1.12203801e-01 1.39865049e+02] [ 6.14514602e-01 7.83536951e-01 -9.18784549e-02 5.51629980e+01] [ 1.45003670e-01 2.29763859e-03 9.89428449e-01 2.23815359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:55.20, Z:22.39 [[ 7.74991052e-01 -6.21936490e-01 -1.12177860e-01 1.39908537e+02] [ 6.15111771e-01 7.83064519e-01 -9.19101160e-02 5.51987647e+01] [ 1.45004757e-01 2.22759521e-03 9.89428450e-01 2.23888955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.95, Y:55.23, Z:22.40 [[ 7.74954624e-01 -6.21984405e-01 -1.12163858e-01 1.39953917e+02] [ 6.15157712e-01 7.83026423e-01 -9.19272009e-02 5.52349791e+01] [ 1.45004550e-01 2.24094714e-03 9.89428451e-01 2.23962675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:55.27, Z:22.40 [[ 7.75118169e-01 -6.21785156e-01 -1.12138506e-01 1.39999289e+02] [ 6.14951917e-01 7.83184425e-01 -9.19581163e-02 5.52704973e+01] [ 1.45003323e-01 2.31861737e-03 9.89428451e-01 2.24048006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:140.04, Y:55.31, Z:22.41 [[ 7.76726249e-01 -6.19779934e-01 -1.12112298e-01 1.40044702e+02] [ 6.12921265e-01 7.84770892e-01 -9.19900570e-02 5.53052333e+01] [ 1.44996060e-01 2.73508019e-03 9.89428452e-01 2.24125666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.09, Y:55.34, Z:22.42 [[ 7.78051292e-01 -6.18117772e-01 -1.12100879e-01 1.40090715e+02] [ 6.11239915e-01 7.86079535e-01 -9.20039705e-02 5.53410149e+01] [ 1.44989496e-01 3.06327612e-03 9.89428452e-01 2.24234924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:55.38, Z:22.43 [[ 7.80040890e-01 -6.15609171e-01 -1.12078362e-01 1.40136539e+02] [ 6.08701561e-01 7.88043548e-01 -9.20313924e-02 5.53758809e+01] [ 1.44977999e-01 3.56597506e-03 9.89428453e-01 2.24328766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.18, Y:55.41, Z:22.44 [[ 7.81763013e-01 -6.13425601e-01 -1.12051878e-01 1.40182860e+02] [ 6.06491026e-01 7.89742315e-01 -9.20636275e-02 5.54109920e+01] [ 1.44966295e-01 4.01348059e-03 9.89428454e-01 2.24393905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:55.45, Z:22.45 [[ 7.78133077e-01 -6.18028454e-01 -1.12025646e-01 1.40227381e+02] [ 6.11136498e-01 7.86149218e-01 -9.20955356e-02 5.54453018e+01] [ 1.44986536e-01 3.19962125e-03 9.89428455e-01 2.24470905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:55.48, Z:22.45 [[ 7.75983162e-01 -6.20728286e-01 -1.12011281e-01 1.40272451e+02] [ 6.13861704e-01 7.84021048e-01 -9.21130038e-02 5.54808179e+01] [ 1.44996349e-01 2.71870385e-03 9.89428455e-01 2.24539122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:55.52, Z:22.46 [[ 7.76143128e-01 -6.20532867e-01 -1.11985736e-01 1.40317076e+02] [ 6.13659784e-01 7.84175455e-01 -9.21440497e-02 5.55185641e+01] [ 1.44994877e-01 2.79582815e-03 9.89428456e-01 2.24588853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.36, Y:55.55, Z:22.47 [[ 7.78020448e-01 -6.18182175e-01 -1.11959727e-01 1.40361778e+02] [ 6.11280282e-01 7.86028033e-01 -9.21756414e-02 5.55547383e+01] [ 1.44984823e-01 3.27576020e-03 9.89428457e-01 2.24666802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:55.59, Z:22.48 [[ 7.80013756e-01 -6.15669893e-01 -1.11933570e-01 1.40405070e+02] [ 6.08737660e-01 7.87995087e-01 -9.22073951e-02 5.55905638e+01] [ 1.44972420e-01 3.78485727e-03 9.89428457e-01 2.24761866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.45, Y:55.63, Z:22.48 [[ 7.82551972e-01 -6.12443110e-01 -1.11918932e-01 1.40447718e+02] [ 6.05475436e-01 7.90502382e-01 -9.22251588e-02 5.56290709e+01] [ 1.44954845e-01 4.40681584e-03 9.89428458e-01 2.24849239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.49, Y:55.67, Z:22.49 [[ 7.83450425e-01 -6.11298078e-01 -1.11893215e-01 1.40491198e+02] [ 6.04314337e-01 7.91386724e-01 -9.22563499e-02 5.56665859e+01] [ 1.44946934e-01 4.65960258e-03 9.89428458e-01 2.24928025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:55.70, Z:22.50 [[ 7.83525579e-01 -6.11206527e-01 -1.11867104e-01 1.40534689e+02] [ 6.04217347e-01 7.91457088e-01 -9.22879999e-02 5.57043946e+01] [ 1.44945041e-01 4.71796355e-03 9.89428459e-01 2.25008932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:55.74, Z:22.51 [[ 7.82388222e-01 -6.12666520e-01 -1.11840979e-01 1.40578570e+02] [ 6.05687625e-01 7.90328781e-01 -9.23196503e-02 5.57408564e+01] [ 1.44952303e-01 4.48911038e-03 9.89428460e-01 2.25091652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:55.78, Z:22.52 [[ 7.79474684e-01 -6.16373792e-01 -1.11814872e-01 1.40621672e+02] [ 6.09428142e-01 7.87444338e-01 -9.23512588e-02 5.57765013e+01] [ 1.44970884e-01 3.84233836e-03 9.89428461e-01 2.25178214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:55.81, Z:22.53 [[ 7.76522370e-01 -6.20091733e-01 -1.11800054e-01 1.40665825e+02] [ 6.13181667e-01 7.84522896e-01 -9.23691942e-02 5.58135707e+01] [ 1.44987076e-01 3.17300189e-03 9.89428461e-01 2.25260068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:55.85, Z:22.53 [[ 7.75024628e-01 -6.21967343e-01 -1.11774107e-01 1.40710173e+02] [ 6.15072116e-01 7.83037946e-01 -9.24005815e-02 5.58496988e+01] [ 1.44993512e-01 2.86358955e-03 9.89428462e-01 2.25349362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:55.89, Z:22.54 [[ 7.73887577e-01 -6.23386328e-01 -1.11747507e-01 1.40753637e+02] [ 6.16501153e-01 7.81909532e-01 -9.24327408e-02 5.58857725e+01] [ 1.44997748e-01 2.64008299e-03 9.89428463e-01 2.25413284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:55.92, Z:22.55 [[ 7.72488745e-01 -6.25121438e-01 -1.11733286e-01 1.40798400e+02] [ 6.18251798e-01 7.80524007e-01 -9.24499277e-02 5.59223458e+01] [ 1.45002944e-01 2.33722363e-03 9.89428463e-01 2.25484580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:55.96, Z:22.56 [[ 7.71696055e-01 -6.26104272e-01 -1.11707829e-01 1.40842594e+02] [ 6.19240416e-01 7.79736257e-01 -9.24806771e-02 5.59598356e+01] [ 1.45005192e-01 2.19297088e-03 9.89428464e-01 2.25563390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:56.00, Z:22.57 [[ 7.71846189e-01 -6.25923887e-01 -1.11681457e-01 1.40886473e+02] [ 6.19053547e-01 7.79880851e-01 -9.25125143e-02 5.59968694e+01] [ 1.45004022e-01 2.26862967e-03 9.89428465e-01 2.25663861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:56.04, Z:22.57 [[ 7.71696020e-01 -6.26114618e-01 -1.11650070e-01 1.40928381e+02] [ 6.19240787e-01 7.79727693e-01 -9.25503788e-02 5.60356109e+01] [ 1.45003797e-01 2.28248183e-03 9.89428466e-01 2.25745727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:56.07, Z:22.58 [[ 7.71585895e-01 -6.26255353e-01 -1.11621864e-01 1.40970940e+02] [ 6.19378068e-01 7.79614610e-01 -9.25843852e-02 5.60742584e+01] [ 1.45003502e-01 2.30067145e-03 9.89428467e-01 2.25825122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.01, Y:56.11, Z:22.59 [[ 7.70171213e-01 -6.27998793e-01 -1.11596677e-01 1.41014046e+02] [ 6.21135288e-01 7.78211710e-01 -9.26147343e-02 5.61123882e+01] [ 1.45007782e-01 2.01256827e-03 9.89428468e-01 2.25923087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.06, Y:56.15, Z:22.60 [[ 7.68505788e-01 -6.30040252e-01 -1.11571208e-01 1.41057577e+02] [ 6.23193654e-01 7.76560686e-01 -9.26454061e-02 5.61506520e+01] [ 1.45012149e-01 1.66806211e-03 9.89428468e-01 2.25994204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:56.19, Z:22.61 [[ 7.66253361e-01 -6.32782333e-01 -1.11545086e-01 1.41100591e+02] [ 6.25959984e-01 7.74328807e-01 -9.26768467e-02 5.61888819e+01] [ 1.45016844e-01 1.19118503e-03 9.89428469e-01 2.26072857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:56.23, Z:22.62 [[ 7.64926737e-01 -6.34389981e-01 -1.11518779e-01 1.41143843e+02] [ 6.27579992e-01 7.73012607e-01 -9.27084915e-02 5.62268735e+01] [ 1.45018760e-01 9.28249627e-04 9.89428470e-01 2.26153074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.19, Y:56.27, Z:22.62 [[ 7.64819493e-01 -6.34523640e-01 -1.11493917e-01 1.41186205e+02] [ 6.27710706e-01 7.72902881e-01 -9.27383815e-02 5.62663782e+01] [ 1.45018665e-01 9.42196482e-04 9.89428471e-01 2.26247891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.23, Y:56.30, Z:22.63 [[ 7.64939466e-01 -6.34383550e-01 -1.11468045e-01 1.41228980e+02] [ 6.27564605e-01 7.73017783e-01 -9.27694691e-02 5.63046208e+01] [ 1.45018206e-01 1.00962877e-03 9.89428472e-01 2.26330024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:56.35, Z:22.64 [[ 7.67149165e-01 -6.31714182e-01 -1.11442142e-01 1.41270791e+02] [ 6.24862611e-01 7.75199827e-01 -9.28005755e-02 5.63456403e+01] [ 1.45013369e-01 1.55585635e-03 9.89428473e-01 2.26443732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:56.38, Z:22.65 [[ 7.68463772e-01 -6.30118277e-01 -1.11419869e-01 1.41312307e+02] [ 6.23246111e-01 7.76496861e-01 -9.28273099e-02 5.63849715e+01] [ 1.45009363e-01 1.89242495e-03 9.89428473e-01 2.26531320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.35, Y:56.43, Z:22.66 [[ 7.70853860e-01 -6.27196676e-01 -1.11394147e-01 1.41353186e+02] [ 6.20289609e-01 7.78856958e-01 -9.28581662e-02 5.64261438e+01] [ 1.45000440e-01 2.48344394e-03 9.89428474e-01 2.26616078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:56.47, Z:22.67 [[ 7.71918105e-01 -6.25891001e-01 -1.11368281e-01 1.41394453e+02] [ 6.18965926e-01 7.79905625e-01 -9.28891776e-02 5.64659545e+01] [ 1.44995249e-01 2.76966666e-03 9.89428475e-01 2.26692572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:56.51, Z:22.68 [[ 7.72610864e-01 -6.25040279e-01 -1.11342276e-01 1.41436040e+02] [ 6.18101921e-01 7.80586847e-01 -9.29203383e-02 5.65077134e+01] [ 1.44991271e-01 2.97038790e-03 9.89428476e-01 2.26770565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.48, Y:56.55, Z:22.68 [[ 7.72121136e-01 -6.25649332e-01 -1.11318750e-01 1.41477365e+02] [ 6.18713206e-01 7.80099060e-01 -9.29485147e-02 5.65466826e+01] [ 1.44992828e-01 2.89313213e-03 9.89428476e-01 2.26837091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:56.59, Z:22.69 [[ 7.70268659e-01 -6.27931134e-01 -1.11304469e-01 1.41518305e+02] [ 6.21016173e-01 7.78264934e-01 -9.29656131e-02 5.65878857e+01] [ 1.45000368e-01 2.48662292e-03 9.89428476e-01 2.26918667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:56.63, Z:22.70 [[ 7.69190764e-01 -6.29255653e-01 -1.11278442e-01 1.41560338e+02] [ 6.22349957e-01 7.77195042e-01 -9.29967559e-02 5.66272088e+01] [ 1.45003788e-01 2.27811180e-03 9.89428477e-01 2.27007720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:56.67, Z:22.71 [[ 7.68524445e-01 -6.30073815e-01 -1.11252714e-01 1.41600431e+02] [ 6.23172188e-01 7.76532230e-01 -9.30275254e-02 5.66686813e+01] [ 1.45005526e-01 2.16433021e-03 9.89428478e-01 2.27099574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.64, Y:56.71, Z:22.72 [[ 7.68467298e-01 -6.30148106e-01 -1.11226692e-01 1.41641908e+02] [ 6.23242753e-01 7.76471869e-01 -9.30586276e-02 5.67091159e+01] [ 1.45005115e-01 2.19128245e-03 9.89428479e-01 2.27180591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:56.75, Z:22.73 [[ 7.67836315e-01 -6.30921315e-01 -1.11201113e-01 1.41682230e+02] [ 6.24019598e-01 7.75844021e-01 -9.30891832e-02 5.67510694e+01] [ 1.45006669e-01 2.08558136e-03 9.89428480e-01 2.27268467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:56.79, Z:22.73 [[ 7.67406694e-01 -6.31448428e-01 -1.11174860e-01 1.41722711e+02] [ 6.24547672e-01 7.75415226e-01 -9.31205270e-02 5.67903057e+01] [ 1.45007489e-01 2.02731597e-03 9.89428480e-01 2.27346016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:56.83, Z:22.74 [[ 7.67360796e-01 -6.31506704e-01 -1.11160654e-01 1.41762917e+02] [ 6.24604101e-01 7.75367736e-01 -9.31374819e-02 5.68319425e+01] [ 1.45007329e-01 2.03865194e-03 9.89428481e-01 2.27435082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.80, Y:56.87, Z:22.75 [[ 7.67395916e-01 -6.31468663e-01 -1.11134317e-01 1.41804531e+02] [ 6.24561114e-01 7.75398589e-01 -9.31688980e-02 5.68716262e+01] [ 1.45006632e-01 2.08725923e-03 9.89428482e-01 2.27511770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.85, Y:56.91, Z:22.76 [[ 7.68257962e-01 -6.30424179e-01 -1.11108318e-01 1.41845053e+02] [ 6.23501269e-01 7.76247349e-01 -9.31998928e-02 5.69122536e+01] [ 1.45003003e-01 2.32538264e-03 9.89428482e-01 2.27592819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:56.95, Z:22.77 [[ 7.68876794e-01 -6.29673921e-01 -1.11082081e-01 1.41886687e+02] [ 6.22738701e-01 7.76855497e-01 -9.32311535e-02 5.69534885e+01] [ 1.44999951e-01 2.50815989e-03 9.89428483e-01 2.27686781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:56.99, Z:22.78 [[ 7.68917699e-01 -6.29628048e-01 -1.11058968e-01 1.41928717e+02] [ 6.22688378e-01 7.76892530e-01 -9.32586776e-02 5.69914609e+01] [ 1.44999162e-01 2.55311899e-03 9.89428484e-01 2.27775069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:57.03, Z:22.79 [[ 7.69301849e-01 -6.29161123e-01 -1.11044795e-01 1.41970394e+02] [ 6.22214179e-01 7.77270344e-01 -9.32755505e-02 5.70306204e+01] [ 1.44997176e-01 2.66340725e-03 9.89428484e-01 2.27869336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.01, Y:57.07, Z:22.80 [[ 7.69707420e-01 -6.28669593e-01 -1.11018154e-01 1.42013148e+02] [ 6.21712991e-01 7.77667483e-01 -9.33072492e-02 5.70693791e+01] [ 1.44994639e-01 2.79785361e-03 9.89428485e-01 2.27954319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:57.11, Z:22.80 [[ 7.70690528e-01 -6.27468827e-01 -1.10990908e-01 1.42055195e+02] [ 6.20495160e-01 7.78635644e-01 -9.33396473e-02 5.71079804e+01] [ 1.44989196e-01 3.06666068e-03 9.89428486e-01 2.28030191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:57.15, Z:22.81 [[ 7.71599018e-01 -6.26353954e-01 -1.10976033e-01 1.42098363e+02] [ 6.19366266e-01 7.79531806e-01 -9.33573300e-02 5.71464702e+01] [ 1.44984080e-01 3.29961306e-03 9.89428486e-01 2.28109291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:57.18, Z:22.82 [[ 7.73296880e-01 -6.24261327e-01 -1.10949230e-01 1.42141260e+02] [ 6.17247610e-01 7.81206663e-01 -9.33891729e-02 5.71847704e+01] [ 1.44973527e-01 3.73440898e-03 9.89428487e-01 2.28181241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.19, Y:57.22, Z:22.83 [[ 7.74053358e-01 -6.23327822e-01 -1.10922608e-01 1.42185467e+02] [ 6.16300042e-01 7.81950648e-01 -9.34207825e-02 5.72220640e+01] [ 1.44967778e-01 3.95106236e-03 9.89428488e-01 2.28257293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.23, Y:57.26, Z:22.83 [[ 7.73883920e-01 -6.23542874e-01 -1.10896181e-01 1.42229914e+02] [ 6.16512800e-01 7.81779166e-01 -9.34521424e-02 5.72589941e+01] [ 1.44967742e-01 3.95219512e-03 9.89428489e-01 2.28336039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:57.29, Z:22.84 [[ 7.72389984e-01 -6.25397104e-01 -1.10870082e-01 1.42274918e+02] [ 6.18381546e-01 7.80298131e-01 -9.34830966e-02 5.72946540e+01] [ 1.44975775e-01 3.64539504e-03 9.89428489e-01 2.28429056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:57.33, Z:22.85 [[ 7.71352298e-01 -6.26681238e-01 -1.10843397e-01 1.42319915e+02] [ 6.19674306e-01 7.79268087e-01 -9.35147262e-02 5.73299848e+01] [ 1.44980646e-01 3.44599383e-03 9.89428490e-01 2.28511705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:57.37, Z:22.86 [[ 7.70314709e-01 -6.27960912e-01 -1.10816703e-01 1.42364608e+02] [ 6.20962585e-01 7.78238106e-01 -9.35463481e-02 5.73658863e+01] [ 1.44985231e-01 3.24710144e-03 9.89428491e-01 2.28587567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.41, Y:57.40, Z:22.87 [[ 7.70499319e-01 -6.27736457e-01 -1.10804959e-01 1.42409588e+02] [ 6.20733823e-01 7.78418910e-01 -9.35602571e-02 5.74019630e+01] [ 1.44983860e-01 3.30772855e-03 9.89428491e-01 2.28667933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:57.44, Z:22.88 [[ 7.71744250e-01 -6.26209905e-01 -1.10778910e-01 1.42455503e+02] [ 6.19187185e-01 7.79646033e-01 -9.35910895e-02 5.74363437e+01] [ 1.44976005e-01 3.63550341e-03 9.89428492e-01 2.28764076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:57.47, Z:22.88 [[ 7.74793724e-01 -6.22437671e-01 -1.10752113e-01 1.42500529e+02] [ 6.15371963e-01 7.82657090e-01 -9.36227899e-02 5.74718712e+01] [ 1.44955278e-01 4.38460481e-03 9.89428493e-01 2.28849678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:57.51, Z:22.89 [[ 7.75949327e-01 -6.21001205e-01 -1.10725545e-01 1.42544597e+02] [ 6.13916466e-01 7.83795550e-01 -9.36542009e-02 5.75092435e+01] [ 1.44945561e-01 4.69467876e-03 9.89428494e-01 2.28938473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:57.55, Z:22.90 [[ 7.78274634e-01 -6.18089407e-01 -1.10698147e-01 1.42588509e+02] [ 6.10970723e-01 7.86090072e-01 -9.36865746e-02 5.75456673e+01] [ 1.44925393e-01 5.28055778e-03 9.89428495e-01 2.29007332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.63, Y:57.58, Z:22.91 [[ 7.80339250e-01 -6.15483445e-01 -1.10683260e-01 1.42633866e+02] [ 6.08336180e-01 7.88128558e-01 -9.37041590e-02 5.75807927e+01] [ 1.44905997e-01 5.78840173e-03 9.89428495e-01 2.29105810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:57.62, Z:22.92 [[ 7.81079640e-01 -6.14548437e-01 -1.10656294e-01 1.42678712e+02] [ 6.07387350e-01 7.88856242e-01 -9.37359927e-02 5.76174253e+01] [ 1.44897216e-01 6.00404221e-03 9.89428496e-01 2.29190977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:57.65, Z:22.93 [[ 7.81674230e-01 -6.13796849e-01 -1.10629229e-01 1.42723281e+02] [ 6.06623780e-01 7.89439780e-01 -9.37679249e-02 5.76534110e+01] [ 1.44889571e-01 6.18564950e-03 9.89428497e-01 2.29264893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:57.69, Z:22.93 [[ 7.81325890e-01 -6.14245027e-01 -1.10602447e-01 1.42767095e+02] [ 6.07071955e-01 7.89091436e-01 -9.37995049e-02 5.76887367e+01] [ 1.44891323e-01 6.14433800e-03 9.89428498e-01 2.29337992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.81, Y:57.72, Z:22.94 [[ 7.80866564e-01 -6.14831400e-01 -1.10588239e-01 1.42812118e+02] [ 6.07661795e-01 7.88635311e-01 -9.38162529e-02 5.77243031e+01] [ 1.44894968e-01 6.05772739e-03 9.89428498e-01 2.29427686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:57.76, Z:22.95 [[ 7.80680606e-01 -6.15072239e-01 -1.10561892e-01 1.42857416e+02] [ 6.07900648e-01 7.88447518e-01 -9.38472923e-02 5.77606446e+01] [ 1.44895114e-01 6.05411523e-03 9.89428499e-01 2.29506856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.90, Y:57.80, Z:22.96 [[ 7.80342418e-01 -6.15505891e-01 -1.10536011e-01 1.42902947e+02] [ 6.08334311e-01 7.88109339e-01 -9.38777659e-02 5.77952516e+01] [ 1.44896781e-01 6.01395471e-03 9.89428499e-01 2.29577370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.95, Y:57.83, Z:22.97 [[ 7.79697661e-01 -6.16323864e-01 -1.10528060e-01 1.42948945e+02] [ 6.09159110e-01 7.87470880e-01 -9.38871259e-02 5.78316054e+01] [ 1.44902505e-01 5.87439764e-03 9.89428499e-01 2.29672391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:57.87, Z:22.98 [[ 7.78925315e-01 -6.17303612e-01 -1.10506131e-01 1.42994219e+02] [ 6.10144985e-01 7.86704175e-01 -9.39129303e-02 5.78663210e+01] [ 1.44908425e-01 5.72639734e-03 9.89428500e-01 2.29779705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:57.90, Z:22.99 [[ 7.78470818e-01 -6.17881501e-01 -1.10479125e-01 1.43039901e+02] [ 6.10724152e-01 7.86250854e-01 -9.39446893e-02 5.79021259e+01] [ 1.44910992e-01 5.66092911e-03 9.89428501e-01 2.29861703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:57.94, Z:22.99 [[ 7.78094583e-01 -6.18360024e-01 -1.10452256e-01 1.43084201e+02] [ 6.11202989e-01 7.85874906e-01 -9.39762689e-02 5.79369252e+01] [ 1.44912824e-01 5.61367665e-03 9.89428502e-01 2.29937170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:57.97, Z:23.00 [[ 7.78154010e-01 -6.18287837e-01 -1.10437707e-01 1.43129326e+02] [ 6.11127660e-01 7.85931441e-01 -9.39933637e-02 5.79729704e+01] [ 1.44911420e-01 5.64977542e-03 9.89428502e-01 2.30023274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:58.01, Z:23.01 [[ 7.78501783e-01 -6.17854611e-01 -1.10411295e-01 1.43174276e+02] [ 6.10685718e-01 7.86271181e-01 -9.40243793e-02 5.80093159e+01] [ 1.44906615e-01 5.77154616e-03 9.89428503e-01 2.30112589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:58.04, Z:23.02 [[ 7.79985227e-01 -6.15985048e-01 -1.10387797e-01 1.43217974e+02] [ 6.08793645e-01 7.87733792e-01 -9.40519585e-02 5.80449789e+01] [ 1.44890798e-01 6.15574895e-03 9.89428503e-01 2.30170460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:58.08, Z:23.03 [[ 7.80797596e-01 -6.14957602e-01 -1.10373283e-01 1.43262419e+02] [ 6.07753604e-01 7.88534452e-01 -9.40689875e-02 5.80815547e+01] [ 1.44881576e-01 6.36907852e-03 9.89428504e-01 2.30256560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:58.12, Z:23.03 [[ 7.81928863e-01 -6.13523387e-01 -1.10346300e-01 1.43307162e+02] [ 6.06300750e-01 7.89648321e-01 -9.41006302e-02 5.81177836e+01] [ 1.44867708e-01 6.67695463e-03 9.89428505e-01 2.30329149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:58.15, Z:23.04 [[ 7.82699301e-01 -6.12545095e-01 -1.10319136e-01 1.43350508e+02] [ 6.05308340e-01 7.90405524e-01 -9.41324650e-02 5.81539584e+01] [ 1.44857234e-01 6.90032143e-03 9.89428505e-01 2.30405393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:58.19, Z:23.05 [[ 7.82743848e-01 -6.12490927e-01 -1.10303821e-01 1.43395873e+02] [ 6.05251121e-01 7.90447204e-01 -9.41504079e-02 5.81902805e+01] [ 1.44855617e-01 6.93414142e-03 9.89428506e-01 2.30504097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:58.23, Z:23.06 [[ 7.81728057e-01 -6.13791168e-01 -1.10279857e-01 1.43439275e+02] [ 6.06560232e-01 7.89439739e-01 -9.41784683e-02 5.82260346e+01] [ 1.44865214e-01 6.73057525e-03 9.89428506e-01 2.30578261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:58.26, Z:23.07 [[ 7.79556116e-01 -6.16550109e-01 -1.10264339e-01 1.43484352e+02] [ 6.09343911e-01 7.87290920e-01 -9.41966341e-02 5.82619214e+01] [ 1.44887058e-01 6.24265889e-03 9.89428507e-01 2.30652274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.53, Y:58.30, Z:23.07 [[ 7.77639741e-01 -6.18970109e-01 -1.10238094e-01 1.43529916e+02] [ 6.11783646e-01 7.85392882e-01 -9.42273383e-02 5.82973381e+01] [ 1.44904120e-01 5.83305977e-03 9.89428507e-01 2.30741055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:58.33, Z:23.08 [[ 7.74327080e-01 -6.23113945e-01 -1.10211546e-01 1.43576219e+02] [ 6.15964577e-01 7.82114440e-01 -9.42583802e-02 5.83317529e+01] [ 1.44931753e-01 5.10040816e-03 9.89428508e-01 2.30836260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.62, Y:58.37, Z:23.09 [[ 7.72156437e-01 -6.25806581e-01 -1.10184211e-01 1.43620622e+02] [ 6.18679824e-01 7.79964493e-01 -9.42903226e-02 5.83672135e+01] [ 1.44947277e-01 4.63813128e-03 9.89428509e-01 2.30898803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:58.40, Z:23.10 [[ 7.70508287e-01 -6.27837921e-01 -1.10165894e-01 1.43668143e+02] [ 6.20728696e-01 7.78332310e-01 -9.43117193e-02 5.84015699e+01] [ 1.44958148e-01 4.28482967e-03 9.89428510e-01 2.30990125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:58.44, Z:23.11 [[ 7.69262083e-01 -6.29368267e-01 -1.10142782e-01 1.43713656e+02] [ 6.22270750e-01 7.77096727e-01 -9.43387033e-02 5.84361139e+01] [ 1.44965381e-01 4.03255597e-03 9.89428510e-01 2.31084620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:58.47, Z:23.12 [[ 7.68314087e-01 -6.30529839e-01 -1.10116237e-01 1.43758269e+02] [ 6.23439733e-01 7.76155437e-01 -9.43696771e-02 5.84719811e+01] [ 1.44970214e-01 3.85471467e-03 9.89428511e-01 2.31167074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:58.51, Z:23.13 [[ 7.66350431e-01 -6.32919627e-01 -1.10089790e-01 1.43804046e+02] [ 6.25849550e-01 7.74209844e-01 -9.44005206e-02 5.85072488e+01] [ 1.44980541e-01 3.44423436e-03 9.89428512e-01 2.31251946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:58.54, Z:23.14 [[ 7.64857539e-01 -6.34727602e-01 -1.10062784e-01 1.43848194e+02] [ 6.27671579e-01 7.72729569e-01 -9.44319967e-02 5.85431961e+01] [ 1.44987362e-01 3.14374331e-03 9.89428513e-01 2.31354985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:58.58, Z:23.15 [[ 7.63861730e-01 -6.35930376e-01 -1.10035520e-01 1.43892647e+02] [ 6.28882175e-01 7.71740765e-01 -9.44637554e-02 5.85781821e+01] [ 1.44991268e-01 2.95787058e-03 9.89428514e-01 2.31454018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:58.61, Z:23.15 [[ 7.63038589e-01 -6.36920506e-01 -1.10019916e-01 1.43936922e+02] [ 6.29879911e-01 7.70924421e-01 -9.44819256e-02 5.86142751e+01] [ 1.44994516e-01 2.79402041e-03 9.89428514e-01 2.31532973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.98, Y:58.65, Z:23.16 [[ 7.62692810e-01 -6.37339054e-01 -1.09993673e-01 1.43981415e+02] [ 6.30298385e-01 7.70578575e-01 -9.45124665e-02 5.86514026e+01] [ 1.44995254e-01 2.75514401e-03 9.89428515e-01 2.31602928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.03, Y:58.69, Z:23.17 [[ 7.62482758e-01 -6.37594840e-01 -1.09967553e-01 1.44025765e+02] [ 6.30552437e-01 7.70366973e-01 -9.45428481e-02 5.86883600e+01] [ 1.44995403e-01 2.74698277e-03 9.89428515e-01 2.31668757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:58.72, Z:23.18 [[ 7.61057995e-01 -6.39299329e-01 -1.09941329e-01 1.44071708e+02] [ 6.32270183e-01 7.68954030e-01 -9.45733345e-02 5.87235052e+01] [ 1.45000497e-01 2.46316841e-03 9.89428516e-01 2.31757747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.12, Y:58.76, Z:23.18 [[ 7.60277273e-01 -6.40232076e-01 -1.09915230e-01 1.44116696e+02] [ 6.33208234e-01 7.68178026e-01 -9.46036578e-02 5.87590685e+01] [ 1.45002760e-01 2.32578242e-03 9.89428517e-01 2.31849264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:58.80, Z:23.19 [[ 7.60626025e-01 -6.39822166e-01 -1.09889248e-01 1.44161767e+02] [ 6.32789710e-01 7.68519110e-01 -9.46338281e-02 5.87952822e+01] [ 1.45000808e-01 2.44416714e-03 9.89428518e-01 2.31947215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:58.83, Z:23.20 [[ 7.61662038e-01 -6.38593027e-01 -1.09863032e-01 1.44205492e+02] [ 6.31543447e-01 7.69539832e-01 -9.46642530e-02 5.88324509e+01] [ 1.44995911e-01 2.71888971e-03 9.89428519e-01 2.32034104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:58.87, Z:23.21 [[ 7.64265842e-01 -6.35479116e-01 -1.09836319e-01 1.44250273e+02] [ 6.28392993e-01 7.72110781e-01 -9.46952380e-02 5.88701639e+01] [ 1.44982652e-01 3.35196265e-03 9.89428519e-01 2.32118254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.29, Y:58.91, Z:23.22 [[ 7.65501495e-01 -6.33994292e-01 -1.09812109e-01 1.44293369e+02] [ 6.26888932e-01 7.73329013e-01 -9.47233041e-02 5.89067301e+01] [ 1.44974924e-01 3.67083500e-03 9.89428520e-01 2.32195943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:58.94, Z:23.23 [[ 7.66954460e-01 -6.32239056e-01 -1.09793595e-01 1.44337658e+02] [ 6.25112716e-01 7.74762882e-01 -9.47447586e-02 5.89431190e+01] [ 1.44965339e-01 4.03154248e-03 9.89428520e-01 2.32279805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:58.98, Z:23.24 [[ 7.67895001e-01 -6.31100988e-01 -1.09767071e-01 1.44382652e+02] [ 6.23958691e-01 7.75688830e-01 -9.47754784e-02 5.89802067e+01] [ 1.44957989e-01 4.28749791e-03 9.89428521e-01 2.32357531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:59.02, Z:23.24 [[ 7.69839608e-01 -6.28731519e-01 -1.09743589e-01 1.44426874e+02] [ 6.21561370e-01 7.77607818e-01 -9.48026617e-02 5.90172514e+01] [ 1.44942894e-01 4.77046833e-03 9.89428522e-01 2.32428547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.47, Y:59.05, Z:23.25 [[ 7.71221217e-01 -6.27040652e-01 -1.09717160e-01 1.44471789e+02] [ 6.19849132e-01 7.78969647e-01 -9.48332389e-02 5.90539950e+01] [ 1.44930633e-01 5.12931943e-03 9.89428523e-01 2.32534863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.52, Y:59.09, Z:23.26 [[ 7.71787960e-01 -6.26347094e-01 -1.09693490e-01 1.44516527e+02] [ 6.19144730e-01 7.79526310e-01 -9.48606105e-02 5.90896702e+01] [ 1.44924629e-01 5.29613098e-03 9.89428523e-01 2.32630714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:59.13, Z:23.27 [[ 7.70930901e-01 -6.27403730e-01 -1.09681838e-01 1.44561288e+02] [ 6.20210060e-01 7.78677334e-01 -9.48740808e-02 5.91264279e+01] [ 1.44931113e-01 5.11558125e-03 9.89428524e-01 2.32720524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:59.16, Z:23.28 [[ 7.68070908e-01 -6.30906290e-01 -1.09655522e-01 1.44605245e+02] [ 6.23743619e-01 7.75846013e-01 -9.49044880e-02 5.91611988e+01] [ 1.44951638e-01 4.49644445e-03 9.89428524e-01 2.32807160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.65, Y:59.20, Z:23.29 [[ 7.64061535e-01 -6.35759026e-01 -1.09637733e-01 1.44650373e+02] [ 6.28642806e-01 7.71879175e-01 -9.49250341e-02 5.91965521e+01] [ 1.44976530e-01 3.60559542e-03 9.89428525e-01 2.32873742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.70, Y:59.23, Z:23.29 [[ 7.60917062e-01 -6.39522621e-01 -1.09617710e-01 1.44695242e+02] [ 6.32441747e-01 7.68766730e-01 -9.49481507e-02 5.92325021e+01] [ 1.44991938e-01 2.92085210e-03 9.89428525e-01 2.32949312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.74, Y:59.27, Z:23.30 [[ 7.56553081e-01 -6.44683515e-01 -1.09592889e-01 1.44740332e+02] [ 6.37652050e-01 7.64447037e-01 -9.49767908e-02 5.92678656e+01] [ 1.45007931e-01 1.97285318e-03 9.89428526e-01 2.33041049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:59.30, Z:23.31 [[ 7.54372181e-01 -6.47238529e-01 -1.09566867e-01 1.44784081e+02] [ 6.40229443e-01 7.62286014e-01 -9.50068019e-02 5.93035641e+01] [ 1.45013353e-01 1.52255441e-03 9.89428527e-01 2.33109269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:59.34, Z:23.32 [[ 7.50832281e-01 -6.51345621e-01 -1.09543448e-01 1.44829032e+02] [ 6.44375888e-01 7.58780794e-01 -9.50337965e-02 5.93394261e+01] [ 1.45019311e-01 7.67285977e-04 9.89428527e-01 2.33228947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:59.37, Z:23.33 [[ 7.48904544e-01 -6.53565560e-01 -1.09517314e-01 1.44873439e+02] [ 6.46614985e-01 7.56869814e-01 -9.50639038e-02 5.93746276e+01] [ 1.45020843e-01 3.78253208e-04 9.89428528e-01 2.33297161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.92, Y:59.41, Z:23.34 [[ 7.48602389e-01 -6.53915513e-01 -1.09494137e-01 1.44917467e+02] [ 6.46964757e-01 7.56567500e-01 -9.50905913e-02 5.94106518e+01] [ 1.45020918e-01 3.46195904e-04 9.89428529e-01 2.33413816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:59.45, Z:23.35 [[ 7.49878437e-01 -6.52456230e-01 -1.09467795e-01 1.44961711e+02] [ 6.45485548e-01 7.57826115e-01 -9.51209067e-02 5.94470054e+01] [ 1.45019782e-01 6.69237052e-04 9.89428529e-01 2.33494304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:59.48, Z:23.36 [[ 7.51061229e-01 -6.51098645e-01 -1.09442154e-01 1.45005368e+02] [ 6.44109299e-01 7.58992498e-01 -9.51503993e-02 5.94839035e+01] [ 1.45018070e-01 9.71066701e-04 9.89428530e-01 2.33579685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:59.52, Z:23.37 [[ 7.52750993e-01 -6.49148844e-01 -1.09415362e-01 1.45048481e+02] [ 6.42134478e-01 7.60660142e-01 -9.51811985e-02 5.95197916e+01] [ 1.45014669e-01 1.38836548e-03 9.89428531e-01 2.33667757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:59.56, Z:23.38 [[ 7.53796032e-01 -6.47939124e-01 -1.09391193e-01 1.45091578e+02] [ 6.40908037e-01 7.61690318e-01 -9.52089674e-02 5.95558266e+01] [ 1.45011828e-01 1.65844702e-03 9.89428532e-01 2.33762431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:59.59, Z:23.38 [[ 7.53946149e-01 -6.47768405e-01 -1.09367715e-01 1.45135644e+02] [ 6.40731620e-01 7.61835356e-01 -9.52359292e-02 5.95929335e+01] [ 1.45011018e-01 1.72740873e-03 9.89428532e-01 2.33838179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:59.63, Z:23.39 [[ 7.53964165e-01 -6.47751838e-01 -1.09341640e-01 1.45178700e+02] [ 6.40710540e-01 7.61849342e-01 -9.52658572e-02 5.96290203e+01] [ 1.45010491e-01 1.77070127e-03 9.89428533e-01 2.33920659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:59.67, Z:23.40 [[ 7.53694479e-01 -6.48068587e-01 -1.09324010e-01 1.45223325e+02] [ 6.41027669e-01 7.61579996e-01 -9.52860841e-02 5.96659808e+01] [ 1.45010897e-01 1.73687996e-03 9.89428534e-01 2.33997947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:59.70, Z:23.41 [[ 7.51924199e-01 -6.50126000e-01 -1.09298600e-01 1.45266904e+02] [ 6.43102424e-01 7.59825165e-01 -9.53152223e-02 5.97031090e+01] [ 1.45014731e-01 1.37962747e-03 9.89428534e-01 2.34084165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.31, Y:59.74, Z:23.42 [[ 7.42190198e-01 -6.61221165e-01 -1.09271588e-01 1.45311408e+02] [ 6.54311143e-01 7.50190665e-01 -9.53461794e-02 5.97376519e+01] [ 1.45019437e-01 -7.32618178e-04 9.89428535e-01 2.34190615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:59.78, Z:23.42 [[ 7.37281190e-01 -6.66694407e-01 -1.09247491e-01 1.45356177e+02] [ 6.59839679e-01 7.45329081e-01 -9.53737823e-02 5.97755161e+01] [ 1.45010499e-01 -1.76853376e-03 9.89428536e-01 2.34245472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:145.40, Y:59.81, Z:23.43 [[ 7.36326773e-01 -6.67752228e-01 -1.09223830e-01 1.45399730e+02] [ 6.60905044e-01 7.44381083e-01 -9.54008717e-02 5.98137528e+01] [ 1.45008298e-01 -1.94036428e-03 9.89428536e-01 2.34318380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:59.85, Z:23.44 [[ 7.37401897e-01 -6.66569035e-01 -1.09197816e-01 1.45443903e+02] [ 6.59704519e-01 7.45441440e-01 -9.54306384e-02 5.98500632e+01] [ 1.45011686e-01 -1.66755911e-03 9.89428537e-01 2.34421945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:59.89, Z:23.45 [[ 7.40362024e-01 -6.63283796e-01 -1.09172702e-01 1.45487198e+02] [ 6.56379367e-01 7.48367314e-01 -9.54593603e-02 5.98876893e+01] [ 1.45017929e-01 -9.84224132e-04 9.89428538e-01 2.34527639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:59.93, Z:23.46 [[ 7.44498109e-01 -6.58642052e-01 -1.09147667e-01 1.45529435e+02] [ 6.51683512e-01 7.52456408e-01 -9.54879773e-02 5.99271791e+01] [ 1.45021259e-01 -3.91164892e-05 9.89428539e-01 2.34600385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:59.97, Z:23.47 [[ 7.50612310e-01 -6.51669911e-01 -1.09121427e-01 1.45569759e+02] [ 6.44633094e-01 7.58501479e-01 -9.55179542e-02 5.99681159e+01] [ 1.45014941e-01 1.35366899e-03 9.89428539e-01 2.34652071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.61, Y:60.01, Z:23.47 [[ 7.52173936e-01 -6.49870814e-01 -1.09097644e-01 1.45611658e+02] [ 6.42811189e-01 7.60042701e-01 -9.55451111e-02 6.00069143e+01] [ 1.45010847e-01 1.73735587e-03 9.89428540e-01 2.34744312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:60.05, Z:23.49 [[ 7.54692585e-01 -6.46948518e-01 -1.09072074e-01 1.45652747e+02] [ 6.39854211e-01 7.62530094e-01 -9.55742930e-02 6.00470006e+01] [ 1.45002386e-01 2.33898468e-03 9.89428541e-01 2.34859379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:60.09, Z:23.49 [[ 7.57881886e-01 -6.43214010e-01 -1.09044877e-01 1.45692500e+02] [ 6.36076627e-01 7.65680187e-01 -9.56053131e-02 6.00882305e+01] [ 1.44988178e-01 3.09663752e-03 9.89428542e-01 2.34933615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:60.13, Z:23.50 [[ 7.59171694e-01 -6.41695293e-01 -1.09020595e-01 1.45734257e+02] [ 6.34538339e-01 7.66952037e-01 -9.56329942e-02 6.01280999e+01] [ 1.44980810e-01 3.42411487e-03 9.89428542e-01 2.35001757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.78, Y:60.17, Z:23.51 [[ 7.59862648e-01 -6.40881434e-01 -1.08994234e-01 1.45776587e+02] [ 6.33711844e-01 7.67631346e-01 -9.56630285e-02 6.01663837e+01] [ 1.44976050e-01 3.61982485e-03 9.89428543e-01 2.35096489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:60.20, Z:23.52 [[ 7.57488802e-01 -6.43690113e-01 -1.08966756e-01 1.45818933e+02] [ 6.36544834e-01 7.65279865e-01 -9.56943180e-02 6.02041473e+01] [ 1.44987551e-01 3.12514854e-03 9.89428544e-01 2.35184373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:60.24, Z:23.53 [[ 7.53921456e-01 -6.47868887e-01 -1.08941931e-01 1.45861602e+02] [ 6.40762717e-01 7.61748206e-01 -9.57225716e-02 6.02428427e+01] [ 1.45001997e-01 2.36137262e-03 9.89428545e-01 2.35263200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:60.28, Z:23.53 [[ 7.52437872e-01 -6.49595869e-01 -1.08914905e-01 1.45904457e+02] [ 6.42503215e-01 7.60276872e-01 -9.57533130e-02 6.02822694e+01] [ 1.45006440e-01 2.07024258e-03 9.89428545e-01 2.35323242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:60.32, Z:23.54 [[ 7.50432127e-01 -6.51915869e-01 -1.08891336e-01 1.45946178e+02] [ 6.44843564e-01 7.58289489e-01 -9.57801085e-02 6.03201589e+01] [ 1.45011728e-01 1.65859349e-03 9.89428546e-01 2.35408628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.99, Y:60.36, Z:23.55 [[ 7.49358680e-01 -6.53152495e-01 -1.08873263e-01 1.45988978e+02] [ 6.46090173e-01 7.57225016e-01 -9.58006476e-02 6.03583151e+01] [ 1.45013990e-01 1.44710154e-03 9.89428546e-01 2.35523578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:60.40, Z:23.56 [[ 7.47962317e-01 -6.54755534e-01 -1.08846514e-01 1.46030849e+02] [ 6.47705650e-01 7.55839801e-01 -9.58310295e-02 6.03975862e+01] [ 1.45016424e-01 1.17749654e-03 9.89428547e-01 2.35616566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.07, Y:60.44, Z:23.57 [[ 7.47963432e-01 -6.54758504e-01 -1.08820978e-01 1.46072466e+02] [ 6.47704434e-01 7.55837167e-01 -9.58600182e-02 6.04377709e+01] [ 1.45016102e-01 1.21595799e-03 9.89428548e-01 2.35690155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:60.48, Z:23.58 [[ 7.48676815e-01 -6.53947076e-01 -1.08794521e-01 1.46114889e+02] [ 6.46880111e-01 7.56538976e-01 -9.58900365e-02 6.04770849e+01] [ 1.45014304e-01 1.41363549e-03 9.89428549e-01 2.35775205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:60.52, Z:23.59 [[ 7.50211311e-01 -6.52190641e-01 -1.08767442e-01 1.46156618e+02] [ 6.45100818e-01 7.58052865e-01 -9.59207425e-02 6.05175627e+01] [ 1.45010081e-01 1.79486045e-03 9.89428550e-01 2.35850304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.20, Y:60.56, Z:23.59 [[ 7.52208283e-01 -6.49890993e-01 -1.08740038e-01 1.46197525e+02] [ 6.42772710e-01 7.60024010e-01 -9.59517984e-02 6.05573117e+01] [ 1.45003249e-01 2.28060844e-03 9.89428550e-01 2.35936168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.24, Y:60.60, Z:23.60 [[ 7.53391424e-01 -6.48523206e-01 -1.08715287e-01 1.46239357e+02] [ 6.41386690e-01 7.61190506e-01 -9.59798333e-02 6.05954900e+01] [ 1.44998194e-01 2.58184497e-03 9.89428551e-01 2.36024744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:60.63, Z:23.61 [[ 7.54840606e-01 -6.46839805e-01 -1.08691890e-01 1.46282225e+02] [ 6.39682085e-01 7.62620231e-01 -9.60063221e-02 6.06346714e+01] [ 1.44991345e-01 2.94121524e-03 9.89428552e-01 2.36102259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:60.67, Z:23.62 [[ 7.55928308e-01 -6.45572788e-01 -1.08665399e-01 1.46325240e+02] [ 6.38397724e-01 7.63691938e-01 -9.60362976e-02 6.06726448e+01] [ 1.44985309e-01 3.22481268e-03 9.89428553e-01 2.36179957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:60.71, Z:23.63 [[ 7.57446115e-01 -6.43795702e-01 -1.08639206e-01 1.46369213e+02] [ 6.36598180e-01 7.65188929e-01 -9.60659185e-02 6.07104898e+01] [ 1.44976343e-01 3.60523575e-03 9.89428553e-01 2.36264505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.41, Y:60.75, Z:23.64 [[ 7.58219987e-01 -6.42888499e-01 -1.08613209e-01 1.46412838e+02] [ 6.35677509e-01 7.65950258e-01 -9.60953021e-02 6.07472640e+01] [ 1.44970880e-01 3.81840437e-03 9.89428554e-01 2.36357247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:60.78, Z:23.65 [[ 7.58461902e-01 -6.42607575e-01 -1.08586595e-01 1.46457249e+02] [ 6.35389422e-01 7.66185484e-01 -9.61253663e-02 6.07840114e+01] [ 1.44968362e-01 3.91265395e-03 9.89428555e-01 2.36464560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:60.82, Z:23.65 [[ 7.58240264e-01 -6.42873627e-01 -1.08559672e-01 1.46501463e+02] [ 6.35653837e-01 7.65962315e-01 -9.61557629e-02 6.08210417e+01] [ 1.44968622e-01 3.90279900e-03 9.89428556e-01 2.36541884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.55, Y:60.86, Z:23.66 [[ 7.58632120e-01 -6.42415702e-01 -1.08532818e-01 1.46546616e+02] [ 6.35186922e-01 7.66345754e-01 -9.61860645e-02 6.08578478e+01] [ 1.44965102e-01 4.03121162e-03 9.89428557e-01 2.36636741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.59, Y:60.89, Z:23.67 [[ 7.59135639e-01 -6.41824625e-01 -1.08509134e-01 1.46590834e+02] [ 6.34586026e-01 7.66840060e-01 -9.62127753e-02 6.08948913e+01] [ 1.44960879e-01 4.18016651e-03 9.89428557e-01 2.36731772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:60.93, Z:23.68 [[ 7.59192466e-01 -6.41762079e-01 -1.08481491e-01 1.46635323e+02] [ 6.34518400e-01 7.66892108e-01 -9.62439332e-02 6.09294899e+01] [ 1.44959306e-01 4.23416686e-03 9.89428558e-01 2.36806348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.68, Y:60.97, Z:23.69 [[ 7.57773219e-01 -6.43441176e-01 -1.08458292e-01 1.46679366e+02] [ 6.36210824e-01 7.65485377e-01 -9.62700692e-02 6.09660087e+01] [ 1.44967363e-01 3.94854089e-03 9.89428559e-01 2.36886913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.72, Y:61.00, Z:23.70 [[ 7.55581598e-01 -6.46017886e-01 -1.08431270e-01 1.46724840e+02] [ 6.38809475e-01 7.63314266e-01 -9.63004957e-02 6.10007046e+01] [ 1.44978978e-01 3.49595982e-03 9.89428559e-01 2.36995198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:61.04, Z:23.71 [[ 7.54906350e-01 -6.46808835e-01 -1.08419250e-01 1.46768304e+02] [ 6.39606584e-01 7.62644757e-01 -9.63140259e-02 6.10374161e+01] [ 1.44982136e-01 3.36240340e-03 9.89428560e-01 2.37087170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.81, Y:61.07, Z:23.72 [[ 7.52339218e-01 -6.49795991e-01 -1.08401432e-01 1.46813381e+02] [ 6.42621583e-01 7.60103445e-01 -9.63340764e-02 6.10739822e+01] [ 1.44993799e-01 2.81480394e-03 9.89428560e-01 2.37173172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:61.11, Z:23.73 [[ 7.50435554e-01 -6.51997917e-01 -1.08375248e-01 1.46858011e+02] [ 6.44842042e-01 7.58216864e-01 -9.63635243e-02 6.11106663e+01] [ 1.45000758e-01 2.42969858e-03 9.89428561e-01 2.37254407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:61.14, Z:23.73 [[ 7.47097533e-01 -6.55824682e-01 -1.08347879e-01 1.46903772e+02] [ 6.48704207e-01 7.54911248e-01 -9.63942870e-02 6.11445489e+01] [ 1.45010786e-01 1.73020867e-03 9.89428562e-01 2.37343575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:61.18, Z:23.74 [[ 7.44703938e-01 -6.58545394e-01 -1.08323630e-01 1.46948770e+02] [ 6.51449505e-01 7.52539987e-01 -9.64215300e-02 6.11809762e+01] [ 1.45015817e-01 1.23811810e-03 9.89428562e-01 2.37426024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:61.22, Z:23.75 [[ 7.43426091e-01 -6.59991903e-01 -1.08297438e-01 1.46993868e+02] [ 6.52906977e-01 7.51272052e-01 -9.64509388e-02 6.12176062e+01] [ 1.45017677e-01 9.95991348e-04 9.89428563e-01 2.37500338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:61.26, Z:23.76 [[ 7.44002077e-01 -6.59346853e-01 -1.08271126e-01 1.47037297e+02] [ 6.52250828e-01 7.51838000e-01 -9.64804663e-02 6.12555379e+01] [ 1.45016439e-01 1.16173552e-03 9.89428564e-01 2.37585070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:61.30, Z:23.77 [[ 7.46791219e-01 -6.56190548e-01 -1.08244352e-01 1.47079477e+02] [ 6.49057054e-01 7.54593046e-01 -9.65104966e-02 6.12951034e+01] [ 1.45009711e-01 1.81643151e-03 9.89428565e-01 2.37673629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:61.33, Z:23.78 [[ 7.47092872e-01 -6.55851411e-01 -1.08218146e-01 1.47121497e+02] [ 6.48710120e-01 7.54887563e-01 -9.65398724e-02 6.13342505e+01] [ 1.45008344e-01 1.92204405e-03 9.89428565e-01 2.37767235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.16, Y:61.38, Z:23.77 [[ 7.43877735e-01 -6.59500331e-01 -1.08190707e-01 1.47157198e+02] [ 6.52392808e-01 7.51703227e-01 -9.65706131e-02 6.13842345e+01] [ 1.45015655e-01 1.25388967e-03 9.89428566e-01 2.37706997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:61.42, Z:23.79 [[ 7.49460079e-01 -6.53152633e-01 -1.08172219e-01 1.47204919e+02] [ 6.45975853e-01 7.57222104e-01 -9.65913182e-02 6.14154452e+01] [ 1.44999269e-01 2.51469567e-03 9.89428567e-01 2.37855949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.25, Y:61.46, Z:23.79 [[ 7.50862005e-01 -6.51544727e-01 -1.08146744e-01 1.47246364e+02] [ 6.44347222e-01 7.58604815e-01 -9.66198319e-02 6.14553070e+01] [ 1.44992783e-01 2.86410632e-03 9.89428567e-01 2.37947578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:61.49, Z:23.80 [[ 7.51325481e-01 -6.51014620e-01 -1.08120237e-01 1.47288703e+02] [ 6.43807388e-01 7.59059236e-01 -9.66494850e-02 6.14949178e+01] [ 1.44989893e-01 3.00661321e-03 9.89428568e-01 2.38040537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:61.54, Z:23.81 [[ 7.52716797e-01 -6.49409797e-01 -1.08094125e-01 1.47329886e+02] [ 6.42181888e-01 7.60431230e-01 -9.66786810e-02 6.15361220e+01] [ 1.44982231e-01 3.35557791e-03 9.89428569e-01 2.38111763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.37, Y:61.58, Z:23.82 [[ 7.53236136e-01 -6.48811604e-01 -1.08068614e-01 1.47371384e+02] [ 6.41573482e-01 7.60940987e-01 -9.67071894e-02 6.15760137e+01] [ 1.44978584e-01 3.50939284e-03 9.89428570e-01 2.38197250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:61.62, Z:23.83 [[ 7.52879751e-01 -6.49229591e-01 -1.08041747e-01 1.47413264e+02] [ 6.41991445e-01 7.60584578e-01 -9.67371956e-02 6.16154691e+01] [ 1.44979537e-01 3.46959828e-03 9.89428570e-01 2.38288341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:61.65, Z:23.84 [[ 7.52189945e-01 -6.50033191e-01 -1.08014522e-01 1.47454925e+02] [ 6.42798916e-01 7.59898406e-01 -9.67675857e-02 6.16543264e+01] [ 1.44982205e-01 3.35598745e-03 9.89428571e-01 2.38385748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:147.50, Y:61.69, Z:23.85 [[ 7.50276992e-01 -6.52244811e-01 -1.07986764e-01 1.47495642e+02] [ 6.45028807e-01 7.58002559e-01 -9.67985518e-02 6.16933599e+01] [ 1.44990597e-01 2.97115270e-03 9.89428572e-01 2.38460756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:61.73, Z:23.86 [[ 7.47862878e-01 -6.55014391e-01 -1.07968807e-01 1.47538926e+02] [ 6.47824111e-01 7.55612390e-01 -9.68185772e-02 6.17315567e+01] [ 1.45000130e-01 2.46222344e-03 9.89428572e-01 2.38555779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.58, Y:61.77, Z:23.86 [[ 7.43254493e-01 -6.60243451e-01 -1.07941393e-01 1.47581672e+02] [ 6.53103262e-01 7.51050182e-01 -9.68491315e-02 6.17707882e+01] [ 1.45013407e-01 1.48667661e-03 9.89428573e-01 2.38646523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:61.81, Z:23.87 [[ 7.38950315e-01 -6.65061468e-01 -1.07915127e-01 1.47623446e+02] [ 6.57967837e-01 7.46788392e-01 -9.68783897e-02 6.18083627e+01] [ 1.45019848e-01 5.83634053e-04 9.89428574e-01 2.38742615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:61.85, Z:23.88 [[ 7.36730628e-01 -6.67523437e-01 -1.07890885e-01 1.47666165e+02] [ 6.60452046e-01 7.44588774e-01 -9.69053794e-02 6.18467934e+01] [ 1.45020954e-01 1.36405151e-04 9.89428575e-01 2.38827987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.71, Y:61.89, Z:23.89 [[ 7.34543913e-01 -6.69933083e-01 -1.07865217e-01 1.47707867e+02] [ 6.62883275e-01 7.42421427e-01 -9.69339430e-02 6.18858928e+01] [ 1.45020703e-01 -2.99810203e-04 9.89428575e-01 2.38913959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:61.92, Z:23.90 [[ 7.34593219e-01 -6.69883090e-01 -1.07839920e-01 1.47749479e+02] [ 6.62828616e-01 7.42466553e-01 -9.69620775e-02 6.19248623e+01] [ 1.45020790e-01 -2.51700366e-04 9.89428576e-01 2.39003257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.79, Y:61.96, Z:23.91 [[ 7.35234337e-01 -6.69183667e-01 -1.07813215e-01 1.47791872e+02] [ 6.62117349e-01 7.43097043e-01 -9.69917619e-02 6.19636695e+01] [ 1.45020984e-01 -7.33265321e-05 9.89428577e-01 2.39081406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.83, Y:62.00, Z:23.92 [[ 7.35868776e-01 -6.68490302e-01 -1.07786186e-01 1.47834016e+02] [ 6.61412176e-01 7.43720852e-01 -9.70217904e-02 6.20033849e+01] [ 1.45020960e-01 1.04210288e-04 9.89428578e-01 2.39155761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.88, Y:62.04, Z:23.92 [[ 7.36239489e-01 -6.68086417e-01 -1.07758778e-01 1.47876209e+02] [ 6.60999529e-01 7.44083657e-01 -9.70522224e-02 6.20408463e+01] [ 1.45020817e-01 2.25177333e-04 9.89428579e-01 2.39232451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:147.92, Y:62.08, Z:23.93 [[ 7.36629694e-01 -6.67660043e-01 -1.07734683e-01 1.47919456e+02] [ 6.60564703e-01 7.44466217e-01 -9.70789617e-02 6.20788420e+01] [ 1.45020576e-01 3.45516719e-04 9.89428579e-01 2.39322440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:62.12, Z:23.94 [[ 7.36969111e-01 -6.67289726e-01 -1.07707714e-01 1.47963117e+02] [ 6.60186076e-01 7.44798101e-01 -9.71088751e-02 6.21172199e+01] [ 1.45020255e-01 4.59108519e-04 9.89428580e-01 2.39396739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.01, Y:62.15, Z:23.95 [[ 7.36999263e-01 -6.67260721e-01 -1.07681085e-01 1.48006681e+02] [ 6.60152450e-01 7.44824057e-01 -9.71383938e-02 6.21545326e+01] [ 1.45020097e-01 5.04992581e-04 9.89428581e-01 2.39489233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:62.19, Z:23.96 [[ 7.37228295e-01 -6.67011955e-01 -1.07654511e-01 1.48050642e+02] [ 6.59896744e-01 7.45046777e-01 -9.71678360e-02 6.21923128e+01] [ 1.45019755e-01 5.94016737e-04 9.89428582e-01 2.39577991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:62.23, Z:23.97 [[ 7.37916163e-01 -6.66255123e-01 -1.07628280e-01 1.48093370e+02] [ 6.59127657e-01 7.45723473e-01 -9.71968819e-02 6.22300284e+01] [ 1.45018856e-01 7.82373931e-04 9.89428582e-01 2.39670032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:62.27, Z:23.97 [[ 7.39927572e-01 -6.64024977e-01 -1.07601200e-01 1.48136681e+02] [ 6.56869621e-01 7.47709329e-01 -9.72268516e-02 6.22688147e+01] [ 1.45015479e-01 1.26086861e-03 9.89428583e-01 2.39743395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.18, Y:62.31, Z:23.98 [[ 7.42397726e-01 -6.61266522e-01 -1.07574177e-01 1.48179661e+02] [ 6.54077923e-01 7.50148783e-01 -9.72567424e-02 6.23060791e+01] [ 1.45009265e-01 1.84129037e-03 9.89428584e-01 2.39804680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.22, Y:62.34, Z:23.99 [[ 7.43220057e-01 -6.60344991e-01 -1.07556683e-01 1.48222511e+02] [ 6.53143983e-01 7.50959586e-01 -9.72760849e-02 6.23441588e+01] [ 1.45006498e-01 2.04753695e-03 9.89428584e-01 2.39896940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.27, Y:62.38, Z:24.00 [[ 7.44016623e-01 -6.59451743e-01 -1.07529828e-01 1.48266161e+02] [ 6.52237156e-01 7.51743495e-01 -9.73057614e-02 6.23805952e+01] [ 1.45003303e-01 2.26215453e-03 9.89428585e-01 2.40000123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:62.42, Z:24.00 [[ 7.41834147e-01 -6.61910262e-01 -1.07503042e-01 1.48308491e+02] [ 6.54716998e-01 7.49580872e-01 -9.73353462e-02 6.24215096e+01] [ 1.45009488e-01 1.82261469e-03 9.89428586e-01 2.40014744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.36, Y:62.46, Z:24.02 [[ 7.41642178e-01 -6.62128137e-01 -1.07485864e-01 1.48355016e+02] [ 6.54934400e-01 7.49388464e-01 -9.73543120e-02 6.24556795e+01] [ 1.45009696e-01 1.80587428e-03 9.89428586e-01 2.40167204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.40, Y:62.49, Z:24.03 [[ 7.39729102e-01 -6.64268596e-01 -1.07462030e-01 1.48398221e+02] [ 6.57093454e-01 7.47492614e-01 -9.73806136e-02 6.24920315e+01] [ 1.45013957e-01 1.42267747e-03 9.89428587e-01 2.40251245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:62.53, Z:24.03 [[ 7.37334121e-01 -6.66929911e-01 -1.07437830e-01 1.48443016e+02] [ 6.59778903e-01 7.45119867e-01 -9.74073057e-02 6.25281294e+01] [ 1.45017907e-01 9.36516612e-04 9.89428587e-01 2.40348719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.49, Y:62.57, Z:24.04 [[ 7.36438494e-01 -6.67923118e-01 -1.07410675e-01 1.48486029e+02] [ 6.60778243e-01 7.44229869e-01 -9.74372400e-02 6.25668458e+01] [ 1.45018818e-01 7.81897092e-04 9.89428588e-01 2.40429937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.53, Y:62.60, Z:24.05 [[ 7.34966569e-01 -6.69546865e-01 -1.07383136e-01 1.48528886e+02] [ 6.62414771e-01 7.42769643e-01 -9.74675809e-02 6.26046494e+01] [ 1.45020047e-01 5.03238031e-04 9.89428589e-01 2.40510259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.57, Y:62.64, Z:24.06 [[ 7.33318769e-01 -6.71355543e-01 -1.07356031e-01 1.48571552e+02] [ 6.64238324e-01 7.41135413e-01 -9.74974271e-02 6.26426396e+01] [ 1.45020794e-01 1.86703198e-04 9.89428590e-01 2.40599029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.61, Y:62.68, Z:24.07 [[ 7.30452178e-01 -6.74477685e-01 -1.07328779e-01 1.48614602e+02] [ 6.67389469e-01 7.38295130e-01 -9.75274176e-02 6.26810531e+01] [ 1.45020382e-01 -3.90982373e-04 9.89428591e-01 2.40707185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.66, Y:62.72, Z:24.07 [[ 7.25734063e-01 -6.79555941e-01 -1.07302346e-01 1.48656659e+02] [ 6.72518301e-01 7.33622428e-01 -9.75564920e-02 6.27234764e+01] [ 1.45014501e-01 -1.36272183e-03 9.89428591e-01 2.40720515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:62.76, Z:24.09 [[ 7.24460274e-01 -6.80917460e-01 -1.07278722e-01 1.48700904e+02] [ 6.73890799e-01 7.32358419e-01 -9.75824628e-02 6.27599773e+01] [ 1.45012078e-01 -1.59952621e-03 9.89428592e-01 2.40882196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:62.80, Z:24.10 [[ 7.21587853e-01 -6.83964423e-01 -1.07255015e-01 1.48743017e+02] [ 6.76967238e-01 7.29512123e-01 -9.76085128e-02 6.27988877e+01] [ 1.45004584e-01 -2.17501436e-03 9.89428593e-01 2.40969375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:62.84, Z:24.11 [[ 7.20133917e-01 -6.85499306e-01 -1.07227992e-01 1.48784553e+02] [ 6.78514592e-01 7.28069181e-01 -9.76381905e-02 6.28391343e+01] [ 1.45000308e-01 -2.44318481e-03 9.89428593e-01 2.41060267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.83, Y:62.88, Z:24.11 [[ 7.19334958e-01 -6.86341890e-01 -1.07200880e-01 1.48826056e+02] [ 6.79362038e-01 7.27274497e-01 -9.76679488e-02 6.28790431e+01] [ 1.44998071e-01 -2.57223860e-03 9.89428594e-01 2.41134504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:62.92, Z:24.12 [[ 7.19027803e-01 -6.86667803e-01 -1.07174377e-01 1.48867434e+02] [ 6.79687217e-01 7.26966697e-01 -9.76970227e-02 6.29194480e+01] [ 1.44997603e-01 -2.59817872e-03 9.89428595e-01 2.41191934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:62.96, Z:24.12 [[ 7.18025672e-01 -6.87719632e-01 -1.07148692e-01 1.48908466e+02] [ 6.80746475e-01 7.25971091e-01 -9.77251846e-02 6.29596277e+01] [ 1.44994381e-01 -2.77190338e-03 9.89428596e-01 2.41245041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:63.00, Z:24.14 [[ 7.20666262e-01 -6.84956484e-01 -1.07120278e-01 1.48949127e+02] [ 6.77948232e-01 7.28580741e-01 -9.77563209e-02 6.29987976e+01] [ 1.45004597e-01 -2.17232089e-03 9.89428597e-01 2.41388218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:63.04, Z:24.15 [[ 7.23875516e-01 -6.81568936e-01 -1.07088853e-01 1.48990439e+02] [ 6.74518551e-01 7.31752484e-01 -9.77907341e-02 6.30401047e+01] [ 1.45013661e-01 -1.44509980e-03 9.89428598e-01 2.41482004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.03, Y:63.08, Z:24.16 [[ 7.26808601e-01 -6.78443935e-01 -1.07065796e-01 1.49032617e+02] [ 6.71355961e-01 7.34651760e-01 -9.78159715e-02 6.30798182e+01] [ 1.45018728e-01 -7.85771159e-04 9.89428598e-01 2.41566326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.07, Y:63.13, Z:24.15 [[ 7.29781430e-01 -6.75249358e-01 -1.07039100e-01 1.49071857e+02] [ 6.68122765e-01 7.37589515e-01 -9.78451768e-02 6.31263183e+01] [ 1.45020810e-01 -1.09666054e-04 9.89428599e-01 2.41539637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:63.16, Z:24.17 [[ 7.35936103e-01 -6.68540035e-01 -1.07015298e-01 1.49116718e+02] [ 6.61338475e-01 7.43675097e-01 -9.78712027e-02 6.31611559e+01] [ 1.45015429e-01 1.25361784e-03 9.89428600e-01 2.41691787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters Centerline goodness : 0.999926 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:63.20, Z:24.18 [[ 7.40004723e-01 -6.64037667e-01 -1.06990591e-01 1.49158819e+02] [ 6.56785123e-01 7.47695957e-01 -9.78982037e-02 6.32001730e+01] [ 1.45004527e-01 2.17530440e-03 9.89428600e-01 2.41763757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:149.20, Y:63.24, Z:24.18 [[ 7.41680434e-01 -6.62169796e-01 -1.06963988e-01 1.49201911e+02] [ 6.54893694e-01 7.49349385e-01 -9.79272624e-02 6.32386299e+01] [ 1.44997874e-01 2.58069340e-03 9.89428601e-01 2.41839907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.24, Y:63.28, Z:24.19 [[ 7.42564150e-01 -6.61183824e-01 -1.06931914e-01 1.49244013e+02] [ 6.53892500e-01 7.50218629e-01 -9.79622727e-02 6.32780531e+01] [ 1.44993384e-01 2.82129487e-03 9.89428602e-01 2.41934866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:63.32, Z:24.20 [[ 7.42256763e-01 -6.61534069e-01 -1.06899830e-01 1.49287075e+02] [ 6.54241319e-01 7.49909882e-01 -9.79972726e-02 6.33162996e+01] [ 1.44993773e-01 2.80085291e-03 9.89428603e-01 2.42013316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.33, Y:63.35, Z:24.21 [[ 7.40936151e-01 -6.63017198e-01 -1.06872894e-01 1.49330408e+02] [ 6.55735535e-01 7.48599817e-01 -9.80266389e-02 6.33544960e+01] [ 1.44998377e-01 2.55112607e-03 9.89428604e-01 2.42100452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:63.39, Z:24.22 [[ 7.38709126e-01 -6.65501971e-01 -1.06845468e-01 1.49374760e+02] [ 6.58241766e-01 7.46393124e-01 -9.80565233e-02 6.33920058e+01] [ 1.45005532e-01 2.10509890e-03 9.89428605e-01 2.42154679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:63.43, Z:24.23 [[ 7.34371652e-01 -6.70290489e-01 -1.06812623e-01 1.49416952e+02] [ 6.63075192e-01 7.42097832e-01 -9.80922889e-02 6.34290669e+01] [ 1.45015744e-01 1.21139584e-03 9.89428606e-01 2.42256494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:63.47, Z:24.23 [[ 7.32638042e-01 -6.72190455e-01 -1.06777772e-01 1.49460145e+02] [ 6.64989667e-01 7.40377744e-01 -9.81302109e-02 6.34677481e+01] [ 1.45018077e-01 8.87810403e-04 9.89428607e-01 2.42343189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:63.51, Z:24.24 [[ 7.29047294e-01 -6.76087520e-01 -1.06750688e-01 1.49503288e+02] [ 6.68923791e-01 7.36821309e-01 -9.81596653e-02 6.35059987e+01] [ 1.45020707e-01 1.54963220e-04 9.89428608e-01 2.42430292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:63.54, Z:24.25 [[ 7.27206237e-01 -6.78071700e-01 -1.06723281e-01 1.49546214e+02] [ 6.70924810e-01 7.34995734e-01 -9.81894546e-02 6.35443929e+01] [ 1.45020647e-01 -1.99313542e-04 9.89428609e-01 2.42515366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.59, Y:63.58, Z:24.26 [[ 7.25384911e-01 -6.80023989e-01 -1.06696328e-01 1.49589675e+02] [ 6.72893756e-01 7.33189657e-01 -9.82187349e-02 6.35826605e+01] [ 1.45019740e-01 -5.48904379e-04 9.89428610e-01 2.42612571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.63, Y:63.62, Z:24.27 [[ 7.24129549e-01 -6.81364858e-01 -1.06669240e-01 1.49633116e+02] [ 6.74244744e-01 7.31943527e-01 -9.82481444e-02 6.36202857e+01] [ 1.45018693e-01 -7.76790003e-04 9.89428611e-01 2.42713265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:63.66, Z:24.27 [[ 7.22213613e-01 -6.83399491e-01 -1.06642546e-01 1.49675654e+02] [ 6.76297113e-01 7.30043714e-01 -9.82771104e-02 6.36632195e+01] [ 1.45016248e-01 -1.14497928e-03 9.89428611e-01 2.42683458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.72, Y:63.70, Z:24.29 [[ 7.24525215e-01 -6.80952129e-01 -1.06618060e-01 1.49719951e+02] [ 6.73819392e-01 7.32327670e-01 -9.83036674e-02 6.36968936e+01] [ 1.45019447e-01 -6.17830981e-04 9.89428612e-01 2.42854636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:63.74, Z:24.29 [[ 7.24316433e-01 -6.81177345e-01 -1.06597983e-01 1.49762019e+02] [ 6.74043830e-01 7.32118176e-01 -9.83254338e-02 6.37356396e+01] [ 1.45019379e-01 -6.32985468e-04 9.89428612e-01 2.42938836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.80, Y:63.78, Z:24.29 [[ 7.21143267e-01 -6.84539506e-01 -1.06574170e-01 1.49801383e+02] [ 6.77438548e-01 7.28974655e-01 -9.83512379e-02 6.37805030e+01] [ 1.45015177e-01 -1.27211826e-03 9.89428613e-01 2.42898556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:63.81, Z:24.31 [[ 7.20621694e-01 -6.85093133e-01 -1.06544695e-01 1.49845269e+02] [ 6.77993473e-01 7.28454257e-01 -9.83831584e-02 6.38139483e+01] [ 1.45014563e-01 -1.33956959e-03 9.89428614e-01 2.43096517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.89, Y:63.85, Z:24.32 [[ 7.20429018e-01 -6.85299846e-01 -1.06518311e-01 1.49886911e+02] [ 6.78198211e-01 7.28259789e-01 -9.84117165e-02 6.38533301e+01] [ 1.45014537e-01 -1.34187149e-03 9.89428615e-01 2.43170888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.93, Y:63.89, Z:24.32 [[ 7.22055755e-01 -6.83589871e-01 -1.06491198e-01 1.49927841e+02] [ 6.76465365e-01 7.29865721e-01 -9.84410470e-02 6.38944187e+01] [ 1.45017577e-01 -9.57682274e-04 9.89428615e-01 2.43239801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:63.94, Z:24.32 [[ 7.21926701e-01 -6.83730366e-01 -1.06464198e-01 1.49968066e+02] [ 6.76603074e-01 7.29734124e-01 -9.84702391e-02 6.39393392e+01] [ 1.45017651e-01 -9.45708470e-04 9.89428616e-01 2.43217464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:63.98, Z:24.33 [[ 7.26161973e-01 -6.79234455e-01 -1.06439391e-01 1.50008287e+02] [ 6.72054892e-01 7.33921355e-01 -9.84970460e-02 6.39799372e+01] [ 1.45020729e-01 -8.30414034e-06 9.89428617e-01 2.43299879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:150.05, Y:64.02, Z:24.35 [[ 7.30536878e-01 -6.74531485e-01 -1.06410269e-01 1.50051488e+02] [ 6.67297387e-01 7.38245442e-01 -9.85284974e-02 6.40162674e+01] [ 1.45017470e-01 9.71406164e-04 9.89428618e-01 2.43485651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:64.06, Z:24.34 [[ 7.27618093e-01 -6.77682876e-01 -1.06385290e-01 1.50091229e+02] [ 6.70478223e-01 7.35354183e-01 -9.85554619e-02 6.40624063e+01] [ 1.45020217e-01 3.81717436e-04 9.89428618e-01 2.43449078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:64.10, Z:24.37 [[ 7.29151082e-01 -6.76037004e-01 -1.06361028e-01 1.50134736e+02] [ 6.68811070e-01 7.36867297e-01 -9.85816381e-02 6.40982590e+01] [ 1.45018799e-01 7.45475139e-04 9.89428619e-01 2.43653234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.18, Y:64.14, Z:24.38 [[ 7.27969843e-01 -6.77312647e-01 -1.06336663e-01 1.50175829e+02] [ 6.70096396e-01 7.35695113e-01 -9.86079130e-02 6.41381252e+01] [ 1.45019750e-01 5.27772287e-04 9.89428620e-01 2.43755827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:64.18, Z:24.39 [[ 7.27406798e-01 -6.77919236e-01 -1.06324315e-01 1.50217520e+02] [ 6.70707481e-01 7.35136265e-01 -9.86212255e-02 6.41773985e+01] [ 1.45020086e-01 4.25236319e-04 9.89428620e-01 2.43851213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:64.22, Z:24.39 [[ 7.28671845e-01 -6.76563643e-01 -1.06296656e-01 1.50258078e+02] [ 6.69333160e-01 7.36383796e-01 -9.86510279e-02 6.42182136e+01] [ 1.45018834e-01 7.36349624e-04 9.89428621e-01 2.43929194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.30, Y:64.26, Z:24.40 [[ 7.29877435e-01 -6.75267249e-01 -1.06268872e-01 1.50299323e+02] [ 6.68018712e-01 7.37572417e-01 -9.86809487e-02 6.42581645e+01] [ 1.45017002e-01 1.03540261e-03 9.89428622e-01 2.44003204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:64.30, Z:24.41 [[ 7.30693202e-01 -6.74388736e-01 -1.06241601e-01 1.50340460e+02] [ 6.67126680e-01 7.38375426e-01 -9.87103009e-02 6.42982910e+01] [ 1.45015302e-01 1.25033936e-03 9.89428622e-01 2.44072555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:64.34, Z:24.42 [[ 7.30897736e-01 -6.74171396e-01 -1.06214067e-01 1.50381840e+02] [ 6.66902751e-01 7.38573726e-01 -9.87399194e-02 6.43371843e+01] [ 1.45014548e-01 1.33433014e-03 9.89428623e-01 2.44164313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.42, Y:64.38, Z:24.43 [[ 7.29653047e-01 -6.75522207e-01 -1.06189356e-01 1.50423412e+02] [ 6.68263907e-01 7.37338817e-01 -9.87664876e-02 6.43767219e+01] [ 1.45016490e-01 1.10275481e-03 9.89428624e-01 2.44262901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:64.41, Z:24.44 [[ 7.28695263e-01 -6.76559536e-01 -1.06162178e-01 1.50465890e+02] [ 6.69307922e-01 7.36387342e-01 -9.87956917e-02 6.44146228e+01] [ 1.45017652e-01 9.36765614e-04 9.89428625e-01 2.44356340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:64.45, Z:24.44 [[ 7.28144334e-01 -6.77156757e-01 -1.06134610e-01 1.50507714e+02] [ 6.69907137e-01 7.35838290e-01 -9.88252991e-02 6.44540013e+01] [ 1.45018129e-01 8.58748727e-04 9.89428625e-01 2.44427857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:64.49, Z:24.45 [[ 7.28086433e-01 -6.77223315e-01 -1.06107149e-01 1.50550207e+02] [ 6.69970102e-01 7.35777002e-01 -9.88547751e-02 6.44932742e+01] [ 1.45017958e-01 8.86203205e-04 9.89428626e-01 2.44495576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:64.53, Z:24.46 [[ 7.28430830e-01 -6.76857148e-01 -1.06079817e-01 1.50593821e+02] [ 6.69595799e-01 7.36113715e-01 -9.88840966e-02 6.45300750e+01] [ 1.45017216e-01 9.99625037e-04 9.89428627e-01 2.44585533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:64.57, Z:24.47 [[ 7.28577884e-01 -6.76703264e-01 -1.06051681e-01 1.50636499e+02] [ 6.69435901e-01 7.36255080e-01 -9.89142626e-02 6.45687408e+01] [ 1.45016693e-01 1.07194152e-03 9.89428628e-01 2.44654648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.68, Y:64.61, Z:24.47 [[ 7.29357469e-01 -6.75867336e-01 -1.06023711e-01 1.50679067e+02] [ 6.68586817e-01 7.37022189e-01 -9.89442340e-02 6.46060799e+01] [ 1.45015003e-01 1.27966054e-03 9.89428629e-01 2.44725148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:64.64, Z:24.48 [[ 7.29111792e-01 -6.76136262e-01 -1.05998816e-01 1.50721809e+02] [ 6.68854694e-01 7.36775515e-01 -9.89708972e-02 6.46436721e+01] [ 1.45015145e-01 1.26304274e-03 9.89428629e-01 2.44823122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:64.68, Z:24.49 [[ 7.29195726e-01 -6.76050036e-01 -1.05971422e-01 1.50763138e+02] [ 6.68763301e-01 7.36854534e-01 -9.90002201e-02 6.46819888e+01] [ 1.45014625e-01 1.32073933e-03 9.89428630e-01 2.44917011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.80, Y:64.72, Z:24.50 [[ 7.28976336e-01 -6.76290456e-01 -1.05946780e-01 1.50804191e+02] [ 6.69002415e-01 7.36633901e-01 -9.90265843e-02 6.47214199e+01] [ 1.45014724e-01 1.30938491e-03 9.89428631e-01 2.44983599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:64.76, Z:24.51 [[ 7.28198665e-01 -6.77131497e-01 -1.05922803e-01 1.50846290e+02] [ 6.69848570e-01 7.35861094e-01 -9.90522244e-02 6.47613645e+01] [ 1.45015851e-01 1.17745934e-03 9.89428631e-01 2.45052728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:64.80, Z:24.51 [[ 7.24556721e-01 -6.81031379e-01 -1.05895315e-01 1.50887715e+02] [ 6.73785403e-01 7.32254100e-01 -9.90816030e-02 6.48002963e+01] [ 1.45019959e-01 4.39523898e-04 9.89428632e-01 2.45110520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.93, Y:64.84, Z:24.51 [[ 7.18021245e-01 -6.87921906e-01 -1.05872294e-01 1.50927977e+02] [ 6.80746166e-01 7.25784141e-01 -9.91061959e-02 6.48429155e+01] [ 1.45017755e-01 -9.11803974e-04 9.89428633e-01 2.45129858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.97, Y:64.88, Z:24.53 [[ 7.15577849e-01 -6.90467577e-01 -1.05843601e-01 1.50972301e+02] [ 6.83314920e-01 7.23362018e-01 -9.91368304e-02 6.48765664e+01] [ 1.45014008e-01 -1.38439176e-03 9.89428634e-01 2.45299400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.01, Y:64.92, Z:24.53 [[ 7.10477114e-01 -6.95718893e-01 -1.05818204e-01 1.51011269e+02] [ 6.88619724e-01 7.18310093e-01 -9.91639310e-02 6.49205596e+01] [ 1.45000505e-01 -2.41479933e-03 9.89428634e-01 2.45318662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:64.96, Z:24.54 [[ 7.10073165e-01 -6.96135561e-01 -1.05789322e-01 1.51052250e+02] [ 6.89036401e-01 7.17906152e-01 -9.91947336e-02 6.49598981e+01] [ 1.44999787e-01 -2.45717539e-03 9.89428635e-01 2.45383701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:65.00, Z:24.54 [[ 7.09784067e-01 -6.96433225e-01 -1.05770228e-01 1.51093975e+02] [ 6.89334318e-01 7.17617282e-01 -9.92150893e-02 6.50003544e+01] [ 1.44999228e-01 -2.48975852e-03 9.89428636e-01 2.45445582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.14, Y:65.04, Z:24.55 [[ 7.10311967e-01 -6.95898933e-01 -1.05743010e-01 1.51136323e+02] [ 6.88789818e-01 7.18135919e-01 -9.92440905e-02 6.50397448e+01] [ 1.45001710e-01 -2.34044308e-03 9.89428636e-01 2.45522531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:65.07, Z:24.57 [[ 7.16854657e-01 -6.89161473e-01 -1.05715965e-01 1.51180845e+02] [ 6.81974557e-01 7.24607202e-01 -9.92728908e-02 6.50743630e+01] [ 1.45017601e-01 -9.31364068e-04 9.89428637e-01 2.45708370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.22, Y:65.11, Z:24.58 [[ 7.18927321e-01 -6.87003187e-01 -1.05688828e-01 1.51222346e+02] [ 6.79788749e-01 7.26654260e-01 -9.93017727e-02 6.51142577e+01] [ 1.45019872e-01 -4.55318949e-04 9.89428638e-01 2.45776217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:65.16, Z:24.58 [[ 7.17027032e-01 -6.88990489e-01 -1.05661450e-01 1.51262197e+02] [ 6.81793175e-01 7.24769922e-01 -9.93308964e-02 6.51590603e+01] [ 1.45018284e-01 -8.16317444e-04 9.89428639e-01 2.45756991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:65.20, Z:24.58 [[ 7.18884051e-01 -6.87056410e-01 -1.05637164e-01 1.51304475e+02] [ 6.79834470e-01 7.26603975e-01 -9.93567172e-02 6.51985607e+01] [ 1.45020053e-01 -3.89826142e-04 9.89428639e-01 2.45837999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:65.24, Z:24.59 [[ 7.20816291e-01 -6.85033202e-01 -1.05609592e-01 1.51344888e+02] [ 6.77785299e-01 7.28511845e-01 -9.93860165e-02 6.52388275e+01] [ 1.45020560e-01 5.84312038e-05 9.89428640e-01 2.45930654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.39, Y:65.27, Z:24.61 [[ 7.24196528e-01 -6.81463020e-01 -1.05581915e-01 1.51388987e+02] [ 6.74172893e-01 7.31852093e-01 -9.94154096e-02 6.52743682e+01] [ 1.45018271e-01 8.15829148e-04 9.89428641e-01 2.46088906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:65.31, Z:24.62 [[ 7.25180922e-01 -6.80416710e-01 -1.05573341e-01 1.51430105e+02] [ 6.73114212e-01 7.32824688e-01 -9.94245141e-02 6.53142711e+01] [ 1.45016852e-01 1.03784442e-03 9.89428641e-01 2.46186010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:65.35, Z:24.63 [[ 7.25392427e-01 -6.80195459e-01 -1.05546030e-01 1.51471303e+02] [ 6.72886412e-01 7.33029930e-01 -9.94534988e-02 6.53541695e+01] [ 1.45016217e-01 1.12232557e-03 9.89428642e-01 2.46267831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.51, Y:65.39, Z:24.63 [[ 7.25987892e-01 -6.79564232e-01 -1.05517935e-01 1.51513793e+02] [ 6.72244214e-01 7.33614879e-01 -9.94832980e-02 6.53939789e+01] [ 1.45014818e-01 1.28984868e-03 9.89428643e-01 2.46338913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:65.44, Z:24.64 [[ 7.24250305e-01 -6.81419816e-01 -1.05491850e-01 1.51553102e+02] [ 6.74115311e-01 7.31892149e-01 -9.95109509e-02 6.54378353e+01] [ 1.45017391e-01 9.57165318e-04 9.89428643e-01 2.46359061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.60, Y:65.47, Z:24.65 [[ 7.28043202e-01 -6.77368152e-01 -1.05477403e-01 1.51597698e+02] [ 6.70018904e-01 7.35642026e-01 -9.95262619e-02 6.54726742e+01] [ 1.45009530e-01 1.78756444e-03 9.89428644e-01 2.46495873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.64, Y:65.52, Z:24.65 [[ 7.26574053e-01 -6.78945986e-01 -1.05463229e-01 1.51637686e+02] [ 6.71611061e-01 7.34186704e-01 -9.95412792e-02 6.55170721e+01] [ 1.45012852e-01 1.49383974e-03 9.89428644e-01 2.46525766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.68, Y:65.55, Z:24.67 [[ 7.28328974e-01 -6.77066783e-01 -1.05439447e-01 1.51683337e+02] [ 6.69708571e-01 7.35919118e-01 -9.95664644e-02 6.55522422e+01] [ 1.45008050e-01 1.90343977e-03 9.89428644e-01 2.46677025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:65.59, Z:24.68 [[ 7.25023372e-01 -6.80609103e-01 -1.05415178e-01 1.51725153e+02] [ 6.73284243e-01 7.32645706e-01 -9.95921519e-02 6.55911698e+01] [ 1.45015303e-01 1.23225930e-03 9.89428645e-01 2.46769435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:65.63, Z:24.69 [[ 7.20273388e-01 -6.85638151e-01 -1.05387725e-01 1.51765723e+02] [ 6.78362263e-01 7.27942482e-01 -9.96211945e-02 6.56311378e+01] [ 1.45020294e-01 2.63439827e-04 9.89428646e-01 2.46855995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.81, Y:65.68, Z:24.69 [[ 7.12212323e-01 -6.94011745e-01 -1.05362730e-01 1.51805091e+02] [ 6.86822102e-01 7.19962326e-01 -9.96476231e-02 6.56763218e+01] [ 1.45013817e-01 -1.39518660e-03 9.89428646e-01 2.46857849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:65.71, Z:24.70 [[ 7.08085032e-01 -6.98225896e-01 -1.05338436e-01 1.51850625e+02] [ 6.91078551e-01 7.15874060e-01 -9.96732974e-02 6.57104559e+01] [ 1.45003532e-01 -2.21996406e-03 9.89428647e-01 2.47038531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:65.75, Z:24.71 [[ 7.03926362e-01 -7.02421917e-01 -1.05314421e-01 1.51893011e+02] [ 6.95317199e-01 7.11754290e-01 -9.96986655e-02 6.57493309e+01] [ 1.44988519e-01 -3.04640948e-03 9.89428648e-01 2.47141833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.93, Y:65.79, Z:24.72 [[ 7.02834368e-01 -7.03518720e-01 -1.05286571e-01 1.51933904e+02] [ 6.96421815e-01 7.10669380e-01 -9.97280679e-02 6.57882466e+01] [ 1.44984505e-01 -3.23155144e-03 9.89428648e-01 2.47220573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:65.83, Z:24.73 [[ 7.03957551e-01 -7.02398557e-01 -1.05261739e-01 1.51974803e+02] [ 6.95285268e-01 7.11777691e-01 -9.97542717e-02 6.58285027e+01] [ 1.44990214e-01 -2.96416334e-03 9.89428649e-01 2.47296660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:65.87, Z:24.74 [[ 7.05368786e-01 -7.00985407e-01 -1.05234666e-01 1.52016095e+02] [ 6.93852192e-01 7.13170754e-01 -9.97828239e-02 6.58681340e+01] [ 1.44996589e-01 -2.63361408e-03 9.89428650e-01 2.47382056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:65.91, Z:24.75 [[ 7.09212028e-01 -6.97101000e-01 -1.05206922e-01 1.52056579e+02] [ 6.89920707e-01 7.16970689e-01 -9.98120671e-02 6.59081354e+01] [ 1.45009371e-01 -1.79651570e-03 9.89428651e-01 2.47454294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:65.95, Z:24.75 [[ 7.12724408e-01 -6.93513229e-01 -1.05182317e-01 1.52097492e+02] [ 6.86290050e-01 7.20443158e-01 -9.98379897e-02 6.59488887e+01] [ 1.45016847e-01 -1.02860538e-03 9.89428651e-01 2.47541315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.14, Y:65.99, Z:24.76 [[ 7.16444750e-01 -6.89673410e-01 -1.05154683e-01 1.52138206e+02] [ 6.82404588e-01 7.24120531e-01 -9.98670866e-02 6.59897366e+01] [ 1.45020339e-01 -2.08788387e-04 9.89428652e-01 2.47610938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:66.03, Z:24.77 [[ 7.20226976e-01 -6.85726922e-01 -1.05127025e-01 1.52179208e+02] [ 6.78411790e-01 7.27858636e-01 -9.98961929e-02 6.60309768e+01] [ 1.45019122e-01 6.28519533e-04 9.89428653e-01 2.47686579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:66.07, Z:24.78 [[ 7.24130220e-01 -6.81608102e-01 -1.05099097e-01 1.52220410e+02] [ 6.74245300e-01 7.31715898e-01 -9.99255675e-02 6.60714635e+01] [ 1.45012757e-01 1.49655100e-03 9.89428654e-01 2.47771474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.26, Y:66.11, Z:24.78 [[ 7.25248469e-01 -6.80422400e-01 -1.05071475e-01 1.52261389e+02] [ 6.73042992e-01 7.32817992e-01 -9.99546034e-02 6.61120863e+01] [ 1.45009619e-01 1.77430308e-03 9.89428655e-01 2.47849846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:66.15, Z:24.79 [[ 7.25867673e-01 -6.79766191e-01 -1.05043066e-01 1.52302383e+02] [ 6.72375621e-01 7.33426298e-01 -9.99844497e-02 6.61518008e+01] [ 1.45007396e-01 1.94708286e-03 9.89428655e-01 2.47931891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.34, Y:66.19, Z:24.80 [[ 7.26110264e-01 -6.79511417e-01 -1.05014852e-01 1.52343472e+02] [ 6.72113911e-01 7.33662099e-01 -1.00014075e-01 6.61916019e+01] [ 1.45006123e-01 2.03930298e-03 9.89428656e-01 2.48024566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:66.23, Z:24.81 [[ 7.25522249e-01 -6.80141114e-01 -1.05002529e-01 1.52384535e+02] [ 6.72748291e-01 7.33078668e-01 -1.00027011e-01 6.62311335e+01] [ 1.45007597e-01 1.93155055e-03 9.89428656e-01 2.48118861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:66.27, Z:24.82 [[ 7.25127725e-01 -6.80566040e-01 -1.04974506e-01 1.52425876e+02] [ 6.73173390e-01 7.32684313e-01 -1.00056411e-01 6.62710408e+01] [ 1.45008170e-01 1.88763373e-03 9.89428657e-01 2.48208169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:66.31, Z:24.83 [[ 7.24546213e-01 -6.81189375e-01 -1.04946753e-01 1.52467972e+02] [ 6.73799011e-01 7.32105036e-01 -1.00085513e-01 6.63104327e+01] [ 1.45009234e-01 1.80356054e-03 9.89428658e-01 2.48291006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:66.35, Z:24.84 [[ 7.23417856e-01 -6.82391887e-01 -1.04918630e-01 1.52509880e+02] [ 6.75009814e-01 7.30984775e-01 -1.00114985e-01 6.63496432e+01] [ 1.45011575e-01 1.60386297e-03 9.89428659e-01 2.48353943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:66.39, Z:24.83 [[ 7.18423717e-01 -6.87652046e-01 -1.04890546e-01 1.52550530e+02] [ 6.80321085e-01 7.26040164e-01 -1.00144401e-01 6.63946857e+01] [ 1.45019251e-01 5.86862493e-04 9.89428660e-01 2.48312523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:66.43, Z:24.84 [[ 7.16884438e-01 -6.89260429e-01 -1.04865454e-01 1.52594375e+02] [ 6.81942714e-01 7.24513610e-01 -1.00170668e-01 6.64324257e+01] [ 1.45020127e-01 2.98560549e-04 9.89428660e-01 2.48401790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.64, Y:66.46, Z:24.86 [[ 7.21018626e-01 -6.84939017e-01 -1.04836461e-01 1.52640294e+02] [ 6.77571167e-01 7.28599391e-01 -1.00201004e-01 6.64646342e+01] [ 1.45015358e-01 1.21262705e-03 9.89428661e-01 2.48598841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.68, Y:66.50, Z:24.87 [[ 7.20630315e-01 -6.85350348e-01 -1.04818175e-01 1.52682665e+02] [ 6.77984044e-01 7.28212581e-01 -1.00220129e-01 6.65041880e+01] [ 1.45015813e-01 1.15661294e-03 9.89428661e-01 2.48704282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:66.54, Z:24.88 [[ 7.20726039e-01 -6.85253441e-01 -1.04793596e-01 1.52724002e+02] [ 6.77882381e-01 7.28303682e-01 -1.00245822e-01 6.65442147e+01] [ 1.45015356e-01 1.21204195e-03 9.89428662e-01 2.48791009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:66.58, Z:24.88 [[ 7.20104311e-01 -6.85911094e-01 -1.04765226e-01 1.52765888e+02] [ 6.78542643e-01 7.27684488e-01 -1.00275463e-01 6.65846804e+01] [ 1.45016082e-01 1.12111992e-03 9.89428663e-01 2.48849758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.81, Y:66.62, Z:24.89 [[ 7.19700891e-01 -6.86338669e-01 -1.04737097e-01 1.52807918e+02] [ 6.78970446e-01 7.27281289e-01 -1.00304835e-01 6.66247061e+01] [ 1.45016418e-01 1.07608603e-03 9.89428664e-01 2.48915260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:66.66, Z:24.90 [[ 7.19103709e-01 -6.86968667e-01 -1.04708679e-01 1.52850388e+02] [ 6.79602766e-01 7.26686363e-01 -1.00334492e-01 6.66631489e+01] [ 1.45017021e-01 9.90597901e-04 9.89428665e-01 2.48992728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.89, Y:66.71, Z:24.90 [[ 7.16471948e-01 -6.89717232e-01 -1.04680888e-01 1.52890028e+02] [ 6.82376185e-01 7.24078666e-01 -1.00363478e-01 6.67076701e+01] [ 1.45019618e-01 4.75871760e-04 9.89428665e-01 2.49014517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.93, Y:66.74, Z:24.92 [[ 7.17806820e-01 -6.88331740e-01 -1.04655559e-01 1.52933333e+02] [ 6.80972161e-01 7.25395608e-01 -1.00389884e-01 6.67428479e+01] [ 1.45018226e-01 7.93021384e-04 9.89428666e-01 2.49186723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:66.78, Z:24.93 [[ 7.16421711e-01 -6.89776853e-01 -1.04631859e-01 1.52975074e+02] [ 6.82428975e-01 7.24021828e-01 -1.00414580e-01 6.67818184e+01] [ 1.45019402e-01 5.35373027e-04 9.89428667e-01 2.49282235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:66.82, Z:24.94 [[ 7.15228850e-01 -6.91017864e-01 -1.04604036e-01 1.53017248e+02] [ 6.83678934e-01 7.22837607e-01 -1.00443555e-01 6.68211739e+01] [ 1.45020022e-01 3.24552710e-04 9.89428667e-01 2.49363395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:66.86, Z:24.94 [[ 7.14657143e-01 -6.91613280e-01 -1.04576471e-01 1.53058950e+02] [ 6.84276491e-01 7.22267964e-01 -1.00472246e-01 6.68614069e+01] [ 1.45020175e-01 2.43988044e-04 9.89428668e-01 2.49436473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.10, Y:66.90, Z:24.95 [[ 7.13954476e-01 -6.92342823e-01 -1.04548662e-01 1.53100662e+02] [ 6.85009574e-01 7.21568706e-01 -1.00501176e-01 6.69012594e+01] [ 1.45020310e-01 1.36429832e-04 9.89428669e-01 2.49513516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:66.94, Z:24.96 [[ 7.14081137e-01 -6.92216411e-01 -1.04520668e-01 1.53141896e+02] [ 6.84877553e-01 7.21689961e-01 -1.00530280e-01 6.69412449e+01] [ 1.45020227e-01 2.02917155e-04 9.89428670e-01 2.49590234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.18, Y:66.99, Z:24.96 [[ 7.11090331e-01 -6.95292604e-01 -1.04492754e-01 1.53179608e+02] [ 6.87982399e-01 7.18726686e-01 -1.00559287e-01 6.69869497e+01] [ 1.45019859e-01 -3.82438902e-04 9.89428671e-01 2.49571291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:67.03, Z:24.97 [[ 7.12090297e-01 -6.94272664e-01 -1.04464717e-01 1.53221120e+02] [ 6.86947249e-01 7.19712060e-01 -1.00588404e-01 6.70272125e+01] [ 1.45020296e-01 -1.33723275e-04 9.89428671e-01 2.49662341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:67.07, Z:24.98 [[ 7.09992510e-01 -6.96422110e-01 -1.04436013e-01 1.53263312e+02] [ 6.89115385e-01 7.17632193e-01 -1.00618198e-01 6.70674734e+01] [ 1.45019383e-01 -5.30295881e-04 9.89428672e-01 2.49759917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:67.10, Z:25.00 [[ 7.13090659e-01 -6.93253379e-01 -1.04410077e-01 1.53309450e+02] [ 6.85908765e-01 7.20693922e-01 -1.00645104e-01 6.70999429e+01] [ 1.45020266e-01 1.53296375e-04 9.89428673e-01 2.49969400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.35, Y:67.15, Z:24.99 [[ 7.06987186e-01 -6.99478922e-01 -1.04395191e-01 1.53347791e+02] [ 6.92198974e-01 7.14652388e-01 -1.00660543e-01 6.71471632e+01] [ 1.45016200e-01 -1.09652982e-03 9.89428673e-01 2.49912132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.39, Y:67.19, Z:25.00 [[ 7.06275142e-01 -7.00201831e-01 -1.04368671e-01 1.53390427e+02] [ 6.92925667e-01 7.13943933e-01 -1.00688032e-01 6.71859555e+01] [ 1.45015324e-01 -1.20627687e-03 9.89428674e-01 2.49985465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:67.22, Z:25.02 [[ 7.09990363e-01 -6.96436447e-01 -1.04354972e-01 1.53435288e+02] [ 6.89117521e-01 7.17618355e-01 -1.00702228e-01 6.72187176e+01] [ 1.45019745e-01 -4.15227930e-04 9.89428674e-01 2.50185814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:67.26, Z:25.03 [[ 7.07234148e-01 -6.99238823e-01 -1.04330859e-01 1.53476173e+02] [ 6.91946437e-01 7.14887515e-01 -1.00727204e-01 6.72589205e+01] [ 1.45017200e-01 -9.53647507e-04 9.89428675e-01 2.50258126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:67.30, Z:25.04 [[ 7.07339642e-01 -6.99136175e-01 -1.04303591e-01 1.53515623e+02] [ 6.91838516e-01 7.14987980e-01 -1.00755433e-01 6.73012627e+01] [ 1.45017581e-01 -8.92929504e-04 9.89428675e-01 2.50355226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:67.34, Z:25.04 [[ 7.07081315e-01 -6.99401468e-01 -1.04276560e-01 1.53553801e+02] [ 6.92102553e-01 7.14728454e-01 -1.00783400e-01 6.73448669e+01] [ 1.45017483e-01 -9.08014418e-04 9.89428676e-01 2.50439751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.59, Y:67.39, Z:25.05 [[ 7.06597900e-01 -6.99893872e-01 -1.04249586e-01 1.53594093e+02] [ 6.92596170e-01 7.14246196e-01 -1.00811294e-01 6.73862586e+01] [ 1.45017077e-01 -9.69815647e-04 9.89428677e-01 2.50531381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.63, Y:67.43, Z:25.06 [[ 7.07035494e-01 -6.99456044e-01 -1.04221170e-01 1.53633458e+02] [ 6.92149277e-01 7.14675129e-01 -1.00840663e-01 6.74265102e+01] [ 1.45017889e-01 -8.38679510e-04 9.89428678e-01 2.50611965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:67.47, Z:25.06 [[ 7.04020505e-01 -7.02494404e-01 -1.04195686e-01 1.53669607e+02] [ 6.95216709e-01 7.11687838e-01 -1.00866988e-01 6.74745819e+01] [ 1.45013297e-01 -1.42615380e-03 9.89428678e-01 2.50567092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:67.51, Z:25.07 [[ 7.09486551e-01 -6.96977805e-01 -1.04167047e-01 1.53713130e+02] [ 6.89636143e-01 7.17092655e-01 -1.00896556e-01 6.75094497e+01] [ 1.45020084e-01 -2.52610862e-04 9.89428679e-01 2.50747346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.75, Y:67.55, Z:25.08 [[ 7.11459983e-01 -6.94965194e-01 -1.04154079e-01 1.53753881e+02] [ 6.87600056e-01 7.19043356e-01 -1.00909941e-01 6.75504206e+01] [ 1.45020195e-01 1.77033936e-04 9.89428679e-01 2.50828587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:67.59, Z:25.09 [[ 7.13498005e-01 -6.92876915e-01 -1.04125779e-01 1.53794214e+02] [ 6.85485320e-01 7.21055593e-01 -1.00939134e-01 6.75896668e+01] [ 1.45018871e-01 6.43178106e-04 9.89428680e-01 2.50928080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:67.63, Z:25.10 [[ 7.14642847e-01 -6.91698749e-01 -1.04107840e-01 1.53835685e+02] [ 6.84291999e-01 7.22185583e-01 -1.00957633e-01 6.76298756e+01] [ 1.45017450e-01 9.08488692e-04 9.89428681e-01 2.51025573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:153.88, Y:67.67, Z:25.11 [[ 7.15930451e-01 -6.90370081e-01 -1.04080447e-01 1.53877138e+02] [ 6.82945230e-01 7.23455367e-01 -1.00985866e-01 6.76708171e+01] [ 1.45015178e-01 1.21761178e-03 9.89428681e-01 2.51088483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.92, Y:67.71, Z:25.12 [[ 7.16416753e-01 -6.89869602e-01 -1.04052720e-01 1.53919178e+02] [ 6.82435345e-01 7.23932376e-01 -1.01014427e-01 6.77103735e+01] [ 1.45013915e-01 1.35917383e-03 9.89428682e-01 2.51178878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:67.75, Z:25.12 [[ 7.16153562e-01 -6.90146986e-01 -1.04025064e-01 1.53961126e+02] [ 6.82711504e-01 7.23667972e-01 -1.01042900e-01 6.77500072e+01] [ 1.45014060e-01 1.34312494e-03 9.89428683e-01 2.51247383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:67.79, Z:25.13 [[ 7.16297447e-01 -6.90001873e-01 -1.03997030e-01 1.54002879e+02] [ 6.82560682e-01 7.23806202e-01 -1.01071745e-01 6.77902378e+01] [ 1.45013389e-01 1.41314901e-03 9.89428684e-01 2.51317503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:154.04, Y:67.83, Z:25.14 [[ 7.15792788e-01 -6.90529568e-01 -1.03969230e-01 1.54044722e+02] [ 6.83089760e-01 7.23302912e-01 -1.01100334e-01 6.78295243e+01] [ 1.45014017e-01 1.34657307e-03 9.89428685e-01 2.51390455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:67.87, Z:25.15 [[ 7.14479387e-01 -6.91892579e-01 -1.03941643e-01 1.54086505e+02] [ 6.84462973e-01 7.21999603e-01 -1.01128688e-01 6.78687230e+01] [ 1.45016014e-01 1.11015736e-03 9.89428685e-01 2.51473252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.13, Y:67.91, Z:25.16 [[ 7.12111274e-01 -6.94333858e-01 -1.03913556e-01 1.54128319e+02] [ 6.86925824e-01 7.19652739e-01 -1.01157541e-01 6.79068875e+01] [ 1.45018781e-01 6.54520745e-04 9.89428686e-01 2.51568595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:67.95, Z:25.17 [[ 7.10647097e-01 -6.95836148e-01 -1.03888201e-01 1.54169291e+02] [ 6.88440250e-01 7.18200464e-01 -1.01183574e-01 6.79465915e+01] [ 1.45019742e-01 3.84994159e-04 9.89428687e-01 2.51666687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:67.99, Z:25.18 [[ 7.09644903e-01 -6.96862398e-01 -1.03860048e-01 1.54210652e+02] [ 6.89473194e-01 7.17204818e-01 -1.01212464e-01 6.79869042e+01] [ 1.45020087e-01 2.16190049e-04 9.89428688e-01 2.51760380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:68.03, Z:25.18 [[ 7.09486463e-01 -6.97027763e-01 -1.03832828e-01 1.54251313e+02] [ 6.89636235e-01 7.17044105e-01 -1.01240380e-01 6.80257554e+01] [ 1.45020073e-01 2.21798413e-04 9.89428688e-01 2.51845728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:68.07, Z:25.19 [[ 7.09944510e-01 -6.96564935e-01 -1.03807917e-01 1.54292498e+02] [ 6.89164746e-01 7.17493670e-01 -1.01265917e-01 6.80659109e+01] [ 1.45019810e-01 3.52424664e-04 9.89428689e-01 2.51913217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.33, Y:68.11, Z:25.20 [[ 7.09943086e-01 -6.96570431e-01 -1.03780776e-01 1.54333682e+02] [ 6.89166235e-01 7.17488315e-01 -1.01293725e-01 6.81063888e+01] [ 1.45019707e-01 3.90572776e-04 9.89428690e-01 2.51997383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:68.15, Z:25.21 [[ 7.10231068e-01 -6.96280989e-01 -1.03752659e-01 1.54375012e+02] [ 6.88869512e-01 7.17769144e-01 -1.01322516e-01 6.81465687e+01] [ 1.45019399e-01 4.90354660e-04 9.89428690e-01 2.52078618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.42, Y:68.19, Z:25.22 [[ 7.10517979e-01 -6.95992406e-01 -1.03724499e-01 1.54416278e+02] [ 6.88573660e-01 7.18048900e-01 -1.01351336e-01 6.81869759e+01] [ 1.45019022e-01 5.89988396e-04 9.89428691e-01 2.52167062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.46, Y:68.23, Z:25.23 [[ 7.11160535e-01 -6.95340045e-01 -1.03696269e-01 1.54456426e+02] [ 6.87910179e-01 7.18680484e-01 -1.01380211e-01 6.82277584e+01] [ 1.45018205e-01 7.63886036e-04 9.89428692e-01 2.52262395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:68.27, Z:25.24 [[ 7.11978468e-01 -6.94506783e-01 -1.03667685e-01 1.54496814e+02] [ 6.87063861e-01 7.19485495e-01 -1.01409431e-01 6.82679823e+01] [ 1.45016934e-01 9.75011150e-04 9.89428693e-01 2.52357256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.54, Y:68.31, Z:25.25 [[ 7.12460165e-01 -6.94016849e-01 -1.03639409e-01 1.54537302e+02] [ 6.86564562e-01 7.19957894e-01 -1.01438321e-01 6.83083535e+01] [ 1.45015915e-01 1.11561775e-03 9.89428694e-01 2.52451467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:68.35, Z:25.25 [[ 7.11627375e-01 -6.94874964e-01 -1.03611117e-01 1.54578535e+02] [ 6.87427512e-01 7.19129906e-01 -1.01467211e-01 6.83484269e+01] [ 1.45016877e-01 9.81712269e-04 9.89428695e-01 2.52546379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:68.39, Z:25.26 [[ 7.09868569e-01 -6.96675838e-01 -1.03582774e-01 1.54619795e+02] [ 6.89243198e-01 7.17385773e-01 -1.01496137e-01 6.83882852e+01] [ 1.45018715e-01 6.55195641e-04 9.89428695e-01 2.52627082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.66, Y:68.43, Z:25.27 [[ 7.07775538e-01 -6.98806282e-01 -1.03554665e-01 1.54661188e+02] [ 6.91392074e-01 7.15310920e-01 -1.01524808e-01 6.84278155e+01] [ 1.45019956e-01 2.59901327e-04 9.89428696e-01 2.52710292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.70, Y:68.47, Z:25.28 [[ 7.06897638e-01 -6.99698514e-01 -1.03526416e-01 1.54701774e+02] [ 6.92289600e-01 7.14438223e-01 -1.01553606e-01 6.84682457e+01] [ 1.45020136e-01 1.17742742e-04 9.89428697e-01 2.52779253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:68.51, Z:25.29 [[ 7.07000221e-01 -6.99598939e-01 -1.03498849e-01 1.54742735e+02] [ 6.92184850e-01 7.14535718e-01 -1.01581693e-01 6.85084372e+01] [ 1.45020069e-01 1.77944278e-04 9.89428698e-01 2.52863052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:68.55, Z:25.30 [[ 7.07734141e-01 -6.98860485e-01 -1.03471773e-01 1.54784059e+02] [ 6.91434502e-01 7.15257916e-01 -1.01609266e-01 6.85490908e+01] [ 1.45019706e-01 3.68392812e-04 9.89428698e-01 2.52950231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.82, Y:68.59, Z:25.30 [[ 7.10113224e-01 -6.96447100e-01 -1.03443928e-01 1.54824185e+02] [ 6.88991418e-01 7.17607569e-01 -1.01637606e-01 6.85895365e+01] [ 1.45017362e-01 9.02229264e-04 9.89428699e-01 2.53036869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.86, Y:68.63, Z:25.31 [[ 7.12695543e-01 -6.93808150e-01 -1.03418153e-01 1.54863860e+02] [ 6.86320915e-01 7.20158363e-01 -1.01663826e-01 6.86293097e+01] [ 1.45012639e-01 1.47731407e-03 9.89428700e-01 2.53117572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.91, Y:68.67, Z:25.32 [[ 7.13225254e-01 -6.93267416e-01 -1.03392585e-01 1.54905145e+02] [ 6.85770755e-01 7.20678605e-01 -1.01689822e-01 6.86692461e+01] [ 1.45011064e-01 1.62413795e-03 9.89428701e-01 2.53195680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:68.71, Z:25.33 [[ 7.13146089e-01 -6.93353048e-01 -1.03364433e-01 1.54946297e+02] [ 6.85853136e-01 7.20596168e-01 -1.01718430e-01 6.87091663e+01] [ 1.45010798e-01 1.64728053e-03 9.89428701e-01 2.53273669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:68.75, Z:25.33 [[ 7.13277367e-01 -6.93222248e-01 -1.03335920e-01 1.54986698e+02] [ 6.85716775e-01 7.20721842e-01 -1.01747389e-01 6.87486110e+01] [ 1.45010008e-01 1.71493590e-03 9.89428702e-01 2.53347768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:68.79, Z:25.34 [[ 7.12599975e-01 -6.93921441e-01 -1.03316554e-01 1.55027795e+02] [ 6.86420422e-01 7.20048937e-01 -1.01767049e-01 6.87881823e+01] [ 1.45011312e-01 1.60060435e-03 9.89428703e-01 2.53447305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:68.83, Z:25.35 [[ 7.08175926e-01 -6.98440061e-01 -1.03287651e-01 1.55070139e+02] [ 6.90982297e-01 7.15668193e-01 -1.01796375e-01 6.88270489e+01] [ 1.45018353e-01 7.19803606e-04 9.89428703e-01 2.53534963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:68.87, Z:25.36 [[ 7.04301796e-01 -7.02348383e-01 -1.03275020e-01 1.55111699e+02] [ 6.94930316e-01 7.11833369e-01 -1.01809189e-01 6.88663703e+01] [ 1.45020124e-01 -6.45472733e-05 9.89428704e-01 2.53645548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:68.91, Z:25.37 [[ 7.00296026e-01 -7.06346484e-01 -1.03247861e-01 1.55150819e+02] [ 6.98967354e-01 7.07865750e-01 -1.01836724e-01 6.89084794e+01] [ 1.45017637e-01 -8.51030819e-04 9.89428704e-01 2.53728491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:68.95, Z:25.38 [[ 6.97622156e-01 -7.08991561e-01 -1.03219637e-01 1.55190679e+02] [ 7.01636899e-01 7.05215654e-01 -1.01865323e-01 6.89504057e+01] [ 1.45013759e-01 -1.35920001e-03 9.89428705e-01 2.53814462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.23, Y:68.99, Z:25.39 [[ 6.95476592e-01 -7.11100427e-01 -1.03191530e-01 1.55230768e+02] [ 7.03764565e-01 7.03088254e-01 -1.01893789e-01 6.89917276e+01] [ 1.45009469e-01 -1.75779740e-03 9.89428706e-01 2.53906210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:69.03, Z:25.40 [[ 6.93705580e-01 -7.12832140e-01 -1.03164476e-01 1.55270138e+02] [ 7.05511206e-01 7.01331600e-01 -1.01921173e-01 6.90336486e+01] [ 1.45005195e-01 -2.08040728e-03 9.89428707e-01 2.53999824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:69.08, Z:25.41 [[ 6.94426138e-01 -7.12134110e-01 -1.03137523e-01 1.55309702e+02] [ 7.04801461e-01 7.02040893e-01 -1.01948440e-01 6.90753693e+01] [ 1.45007721e-01 -1.89581561e-03 9.89428707e-01 2.54090224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:69.13, Z:25.40 [[ 6.94201175e-01 -7.12357369e-01 -1.03110171e-01 1.55344419e+02] [ 7.05023063e-01 7.01814332e-01 -1.01976097e-01 6.91255719e+01] [ 1.45007620e-01 -1.90312221e-03 9.89428708e-01 2.54041077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:69.16, Z:25.42 [[ 7.02620017e-01 -7.04058655e-01 -1.03085029e-01 1.55386833e+02] [ 6.96630679e-01 7.10141810e-01 -1.02001506e-01 6.91623866e+01] [ 1.45020032e-01 -1.43893691e-04 9.89428709e-01 2.54244868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.43, Y:69.21, Z:25.43 [[ 7.07140400e-01 -6.99522017e-01 -1.03060189e-01 1.55426118e+02] [ 6.92042127e-01 7.14610570e-01 -1.02026598e-01 6.92050124e+01] [ 1.45017752e-01 8.25136634e-04 9.89428709e-01 2.54333486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:69.25, Z:25.44 [[ 7.09607752e-01 -6.97023158e-01 -1.03031815e-01 1.55465736e+02] [ 6.89512805e-01 7.17047292e-01 -1.02055243e-01 6.92463816e+01] [ 1.45013552e-01 1.37743579e-03 9.89428710e-01 2.54416114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:69.29, Z:25.45 [[ 7.11242051e-01 -6.95359683e-01 -1.03003187e-01 1.55505869e+02] [ 6.87827748e-01 7.18659739e-01 -1.02084129e-01 6.92869510e+01] [ 1.45009431e-01 1.75807528e-03 9.89428711e-01 2.54499420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.55, Y:69.33, Z:25.46 [[ 7.11741887e-01 -6.94852237e-01 -1.02975019e-01 1.55547130e+02] [ 6.87310904e-01 7.19150020e-01 -1.02112535e-01 6.93274933e+01] [ 1.45007611e-01 1.90191484e-03 9.89428712e-01 2.54587920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:69.37, Z:25.47 [[ 7.11789178e-01 -6.94807953e-01 -1.02946953e-01 1.55588250e+02] [ 6.87262068e-01 7.19192674e-01 -1.02140823e-01 6.93675853e+01] [ 1.45006950e-01 1.95119600e-03 9.89428713e-01 2.54666561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:69.41, Z:25.47 [[ 7.11147410e-01 -6.95469017e-01 -1.02918452e-01 1.55629102e+02] [ 6.87925860e-01 7.18553684e-01 -1.02169533e-01 6.94077058e+01] [ 1.45008178e-01 1.85733370e-03 9.89428713e-01 2.54726002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.67, Y:69.45, Z:25.48 [[ 7.10593247e-01 -6.96038736e-01 -1.02894680e-01 1.55670629e+02] [ 6.88498053e-01 7.18002038e-01 -1.02193468e-01 6.94480848e+01] [ 1.45009202e-01 1.77520142e-03 9.89428714e-01 2.54806482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:69.49, Z:25.49 [[ 7.10202314e-01 -6.96441754e-01 -1.02866694e-01 1.55711850e+02] [ 6.88901196e-01 7.17611232e-01 -1.02221631e-01 6.94885433e+01] [ 1.45009707e-01 1.73304981e-03 9.89428715e-01 2.54890107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:69.54, Z:25.49 [[ 7.05281228e-01 -7.01428972e-01 -1.02838639e-01 1.55748619e+02] [ 6.93936695e-01 7.12738965e-01 -1.02249847e-01 6.95364118e+01] [ 1.45018111e-01 7.51392457e-04 9.89428715e-01 2.54854259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.79, Y:69.57, Z:25.51 [[ 7.07601164e-01 -6.99092311e-01 -1.02813101e-01 1.55793395e+02] [ 6.91571677e-01 7.15030303e-01 -1.02275520e-01 6.95692171e+01] [ 1.45014512e-01 1.26764825e-03 9.89428716e-01 2.55079322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:69.61, Z:25.52 [[ 7.05378717e-01 -7.01335986e-01 -1.02804180e-01 1.55833869e+02] [ 6.93837677e-01 7.12830388e-01 -1.02284486e-01 6.96098864e+01] [ 1.45017735e-01 8.19886354e-04 9.89428716e-01 2.55183040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.87, Y:69.65, Z:25.53 [[ 7.03519370e-01 -7.03205103e-01 -1.02776838e-01 1.55874039e+02] [ 6.95722579e-01 7.10986890e-01 -1.02311953e-01 6.96509131e+01] [ 1.45019272e-01 4.74273911e-04 9.89428717e-01 2.55264022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:69.69, Z:25.54 [[ 7.00162765e-01 -7.06551377e-01 -1.02748503e-01 1.55915328e+02] [ 6.99100366e-01 7.07661728e-01 -1.02340401e-01 6.96909306e+01] [ 1.45019934e-01 -1.76578441e-04 9.89428718e-01 2.55353309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:155.96, Y:69.73, Z:25.54 [[ 6.96971427e-01 -7.09703749e-01 -1.02720096e-01 1.55956784e+02] [ 7.02282453e-01 7.04499797e-01 -1.02368905e-01 6.97316452e+01] [ 1.45017883e-01 -7.90319321e-04 9.89428719e-01 2.55387799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:69.77, Z:25.55 [[ 6.94530109e-01 -7.12097808e-01 -1.02687094e-01 1.55997162e+02] [ 7.04697567e-01 7.02079176e-01 -1.02402000e-01 6.97722057e+01] [ 1.45014710e-01 -1.24207329e-03 9.89428720e-01 2.55500504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:69.81, Z:25.56 [[ 6.93846967e-01 -7.12768231e-01 -1.02653957e-01 1.56037780e+02] [ 7.05370372e-01 7.01398365e-01 -1.02435208e-01 6.98122259e+01] [ 1.45013880e-01 -1.33470136e-03 9.89428721e-01 2.55587039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.08, Y:69.85, Z:25.57 [[ 6.91234916e-01 -7.15305707e-01 -1.02625709e-01 1.56078525e+02] [ 7.07931366e-01 6.98809282e-01 -1.02463501e-01 6.98513615e+01] [ 1.45008525e-01 -1.82560888e-03 9.89428721e-01 2.55668760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:69.89, Z:25.58 [[ 6.89526353e-01 -7.16956462e-01 -1.02600393e-01 1.56119825e+02] [ 7.09596483e-01 6.97114674e-01 -1.02488844e-01 6.98918581e+01] [ 1.45004279e-01 -2.13611949e-03 9.89428722e-01 2.55760677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:69.93, Z:25.58 [[ 6.87860572e-01 -7.18558857e-01 -1.02571935e-01 1.56160176e+02] [ 7.11212310e-01 6.95461897e-01 -1.02517317e-01 6.99320417e+01] [ 1.44999599e-01 -2.43280241e-03 9.89428723e-01 2.55848430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.20, Y:69.97, Z:25.59 [[ 6.87146466e-01 -7.19245443e-01 -1.02546217e-01 1.56200049e+02] [ 7.11902654e-01 6.94751421e-01 -1.02543036e-01 6.99732573e+01] [ 1.44997742e-01 -2.54083904e-03 9.89428724e-01 2.55935915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.24, Y:70.01, Z:25.60 [[ 6.86173132e-01 -7.20178218e-01 -1.02517151e-01 1.56239754e+02] [ 7.12841429e-01 6.93783874e-01 -1.02572087e-01 7.00136578e+01] [ 1.44994929e-01 -2.69626229e-03 9.89428724e-01 2.56015674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.28, Y:70.05, Z:25.61 [[ 6.85595749e-01 -7.20731492e-01 -1.02491880e-01 1.56279880e+02] [ 7.13397072e-01 6.93208774e-01 -1.02597332e-01 7.00546060e+01] [ 1.44993399e-01 -2.77711265e-03 9.89428725e-01 2.56103728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:70.10, Z:25.62 [[ 6.86570236e-01 -7.19807239e-01 -1.02463893e-01 1.56318484e+02] [ 7.12458402e-01 6.94169344e-01 -1.02625276e-01 7.00979868e+01] [ 1.44997710e-01 -2.54180140e-03 9.89428726e-01 2.56189830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:70.14, Z:25.63 [[ 6.89800442e-01 -7.16716281e-01 -1.02435943e-01 1.56357227e+02] [ 7.09329247e-01 6.97362422e-01 -1.02653167e-01 7.01410811e+01] [ 1.45008173e-01 -1.85061011e-03 9.89428727e-01 2.56290845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:70.18, Z:25.64 [[ 6.92868085e-01 -7.13755009e-01 -1.02409007e-01 1.56396575e+02] [ 7.06331680e-01 7.00394438e-01 -1.02680032e-01 7.01832388e+01] [ 1.45015086e-01 -1.19100853e-03 9.89428727e-01 2.56382162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:70.23, Z:25.65 [[ 6.98609380e-01 -7.08140575e-01 -1.02380954e-01 1.56434148e+02] [ 7.00652655e-01 7.06071473e-01 -1.02707996e-01 7.02276625e+01] [ 1.45019970e-01 1.92823284e-05 9.89428728e-01 2.56465491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:156.47, Y:70.27, Z:25.65 [[ 7.01494324e-01 -7.05286927e-01 -1.02352644e-01 1.56473225e+02] [ 6.97764535e-01 7.08921665e-01 -1.02736200e-01 7.02708685e+01] [ 1.45018505e-01 6.50816096e-04 9.89428729e-01 2.56537444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.51, Y:70.31, Z:25.66 [[ 7.04255542e-01 -7.02533844e-01 -1.02324625e-01 1.56512511e+02] [ 6.94978364e-01 7.11649221e-01 -1.02764099e-01 7.03128627e+01] [ 1.45014497e-01 1.25878585e-03 9.89428730e-01 2.56608210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:70.36, Z:25.67 [[ 7.05318891e-01 -7.01470280e-01 -1.02297158e-01 1.56552200e+02] [ 6.93899687e-01 7.12697093e-01 -1.02791434e-01 7.03551664e+01] [ 1.45012023e-01 1.51677439e-03 9.89428730e-01 2.56688687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.59, Y:70.40, Z:25.68 [[ 7.05650685e-01 -7.01140695e-01 -1.02268452e-01 1.56591895e+02] [ 6.93562518e-01 7.13021096e-01 -1.02819987e-01 7.03958530e+01] [ 1.45010841e-01 1.62542933e-03 9.89428731e-01 2.56792818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.63, Y:70.44, Z:25.69 [[ 7.06266435e-01 -7.00522272e-01 -1.02255900e-01 1.56631654e+02] [ 6.92935835e-01 7.13628343e-01 -1.02832468e-01 7.04369035e+01] [ 1.45009143e-01 1.77034289e-03 9.89428731e-01 2.56881744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:70.48, Z:25.70 [[ 7.07803291e-01 -6.98973657e-01 -1.02226844e-01 1.56671289e+02] [ 6.91366944e-01 7.15144246e-01 -1.02861345e-01 7.04775564e+01] [ 1.45004310e-01 2.12933743e-03 9.89428732e-01 2.56966951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.71, Y:70.52, Z:25.70 [[ 7.08486909e-01 -6.98284565e-01 -1.02200620e-01 1.56711480e+02] [ 6.90666956e-01 7.15816555e-01 -1.02887394e-01 7.05183366e+01] [ 1.45001575e-01 2.30778075e-03 9.89428733e-01 2.57036633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.75, Y:70.56, Z:25.71 [[ 7.08302191e-01 -6.98476088e-01 -1.02172210e-01 1.56753054e+02] [ 6.90856393e-01 7.15629669e-01 -1.02915599e-01 7.05577916e+01] [ 1.45001550e-01 2.30901938e-03 9.89428734e-01 2.57110953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:70.60, Z:25.72 [[ 7.07107999e-01 -6.99689236e-01 -1.02143285e-01 1.56794580e+02] [ 6.92077969e-01 7.14444229e-01 -1.02944299e-01 7.05967874e+01] [ 1.45004699e-01 2.10161971e-03 9.89428734e-01 2.57194492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:70.64, Z:25.73 [[ 7.04048199e-01 -7.02771769e-01 -1.02117450e-01 1.56836203e+02] [ 6.95188910e-01 7.11413786e-01 -1.02969921e-01 7.06362806e+01] [ 1.45012115e-01 1.50486852e-03 9.89428735e-01 2.57286333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.88, Y:70.67, Z:25.74 [[ 7.02740546e-01 -7.04083388e-01 -1.02089707e-01 1.56877123e+02] [ 6.96510281e-01 7.10116160e-01 -1.02997419e-01 7.06749533e+01] [ 1.45014322e-01 1.27393200e-03 9.89428736e-01 2.57374314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:70.71, Z:25.75 [[ 7.01322194e-01 -7.05499942e-01 -1.02063766e-01 1.56920132e+02] [ 6.97937993e-01 7.08709246e-01 -1.03023118e-01 7.07136589e+01] [ 1.45016339e-01 1.01821898e-03 9.89428737e-01 2.57457697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:70.75, Z:25.75 [[ 7.00347078e-01 -7.06471976e-01 -1.02035865e-01 1.56962487e+02] [ 6.98916254e-01 7.07740499e-01 -1.03050745e-01 7.07527525e+01] [ 1.45017377e-01 8.56763156e-04 9.89428737e-01 2.57511112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.00, Y:70.79, Z:25.76 [[ 6.99324222e-01 -7.07488655e-01 -1.02007041e-01 1.57004309e+02] [ 6.99939521e-01 7.06724367e-01 -1.03079269e-01 7.07930428e+01] [ 1.45018275e-01 6.87069766e-04 9.89428738e-01 2.57577927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:157.05, Y:70.83, Z:25.77 [[ 6.99774254e-01 -7.07047682e-01 -1.01978279e-01 1.57046937e+02] [ 6.99489739e-01 7.07165401e-01 -1.03107717e-01 7.08314142e+01] [ 1.45017582e-01 8.19366028e-04 9.89428739e-01 2.57667200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:70.87, Z:25.78 [[ 7.02041322e-01 -7.04800819e-01 -1.01949926e-01 1.57085998e+02] [ 6.97215151e-01 7.09404011e-01 -1.03135744e-01 7.08732819e+01] [ 1.45013843e-01 1.32452084e-03 9.89428740e-01 2.57763064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:70.91, Z:25.78 [[ 7.04438741e-01 -7.02408873e-01 -1.01920731e-01 1.57125348e+02] [ 6.94794034e-01 7.11771254e-01 -1.03164587e-01 7.09139879e+01] [ 1.45007968e-01 1.85921562e-03 9.89428741e-01 2.57846864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:157.17, Y:70.96, Z:25.79 [[ 7.06921556e-01 -6.99912906e-01 -1.01901119e-01 1.57165088e+02] [ 6.92269389e-01 7.14224170e-01 -1.03183955e-01 7.09563690e+01] [ 1.45000024e-01 2.39993673e-03 9.89428741e-01 2.57916980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:71.00, Z:25.80 [[ 7.08048567e-01 -6.98776895e-01 -1.01872849e-01 1.57204453e+02] [ 6.91117650e-01 7.15334681e-01 -1.03211859e-01 7.09977646e+01] [ 1.44995244e-01 2.67288481e-03 9.89428742e-01 2.57996015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:71.04, Z:25.81 [[ 7.09419409e-01 -6.97389284e-01 -1.01844437e-01 1.57245242e+02] [ 6.89711767e-01 7.16686266e-01 -1.03239886e-01 7.10378328e+01] [ 1.44988900e-01 2.99707234e-03 9.89428742e-01 2.58085848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:71.08, Z:25.82 [[ 7.10062480e-01 -6.96738825e-01 -1.01814951e-01 1.57285763e+02] [ 6.89050486e-01 7.17317887e-01 -1.03268957e-01 7.10792502e+01] [ 1.44985178e-01 3.17177018e-03 9.89428743e-01 2.58163869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:71.12, Z:25.82 [[ 7.07019654e-01 -6.99830677e-01 -1.01785224e-01 1.57325551e+02] [ 6.92169857e-01 7.14304109e-01 -1.03298249e-01 7.11202900e+01] [ 1.44996888e-01 2.58122872e-03 9.89428744e-01 2.58222610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:71.16, Z:25.83 [[ 7.03021776e-01 -7.03850359e-01 -1.01759785e-01 1.57366393e+02] [ 6.96227570e-01 7.10346018e-01 -1.03323303e-01 7.11604950e+01] [ 1.45008802e-01 1.79056423e-03 9.89428745e-01 2.58311147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:157.41, Y:71.20, Z:25.84 [[ 6.99466152e-01 -7.07388068e-01 -1.01731133e-01 1.57407178e+02] [ 6.99798223e-01 7.06824528e-01 -1.03351506e-01 7.12011706e+01] [ 1.45015683e-01 1.09961422e-03 9.89428746e-01 2.58369621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:71.24, Z:25.85 [[ 6.97691428e-01 -7.09142559e-01 -1.01703005e-01 1.57447736e+02] [ 7.01567186e-01 7.05064699e-01 -1.03379179e-01 7.12423541e+01] [ 1.45017774e-01 7.75275766e-04 9.89428746e-01 2.58452999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:71.28, Z:25.86 [[ 6.95871973e-01 -7.10932189e-01 -1.01674082e-01 1.57490292e+02] [ 7.03371623e-01 7.03260425e-01 -1.03407617e-01 7.12811428e+01] [ 1.45019162e-01 4.43797929e-04 9.89428747e-01 2.58566617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:71.32, Z:25.87 [[ 6.94742307e-01 -7.12040112e-01 -1.01646471e-01 1.57531525e+02] [ 7.04487358e-01 7.02138743e-01 -1.03434751e-01 7.13206321e+01] [ 1.45019617e-01 2.51844258e-04 9.89428748e-01 2.58650611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:71.36, Z:25.87 [[ 6.94988692e-01 -7.11803701e-01 -1.01617961e-01 1.57572628e+02] [ 7.04244335e-01 7.02378370e-01 -1.03462753e-01 7.13619042e+01] [ 1.45019428e-01 3.41570192e-04 9.89428749e-01 2.58717040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:71.40, Z:25.88 [[ 6.96576699e-01 -7.10253858e-01 -1.01589167e-01 1.57612818e+02] [ 7.02673929e-01 7.03945281e-01 -1.03491018e-01 7.14019813e+01] [ 1.45018109e-01 7.05372545e-04 9.89428750e-01 2.58785269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:157.65, Y:71.44, Z:25.89 [[ 6.96831664e-01 -7.10006505e-01 -1.01569655e-01 1.57653452e+02] [ 7.02421169e-01 7.04194680e-01 -1.03510164e-01 7.14436051e+01] [ 1.45017700e-01 7.84484075e-04 9.89428750e-01 2.58858121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters Centerline goodness : 0.999926 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:71.48, Z:25.89 [[ 6.97112683e-01 -7.09734747e-01 -1.01540609e-01 1.57693182e+02] [ 7.02142391e-01 7.04468459e-01 -1.03538650e-01 7.14845746e+01] [ 1.45017134e-01 8.82140389e-04 9.89428751e-01 2.58948861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:71.53, Z:25.90 [[ 6.97559138e-01 -7.09299653e-01 -1.01514783e-01 1.57733414e+02] [ 7.01699025e-01 7.04906366e-01 -1.03563965e-01 7.15257163e+01] [ 1.45016301e-01 1.00916556e-03 9.89428751e-01 2.59038492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:71.57, Z:25.91 [[ 6.98207417e-01 -7.08665656e-01 -1.01485913e-01 1.57773664e+02] [ 7.01054246e-01 7.05543472e-01 -1.03592248e-01 7.15670788e+01] [ 1.45014992e-01 1.18174543e-03 9.89428752e-01 2.59111765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:157.81, Y:71.61, Z:25.92 [[ 6.99694569e-01 -7.07201476e-01 -1.01457296e-01 1.57813279e+02] [ 6.99570652e-01 7.07010427e-01 -1.03620267e-01 7.16081650e+01] [ 1.45011772e-01 1.52599133e-03 9.89428753e-01 2.59161008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:71.65, Z:25.92 [[ 7.01374697e-01 -7.05538615e-01 -1.01433710e-01 1.57853205e+02] [ 6.97887108e-01 7.08668921e-01 -1.03643351e-01 7.16496405e+01] [ 1.45007304e-01 1.90354583e-03 9.89428754e-01 2.59235552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:157.89, Y:71.69, Z:25.93 [[ 7.02702570e-01 -7.04220183e-01 -1.01405284e-01 1.57891922e+02] [ 6.96550981e-01 7.09978185e-01 -1.03671155e-01 7.16903232e+01] [ 1.45002860e-01 2.21603710e-03 9.89428754e-01 2.59327127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:157.93, Y:71.74, Z:25.93 [[ 7.01080245e-01 -7.05838984e-01 -1.01379575e-01 1.57926827e+02] [ 6.98182948e-01 7.08369713e-01 -1.03696291e-01 7.17392746e+01] [ 1.45007105e-01 1.91793031e-03 9.89428755e-01 2.59345340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:71.78, Z:25.95 [[ 7.05264731e-01 -7.01661813e-01 -1.01352653e-01 1.57969066e+02] [ 6.93958831e-01 7.12504571e-01 -1.03722597e-01 7.17760193e+01] [ 1.44992414e-01 2.81732122e-03 9.89428756e-01 2.59499708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:71.83, Z:25.95 [[ 6.95043515e-01 -7.11791149e-01 -1.01330508e-01 1.58001856e+02] [ 7.04190556e-01 7.02390772e-01 -1.03744228e-01 7.18267691e+01] [ 1.45017837e-01 7.50765928e-04 9.89428756e-01 2.59487464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:158.05, Y:71.86, Z:25.97 [[ 6.97911479e-01 -7.08981406e-01 -1.01316013e-01 1.58045875e+02] [ 7.01349179e-01 7.05225870e-01 -1.03758381e-01 7.18613937e+01] [ 1.45013436e-01 1.35626235e-03 9.89428756e-01 2.59667512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:71.91, Z:25.97 [[ 6.94685071e-01 -7.12144335e-01 -1.01306951e-01 1.58084132e+02] [ 7.04544123e-01 7.02032721e-01 -1.03767228e-01 7.19064789e+01] [ 1.45018038e-01 7.10327550e-04 9.89428756e-01 2.59706479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:158.12, Y:71.95, Z:25.98 [[ 6.94279011e-01 -7.12543834e-01 -1.01281486e-01 1.58124751e+02] [ 7.04944224e-01 7.01627284e-01 -1.03792078e-01 7.19461321e+01] [ 1.45018259e-01 6.62862317e-04 9.89428757e-01 2.59812229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:158.16, Y:71.99, Z:25.99 [[ 6.93471525e-01 -7.13331799e-01 -1.01266915e-01 1.58164616e+02] [ 7.05738463e-01 7.00826280e-01 -1.03806292e-01 7.19872592e+01] [ 1.45018844e-01 5.18750054e-04 9.89428757e-01 2.59923118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:158.20, Y:72.03, Z:26.00 [[ 6.93794286e-01 -7.13021950e-01 -1.01238273e-01 1.58204412e+02] [ 7.05421254e-01 7.01141434e-01 -1.03834218e-01 7.20301011e+01] [ 1.45018425e-01 6.23958170e-04 9.89428758e-01 2.60011461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:158.25, Y:72.07, Z:26.01 [[ 6.94049250e-01 -7.12777332e-01 -1.01213207e-01 1.58245506e+02] [ 7.05170484e-01 7.01390027e-01 -1.03858646e-01 7.20708565e+01] [ 1.45018023e-01 7.10449560e-04 9.89428759e-01 2.60110301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:158.29, Y:72.11, Z:26.02 [[ 6.93775224e-01 -7.13047990e-01 -1.01185484e-01 1.58285118e+02] [ 7.05440067e-01 7.01114886e-01 -1.03885648e-01 7.21128438e+01] [ 1.45018102e-01 6.92993766e-04 9.89428759e-01 2.60191390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:72.15, Z:26.03 [[ 6.93561341e-01 -7.13260164e-01 -1.01156333e-01 1.58325030e+02] [ 7.05650348e-01 7.00899038e-01 -1.03914026e-01 7.21545193e+01] [ 1.45018112e-01 6.89750001e-04 9.89428760e-01 2.60275163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:158.36, Y:72.19, Z:26.04 [[ 6.92111162e-01 -7.14671623e-01 -1.01126702e-01 1.58364301e+02] [ 7.07072558e-01 6.99459992e-01 -1.03942855e-01 7.21948761e+01] [ 1.45019091e-01 4.36094183e-04 9.89428761e-01 2.60365361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:72.24, Z:26.04 [[ 6.89645469e-01 -7.17054944e-01 -1.01100616e-01 1.58402451e+02] [ 7.09477555e-01 6.97016648e-01 -1.03968221e-01 7.22381102e+01] [ 1.45019739e-01 -2.74046542e-05 9.89428762e-01 2.60432233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:72.28, Z:26.05 [[ 6.88181934e-01 -7.18463790e-01 -1.01071303e-01 1.58441566e+02] [ 7.10897307e-01 6.95564306e-01 -1.03996710e-01 7.22794150e+01] [ 1.45019461e-01 -2.82660021e-04 9.89428763e-01 2.60514739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:72.32, Z:26.06 [[ 6.85925930e-01 -7.20621593e-01 -1.01045231e-01 1.58480017e+02] [ 7.13074602e-01 6.93328225e-01 -1.04022036e-01 7.23224880e+01] [ 1.45018036e-01 -7.01376592e-04 9.89428763e-01 2.60607247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:72.36, Z:26.07 [[ 6.84998166e-01 -7.21507569e-01 -1.01016536e-01 1.58518663e+02] [ 7.13966043e-01 6.92406029e-01 -1.04049894e-01 7.23649160e+01] [ 1.45017245e-01 -8.48389473e-04 9.89428764e-01 2.60693138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:72.41, Z:26.08 [[ 6.84657988e-01 -7.21834314e-01 -1.00988432e-01 1.58557017e+02] [ 7.14292301e-01 6.92065353e-01 -1.04077164e-01 7.24057819e+01] [ 1.45017063e-01 -8.77997705e-04 9.89428765e-01 2.60781242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:158.60, Y:72.45, Z:26.09 [[ 6.85799108e-01 -7.20753873e-01 -1.00962556e-01 1.58595143e+02] [ 7.13196495e-01 6.93190795e-01 -1.04102260e-01 7.24490463e+01] [ 1.45018422e-01 -6.12903713e-04 9.89428765e-01 2.60877875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:72.49, Z:26.10 [[ 6.89810680e-01 -7.16919533e-01 -1.00933688e-01 1.58632557e+02] [ 7.09316971e-01 6.97155885e-01 -1.04130242e-01 7.24935755e+01] [ 1.45019519e-01 2.36175390e-04 9.89428766e-01 2.60952641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:72.54, Z:26.10 [[ 6.96147922e-01 -7.10771712e-01 -1.00904133e-01 1.58670678e+02] [ 7.03100137e-01 7.03421017e-01 -1.04158874e-01 7.25369137e+01] [ 1.45011269e-01 1.56427429e-03 9.89428767e-01 2.61028717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:158.71, Y:72.58, Z:26.11 [[ 6.99667168e-01 -7.07311881e-01 -1.00874960e-01 1.58709321e+02] [ 6.99600274e-01 7.06897801e-01 -1.04187119e-01 7.25786723e+01] [ 1.45001075e-01 2.32415649e-03 9.89428768e-01 2.61099265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:72.62, Z:26.12 [[ 7.02422751e-01 -7.04579161e-01 -1.00848825e-01 1.58750053e+02] [ 6.96835798e-01 7.09619366e-01 -1.04212411e-01 7.26196595e+01] [ 1.44990172e-01 2.92609753e-03 9.89428768e-01 2.61178295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:72.66, Z:26.13 [[ 7.02989040e-01 -7.04018317e-01 -1.00819736e-01 1.58790850e+02] [ 6.96265181e-01 7.10175124e-01 -1.04240546e-01 7.26597243e+01] [ 1.44986922e-01 3.08268994e-03 9.89428769e-01 2.61263209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:72.70, Z:26.13 [[ 7.01718563e-01 -7.05288774e-01 -1.00790884e-01 1.58833632e+02] [ 6.97544647e-01 7.08914353e-01 -1.04268435e-01 7.26984694e+01] [ 1.44991461e-01 2.86095508e-03 9.89428770e-01 2.61347022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:72.74, Z:26.14 [[ 7.00618451e-01 -7.06385937e-01 -1.00760581e-01 1.58875635e+02] [ 6.98648870e-01 7.07821830e-01 -1.04297711e-01 7.27373645e+01] [ 1.44994975e-01 2.67663519e-03 9.89428771e-01 2.61412245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:158.92, Y:72.78, Z:26.15 [[ 6.99623527e-01 -7.07374913e-01 -1.00735558e-01 1.58918321e+02] [ 6.99644552e-01 7.06834102e-01 -1.04321874e-01 7.27759261e+01] [ 1.44998004e-01 2.50695344e-03 9.89428772e-01 2.61504881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:72.81, Z:26.16 [[ 6.99148996e-01 -7.07848130e-01 -1.00706037e-01 1.58959876e+02] [ 7.00118547e-01 7.06360405e-01 -1.04350364e-01 7.28139130e+01] [ 1.44998967e-01 2.45028832e-03 9.89428772e-01 2.61591071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:159.00, Y:72.86, Z:26.16 [[ 6.95175031e-01 -7.11753225e-01 -1.00692717e-01 1.58996972e+02] [ 7.04062296e-01 7.02427649e-01 -1.04363216e-01 7.28604187e+01] [ 1.45010204e-01 1.65675617e-03 9.89428773e-01 2.61593082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:72.89, Z:26.18 [[ 6.98205456e-01 -7.08784440e-01 -1.00666575e-01 1.59042423e+02] [ 7.01059043e-01 7.05421346e-01 -1.04388426e-01 7.28944131e+01] [ 1.45001243e-01 2.31135590e-03 9.89428773e-01 2.61792534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:72.94, Z:26.19 [[ 6.97033976e-01 -7.09940566e-01 -1.00638114e-01 1.59082775e+02] [ 7.02223178e-01 7.04258430e-01 -1.04415858e-01 7.29361692e+01] [ 1.45004293e-01 2.11098428e-03 9.89428774e-01 2.61858340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:72.98, Z:26.19 [[ 6.95572384e-01 -7.11376761e-01 -1.00608961e-01 1.59122971e+02] [ 7.03670230e-01 7.02808417e-01 -1.04443940e-01 7.29772746e+01] [ 1.45007816e-01 1.85278981e-03 9.89428775e-01 2.61926182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:159.16, Y:73.02, Z:26.20 [[ 6.92348351e-01 -7.14518980e-01 -1.00580258e-01 1.59163776e+02] [ 7.06841277e-01 6.99614965e-01 -1.04471574e-01 7.30175780e+01] [ 1.45014376e-01 1.23644427e-03 9.89428776e-01 2.62008427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:159.20, Y:73.06, Z:26.21 [[ 6.89410371e-01 -7.17358147e-01 -1.00551629e-01 1.59203991e+02] [ 7.09706353e-01 6.96704260e-01 -1.04499122e-01 7.30592198e+01] [ 1.45018044e-01 6.80648867e-04 9.89428776e-01 2.62108737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:73.11, Z:26.21 [[ 6.81736599e-01 -7.24658742e-01 -1.00523218e-01 1.59240248e+02] [ 7.17081023e-01 6.89107415e-01 -1.04526445e-01 7.31066113e+01] [ 1.45017297e-01 -8.23788661e-04 9.89428777e-01 2.62088156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:73.14, Z:26.23 [[ 6.82371871e-01 -7.24062859e-01 -1.00506741e-01 1.59284158e+02] [ 7.16476370e-01 6.89733660e-01 -1.04542285e-01 7.31410410e+01] [ 1.45018069e-01 -6.73990500e-04 9.89428777e-01 2.62292594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:159.32, Y:73.18, Z:26.24 [[ 6.82122069e-01 -7.24301463e-01 -1.00483202e-01 1.59324285e+02] [ 7.16714217e-01 6.89483076e-01 -1.04564906e-01 7.31825528e+01] [ 1.45017982e-01 -6.91709161e-04 9.89428778e-01 2.62389885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters Centerline goodness : 0.999878 with order 1 Centerline is valid? [True, True] Translation: X:159.36, Y:73.22, Z:26.25 [[ 6.83721139e-01 -7.22796184e-01 -1.00454367e-01 1.59364309e+02] [ 7.15188662e-01 6.91061188e-01 -1.04592600e-01 7.32247306e+01] [ 1.45019247e-01 -3.31652252e-04 9.89428779e-01 2.62464477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:73.27, Z:26.25 [[ 6.86585736e-01 -7.20079520e-01 -1.00426650e-01 1.59404669e+02] [ 7.12439062e-01 6.93891493e-01 -1.04619207e-01 7.32668810e+01] [ 1.45019346e-01 2.82186834e-04 9.89428779e-01 2.62522029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:73.31, Z:26.26 [[ 6.88968396e-01 -7.17804133e-01 -1.00398089e-01 1.59445191e+02] [ 7.10135553e-01 6.96244629e-01 -1.04646609e-01 7.33083074e+01] [ 1.45017398e-01 8.01953737e-04 9.89428780e-01 2.62607295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:73.35, Z:26.27 [[ 6.93656594e-01 -7.13278770e-01 -1.00368948e-01 1.59485470e+02] [ 7.05558682e-01 7.00878152e-01 -1.04674550e-01 7.33498897e+01] [ 1.45008538e-01 1.79200912e-03 9.89428781e-01 2.62710419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:73.39, Z:26.27 [[ 6.96497544e-01 -7.10508944e-01 -1.00340479e-01 1.59524224e+02] [ 7.02756211e-01 7.03684044e-01 -1.04701834e-01 7.33914961e+01] [ 1.44999584e-01 2.40967495e-03 9.89428782e-01 2.62740704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:73.43, Z:26.28 [[ 6.97691509e-01 -7.09341283e-01 -1.00307040e-01 1.59563531e+02] [ 7.01571921e-01 7.04860027e-01 -1.04733860e-01 7.34326652e+01] [ 1.44994473e-01 2.69932172e-03 9.89428783e-01 2.62822952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:73.47, Z:26.30 [[ 6.95429744e-01 -7.11561783e-01 -1.00286095e-01 1.59602563e+02] [ 7.03812422e-01 7.02619878e-01 -1.04753912e-01 7.34735827e+01] [ 1.45001884e-01 2.26638713e-03 9.89428783e-01 2.62951700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:159.64, Y:73.51, Z:26.30 [[ 6.92320468e-01 -7.14592049e-01 -1.00252546e-01 1.59642114e+02] [ 7.06869515e-01 6.99539406e-01 -1.04786009e-01 7.35143458e+01] [ 1.45009856e-01 1.68002990e-03 9.89428784e-01 2.63021856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:159.68, Y:73.56, Z:26.30 [[ 6.83383818e-01 -7.23146584e-01 -1.00227616e-01 1.59677841e+02] [ 7.15510926e-01 6.90694586e-01 -1.04809850e-01 7.35636549e+01] [ 1.45019556e-01 -8.85990453e-05 9.89428785e-01 2.62975163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:73.60, Z:26.32 [[ 6.80986484e-01 -7.25408329e-01 -1.00200626e-01 1.59723316e+02] [ 7.17793155e-01 6.88318584e-01 -1.04835647e-01 7.35976750e+01] [ 1.45018604e-01 -5.31665044e-04 9.89428786e-01 2.63178456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters Centerline goodness : 0.999878 with order 1 Centerline is valid? [True, True] Translation: X:159.76, Y:73.64, Z:26.33 [[ 6.73857262e-01 -7.32039271e-01 -1.00174330e-01 1.59762972e+02] [ 7.24492497e-01 6.81259745e-01 -1.04860768e-01 7.36389064e+01] [ 1.45006938e-01 -1.91436073e-03 9.89428786e-01 2.63267913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:159.80, Y:73.68, Z:26.34 [[ 6.70683682e-01 -7.34951800e-01 -1.00146149e-01 1.59802212e+02] [ 7.27433151e-01 6.78114729e-01 -1.04887675e-01 7.36801802e+01] [ 1.44997964e-01 -2.50317687e-03 9.89428787e-01 2.63367503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:159.84, Y:73.72, Z:26.35 [[ 6.69750516e-01 -7.35806127e-01 -1.00117878e-01 1.59840902e+02] [ 7.28292927e-01 6.77187071e-01 -1.04914653e-01 7.37219573e+01] [ 1.44995377e-01 -2.64849929e-03 9.89428788e-01 2.63476135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:73.77, Z:26.36 [[ 6.70769435e-01 -7.34881126e-01 -1.00090434e-01 1.59878540e+02] [ 7.27353766e-01 6.78191656e-01 -1.04940829e-01 7.37654311e+01] [ 1.44999532e-01 -2.41005298e-03 9.89428788e-01 2.63568834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:73.81, Z:26.36 [[ 6.76287304e-01 -7.29810347e-01 -1.00061682e-01 1.59913863e+02] [ 7.22223266e-01 6.83648465e-01 -1.04968237e-01 7.38118127e+01] [ 1.45013921e-01 -1.27818909e-03 9.89428789e-01 2.63637825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:73.86, Z:26.37 [[ 6.83314860e-01 -7.23238730e-01 -1.00032698e-01 1.59948855e+02] [ 7.15576802e-01 6.90598083e-01 -1.04995851e-01 7.38585678e+01] [ 1.45019455e-01 1.64146774e-04 9.89428790e-01 2.63710425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:73.90, Z:26.38 [[ 6.87705783e-01 -7.19068879e-01 -1.00003516e-01 1.59985331e+02] [ 7.11358749e-01 6.94937958e-01 -1.05023638e-01 7.39031862e+01] [ 1.45015469e-01 1.08698679e-03 9.89428791e-01 2.63795003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:73.95, Z:26.38 [[ 6.92037711e-01 -7.14904954e-01 -9.99735618e-02 1.60019779e+02] [ 7.07147195e-01 6.99218772e-01 -1.05052145e-01 7.39485235e+01] [ 1.45005690e-01 2.00402187e-03 9.89428792e-01 2.63842126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:73.99, Z:26.39 [[ 6.94635403e-01 -7.12385957e-01 -9.99395060e-02 1.60056306e+02] [ 7.04597502e-01 7.01783158e-01 -1.05084533e-01 7.39927470e+01] [ 1.44996608e-01 2.57831079e-03 9.89428793e-01 2.63943041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:74.04, Z:26.40 [[ 6.94520383e-01 -7.12502981e-01 -9.99046486e-02 1.60094368e+02] [ 7.04710968e-01 7.01664256e-01 -1.05117662e-01 7.40354181e+01] [ 1.44996169e-01 2.60245738e-03 9.89428794e-01 2.64014411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.13, Y:74.08, Z:26.41 [[ 6.93678782e-01 -7.13325949e-01 -9.98791186e-02 1.60132490e+02] [ 7.05538921e-01 7.00828088e-01 -1.05141914e-01 7.40788914e+01] [ 1.44998548e-01 2.46610956e-03 9.89428795e-01 2.64091634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:160.17, Y:74.12, Z:26.42 [[ 6.93184994e-01 -7.13809857e-01 -9.98501523e-02 1.60170905e+02] [ 7.06023860e-01 7.00335422e-01 -1.05169416e-01 7.41211647e+01] [ 1.44999564e-01 2.40527102e-03 9.89428795e-01 2.64176243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:74.16, Z:26.43 [[ 6.92589142e-01 -7.14392112e-01 -9.98207892e-02 1.60209352e+02] [ 7.06608113e-01 6.99741743e-01 -1.05197278e-01 7.41638781e+01] [ 1.45000879e-01 2.32431341e-03 9.89428796e-01 2.64253808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:160.25, Y:74.21, Z:26.43 [[ 6.91772055e-01 -7.15187455e-01 -9.97914254e-02 1.60248079e+02] [ 7.07407663e-01 6.98929231e-01 -1.05225126e-01 7.42058644e+01] [ 1.45002834e-01 2.19858264e-03 9.89428797e-01 2.64322821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:74.25, Z:26.44 [[ 6.89906906e-01 -7.16990483e-01 -9.97652632e-02 1.60287703e+02] [ 7.09225813e-01 6.97080483e-01 -1.05249925e-01 7.42473305e+01] [ 1.45007613e-01 1.85655034e-03 9.89428798e-01 2.64426552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:74.29, Z:26.45 [[ 6.88617866e-01 -7.18232458e-01 -9.97375135e-02 1.60327432e+02] [ 7.10476918e-01 6.95801313e-01 -1.05276215e-01 7.42893766e+01] [ 1.45010287e-01 1.63388127e-03 9.89428798e-01 2.64521024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.37, Y:74.33, Z:26.46 [[ 6.88069298e-01 -7.18762059e-01 -9.97082921e-02 1.60366092e+02] [ 7.11008040e-01 6.95254385e-01 -1.05303884e-01 7.43324433e+01] [ 1.45011064e-01 1.56297209e-03 9.89428799e-01 2.64603845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.40, Y:74.37, Z:26.47 [[ 6.87949243e-01 -7.18880970e-01 -9.96794414e-02 1.60404807e+02] [ 7.11124236e-01 6.95131399e-01 -1.05331187e-01 7.43742498e+01] [ 1.45010895e-01 1.57804344e-03 9.89428800e-01 2.64688799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:74.42, Z:26.48 [[ 6.87474676e-01 -7.19338417e-01 -9.96534581e-02 1.60444159e+02] [ 7.11582901e-01 6.94658145e-01 -1.05355764e-01 7.44167674e+01] [ 1.45011535e-01 1.51772264e-03 9.89428801e-01 2.64768971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:74.46, Z:26.48 [[ 6.85696462e-01 -7.21037660e-01 -9.96245695e-02 1.60483723e+02] [ 7.13295979e-01 6.92894837e-01 -1.05383074e-01 7.44583769e+01] [ 1.45014515e-01 1.19899604e-03 9.89428801e-01 2.64838260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.52, Y:74.50, Z:26.49 [[ 6.83792287e-01 -7.22847812e-01 -9.95949193e-02 1.60523210e+02] [ 7.15121106e-01 6.91006734e-01 -1.05411088e-01 7.45003614e+01] [ 1.45016934e-01 8.56860287e-04 9.89428802e-01 2.64907545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:74.54, Z:26.50 [[ 6.81851158e-01 -7.24683234e-01 -9.95651027e-02 1.60562673e+02] [ 7.16971836e-01 6.89081963e-01 -1.05439244e-01 7.45424259e+01] [ 1.45018569e-01 5.08496038e-04 9.89428803e-01 2.64991082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:74.58, Z:26.51 [[ 6.81887284e-01 -7.24653388e-01 -9.95349150e-02 1.60601720e+02] [ 7.16937515e-01 6.89113312e-01 -1.05467734e-01 7.45843963e+01] [ 1.45018385e-01 5.56791821e-04 9.89428804e-01 2.65088869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.64, Y:74.63, Z:26.52 [[ 6.82886320e-01 -7.23716127e-01 -9.95049877e-02 1.60640809e+02] [ 7.15986222e-01 6.90097335e-01 -1.05495962e-01 7.46259598e+01] [ 1.45017256e-01 7.97548688e-04 9.89428805e-01 2.65175989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:74.67, Z:26.52 [[ 6.84671032e-01 -7.22032095e-01 -9.94747763e-02 1.60679058e+02] [ 7.14280317e-01 6.91858527e-01 -1.05524441e-01 7.46682571e+01] [ 1.45014506e-01 1.19665325e-03 9.89428806e-01 2.65237401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:74.71, Z:26.53 [[ 6.86316026e-01 -7.20472390e-01 -9.94477122e-02 1.60719791e+02] [ 7.12700583e-01 6.93481859e-01 -1.05549941e-01 7.47098300e+01] [ 1.45011002e-01 1.56417341e-03 9.89428806e-01 2.65308491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:74.75, Z:26.54 [[ 6.87416036e-01 -7.19426776e-01 -9.94198598e-02 1.60759598e+02] [ 7.11640277e-01 6.94565900e-01 -1.05576169e-01 7.47513504e+01] [ 1.45007967e-01 1.82357506e-03 9.89428807e-01 2.65374936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:74.79, Z:26.54 [[ 6.89649352e-01 -7.17290280e-01 -9.93902661e-02 1.60800131e+02] [ 7.09477620e-01 6.96770620e-01 -1.05604022e-01 7.47929875e+01] [ 1.45000956e-01 2.31457566e-03 9.89428808e-01 2.65437721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:74.83, Z:26.55 [[ 6.91244238e-01 -7.15757562e-01 -9.93605356e-02 1.60840702e+02] [ 7.07925096e-01 6.98343713e-01 -1.05631987e-01 7.48339350e+01] [ 1.44994699e-01 2.67768578e-03 9.89428809e-01 2.65521184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:74.87, Z:26.56 [[ 6.92965853e-01 -7.14095137e-01 -9.93300640e-02 1.60881175e+02] [ 7.06241537e-01 7.00041943e-01 -1.05660633e-01 7.48739978e+01] [ 1.44986955e-01 3.06819383e-03 9.89428809e-01 2.65607345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:74.91, Z:26.57 [[ 6.94265268e-01 -7.12834713e-01 -9.93096626e-02 1.60922410e+02] [ 7.04965529e-01 7.01324021e-01 -1.05679805e-01 7.49142426e+01] [ 1.44980485e-01 3.35992940e-03 9.89428810e-01 2.65689646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:160.96, Y:74.95, Z:26.58 [[ 6.94365975e-01 -7.12740786e-01 -9.92797300e-02 1.60963297e+02] [ 7.04866631e-01 7.01419182e-01 -1.05707918e-01 7.49532980e+01] [ 1.44979051e-01 3.42101246e-03 9.89428811e-01 2.65772404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:74.99, Z:26.59 [[ 6.92917745e-01 -7.14152500e-01 -9.92532397e-02 1.61005391e+02] [ 7.06289157e-01 6.99983003e-01 -1.05732785e-01 7.49925487e+01] [ 1.44984913e-01 3.16263568e-03 9.89428811e-01 2.65850398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:75.03, Z:26.59 [[ 6.91030977e-01 -7.15982410e-01 -9.92238814e-02 1.61049256e+02] [ 7.08133826e-01 6.98112625e-01 -1.05760329e-01 7.50298417e+01] [ 1.44991979e-01 2.81987643e-03 9.89428812e-01 2.65939024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:161.09, Y:75.07, Z:26.60 [[ 6.90205773e-01 -7.16781940e-01 -9.91949706e-02 1.61089955e+02] [ 7.08937666e-01 6.97292194e-01 -1.05787438e-01 7.50706975e+01] [ 1.44994404e-01 2.69204943e-03 9.89428813e-01 2.66026877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:75.11, Z:26.61 [[ 6.89515186e-01 -7.17450365e-01 -9.91654279e-02 1.61131908e+02] [ 7.09608982e-01 6.96604804e-01 -1.05815124e-01 7.51101976e+01] [ 1.44996213e-01 2.59245675e-03 9.89428814e-01 2.66104432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:75.15, Z:26.62 [[ 6.89147036e-01 -7.17808112e-01 -9.91356562e-02 1.61174895e+02] [ 7.09966399e-01 6.96236289e-01 -1.05843010e-01 7.51478333e+01] [ 1.44996812e-01 2.55841141e-03 9.89428815e-01 2.66173291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:75.19, Z:26.63 [[ 6.89184487e-01 -7.17775567e-01 -9.91109365e-02 1.61217238e+02] [ 7.09930194e-01 6.96269688e-01 -1.05866152e-01 7.51870229e+01] [ 1.44996078e-01 2.59946323e-03 9.89428815e-01 2.66263290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:75.22, Z:26.64 [[ 6.89140084e-01 -7.17822273e-01 -9.90814293e-02 1.61260047e+02] [ 7.09973412e-01 6.96221420e-01 -1.05893761e-01 7.52248484e+01] [ 1.44995514e-01 2.63045499e-03 9.89428816e-01 2.66352057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:75.26, Z:26.65 [[ 6.88442874e-01 -7.18494600e-01 -9.90551318e-02 1.61302126e+02] [ 7.10649118e-01 6.95527953e-01 -1.05918355e-01 7.52640061e+01] [ 1.44997379e-01 2.52529446e-03 9.89428817e-01 2.66454782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:161.34, Y:75.30, Z:26.65 [[ 6.88467241e-01 -7.18475234e-01 -9.90262426e-02 1.61343322e+02] [ 7.10625671e-01 6.95547796e-01 -1.05945357e-01 7.53047380e+01] [ 1.44996600e-01 2.56931768e-03 9.89428817e-01 2.66542680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:161.38, Y:75.35, Z:26.66 [[ 6.88888259e-01 -7.18075651e-01 -9.89965919e-02 1.61383565e+02] [ 7.10218004e-01 6.95959840e-01 -1.05973056e-01 7.53457306e+01] [ 1.44994324e-01 2.69443232e-03 9.89428818e-01 2.66620932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:75.39, Z:26.67 [[ 6.89127827e-01 -7.17849770e-01 -9.89673967e-02 1.61423990e+02] [ 7.09985892e-01 6.96192478e-01 -1.06000314e-01 7.53866462e+01] [ 1.44992659e-01 2.78231094e-03 9.89428819e-01 2.66699095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:75.43, Z:26.68 [[ 6.88814808e-01 -7.18154256e-01 -9.89374788e-02 1.61463898e+02] [ 7.10289494e-01 6.95878473e-01 -1.06028232e-01 7.54274156e+01] [ 1.44993088e-01 2.75956432e-03 9.89428820e-01 2.66781103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:75.47, Z:26.69 [[ 6.87505260e-01 -7.19411705e-01 -9.89106522e-02 1.61504467e+02] [ 7.11556265e-01 6.94579290e-01 -1.06053252e-01 7.54687506e+01] [ 1.44997241e-01 2.53167419e-03 9.89428820e-01 2.66866512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:161.54, Y:75.52, Z:26.68 [[ 6.76871045e-01 -7.29430052e-01 -9.88806721e-02 1.61537368e+02] [ 7.21675258e-01 6.84055262e-01 -1.06081197e-01 7.55213484e+01] [ 1.45018657e-01 4.43556196e-04 9.89428821e-01 2.66797775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:161.58, Y:75.56, Z:26.69 [[ 6.74544264e-01 -7.31585991e-01 -9.88532975e-02 1.61577501e+02] [ 7.23850420e-01 6.81749175e-01 -1.06106700e-01 7.55615179e+01] [ 1.45019330e-01 1.86652433e-05 9.89428822e-01 2.66906731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:75.60, Z:26.70 [[ 6.73249418e-01 -7.32780402e-01 -9.88337147e-02 1.61616751e+02] [ 7.25054936e-01 6.80465163e-01 -1.06124938e-01 7.56038617e+01] [ 1.45019174e-01 -2.11320012e-04 9.89428822e-01 2.66987572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.66, Y:75.64, Z:26.72 [[ 6.79149051e-01 -7.27319948e-01 -9.88041487e-02 1.61664717e+02] [ 7.19532462e-01 6.86297816e-01 -1.06152457e-01 7.56366633e+01] [ 1.45015871e-01 1.00054834e-03 9.89428823e-01 2.67213245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:161.70, Y:75.69, Z:26.72 [[ 6.75014844e-01 -7.31161682e-01 -9.87803409e-02 1.61697021e+02] [ 7.23411641e-01 6.82204186e-01 -1.06174607e-01 7.56887448e+01] [ 1.45019166e-01 2.10587502e-04 9.89428824e-01 2.67163696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:75.72, Z:26.73 [[ 6.80954748e-01 -7.25636512e-01 -9.87536549e-02 1.61742420e+02] [ 7.17824541e-01 6.88076747e-01 -1.06199422e-01 7.57229578e+01] [ 1.45012272e-01 1.42920389e-03 9.89428824e-01 2.67343082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:75.77, Z:26.73 [[ 6.76235572e-01 -7.30037694e-01 -9.87441939e-02 1.61775471e+02] [ 7.22270795e-01 6.83406697e-01 -1.06208219e-01 7.57732046e+01] [ 1.45018446e-01 5.01728071e-04 9.89428824e-01 2.67320819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.82, Y:75.81, Z:26.75 [[ 6.79736379e-01 -7.26782575e-01 -9.87195198e-02 1.61820966e+02] [ 7.18978006e-01 6.86866487e-01 -1.06231148e-01 7.58076883e+01] [ 1.45014077e-01 1.23201251e-03 9.89428825e-01 2.67540112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:75.85, Z:26.76 [[ 6.78772214e-01 -7.27686647e-01 -9.86935879e-02 1.61858728e+02] [ 7.19888072e-01 6.85908878e-01 -1.06255235e-01 7.58509284e+01] [ 1.45015324e-01 1.07476414e-03 9.89428826e-01 2.67618297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.90, Y:75.89, Z:26.77 [[ 6.78539560e-01 -7.27907617e-01 -9.86639075e-02 1.61896809e+02] [ 7.20107360e-01 6.85674383e-01 -1.06282788e-01 7.58941155e+01] [ 1.45015365e-01 1.06846996e-03 9.89428826e-01 2.67705206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:75.94, Z:26.78 [[ 6.78233804e-01 -7.28196525e-01 -9.86343118e-02 1.61934250e+02] [ 7.20395314e-01 6.85367582e-01 -1.06310247e-01 7.59381593e+01] [ 1.45015512e-01 1.04750691e-03 9.89428827e-01 2.67771556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:75.98, Z:26.79 [[ 6.78027852e-01 -7.28392367e-01 -9.86042188e-02 1.61972035e+02] [ 7.20589158e-01 6.85159444e-01 -1.06338151e-01 7.59820169e+01] [ 1.45015509e-01 1.04709710e-03 9.89428828e-01 2.67863211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:162.01, Y:76.03, Z:26.80 [[ 6.78774220e-01 -7.27700770e-01 -9.85755956e-02 1.62010552e+02] [ 7.19886442e-01 6.85893626e-01 -1.06364678e-01 7.60252653e+01] [ 1.45014031e-01 1.23436683e-03 9.89428829e-01 2.67966106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.05, Y:76.07, Z:26.80 [[ 6.82081746e-01 -7.24605363e-01 -9.85472445e-02 1.62047467e+02] [ 7.16754935e-01 6.89161325e-01 -1.06390939e-01 7.60697288e+01] [ 1.45006395e-01 1.93309386e-03 9.89428829e-01 2.68032269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:76.11, Z:26.81 [[ 6.85420735e-01 -7.21451804e-01 -9.85175654e-02 1.62085177e+02] [ 7.13564860e-01 6.92459610e-01 -1.06418415e-01 7.61137216e+01] [ 1.44995192e-01 2.64271559e-03 9.89428830e-01 2.68099075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:76.16, Z:26.82 [[ 6.89670135e-01 -7.17394783e-01 -9.84877140e-02 1.62122736e+02] [ 7.09462503e-01 6.96657878e-01 -1.06446035e-01 7.61573035e+01] [ 1.44976072e-01 3.53931126e-03 9.89428831e-01 2.68185092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:162.16, Y:76.20, Z:26.83 [[ 6.89141126e-01 -7.17907098e-01 -9.84576449e-02 1.62160051e+02] [ 7.09976044e-01 6.96130259e-01 -1.06473840e-01 7.61994029e+01] [ 1.44977672e-01 3.47293288e-03 9.89428832e-01 2.68265888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:162.19, Y:76.25, Z:26.83 [[ 6.84976035e-01 -7.21885897e-01 -9.84305988e-02 1.62194143e+02] [ 7.13991861e-01 6.92006951e-01 -1.06498838e-01 7.62478149e+01] [ 1.44994667e-01 2.67050511e-03 9.89428833e-01 2.68318598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:76.29, Z:26.85 [[ 6.86995027e-01 -7.19968406e-01 -9.84038978e-02 1.62235722e+02] [ 7.12051218e-01 6.93999860e-01 -1.06523504e-01 7.62864017e+01] [ 1.44985848e-01 3.11250188e-03 9.89428833e-01 2.68475366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:162.27, Y:76.33, Z:26.85 [[ 6.86747908e-01 -7.20208290e-01 -9.83734184e-02 1.62273487e+02] [ 7.12289521e-01 6.93750953e-01 -1.06551644e-01 7.63292890e+01] [ 1.44986030e-01 3.10376323e-03 9.89428834e-01 2.68523676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:76.38, Z:26.85 [[ 6.82390320e-01 -7.24341824e-01 -9.83482261e-02 1.62307427e+02] [ 7.16462135e-01 6.89437308e-01 -1.06574891e-01 7.63796183e+01] [ 1.45001587e-01 2.26289427e-03 9.89428835e-01 2.68489231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:76.42, Z:26.87 [[ 6.86497719e-01 -7.20454138e-01 -9.83194688e-02 1.62350969e+02] [ 7.12530753e-01 6.93495540e-01 -1.06601415e-01 7.64154006e+01] [ 1.44985543e-01 3.12598286e-03 9.89428835e-01 2.68658419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:162.39, Y:76.46, Z:26.88 [[ 6.84648424e-01 -7.22213123e-01 -9.83094148e-02 1.62389583e+02] [ 7.14306389e-01 6.91665053e-01 -1.06610686e-01 7.64572782e+01] [ 1.44992823e-01 2.76779508e-03 9.89428836e-01 2.68752598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:76.50, Z:26.89 [[ 6.80575522e-01 -7.26056585e-01 -9.82791633e-02 1.62429891e+02] [ 7.18185458e-01 6.87632070e-01 -1.06638566e-01 7.64990745e+01] [ 1.45005538e-01 1.99293182e-03 9.89428836e-01 2.68869508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:162.46, Y:76.55, Z:26.89 [[ 6.70854860e-01 -7.35051065e-01 -9.82531892e-02 1.62464547e+02] [ 7.27271057e-01 6.78011742e-01 -1.06662493e-01 7.65484695e+01] [ 1.45019195e-01 9.83506647e-05 9.89428837e-01 2.68867946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.51, Y:76.58, Z:26.90 [[ 6.69285244e-01 -7.36484108e-01 -9.82263746e-02 1.62508127e+02] [ 7.28715800e-01 6.76454823e-01 -1.06687181e-01 7.65842567e+01] [ 1.45019118e-01 -1.74955411e-04 9.89428838e-01 2.69037121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:76.63, Z:26.91 [[ 6.61767423e-01 -7.43249639e-01 -9.82031120e-02 1.62546856e+02] [ 7.35551439e-01 6.69012226e-01 -1.06708589e-01 7.66264024e+01] [ 1.45010203e-01 -1.61717211e-03 9.89428838e-01 2.69139941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:76.67, Z:26.92 [[ 6.58224247e-01 -7.46393196e-01 -9.81735075e-02 1.62584352e+02] [ 7.38725530e-01 6.65501357e-01 -1.06735819e-01 7.66701574e+01] [ 1.45001492e-01 -2.26717217e-03 9.89428839e-01 2.69215259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:162.62, Y:76.72, Z:26.93 [[ 6.56184769e-01 -7.48190659e-01 -9.81442166e-02 1.62620383e+02] [ 7.40538899e-01 6.63478602e-01 -1.06762746e-01 7.67150168e+01] [ 1.44995477e-01 -2.62352259e-03 9.89428840e-01 2.69281644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.66, Y:76.76, Z:26.94 [[ 6.58395221e-01 -7.46250045e-01 -9.81152563e-02 1.62656863e+02] [ 7.38572820e-01 6.65662245e-01 -1.06789354e-01 7.67596531e+01] [ 1.45003182e-01 -2.15566136e-03 9.89428841e-01 2.69388925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:76.80, Z:26.95 [[ 6.61500704e-01 -7.43502480e-01 -9.80860882e-02 1.62692947e+02] [ 7.35791095e-01 6.68731468e-01 -1.06816138e-01 7.68042487e+01] [ 1.45011317e-01 -1.51191971e-03 9.89428841e-01 2.69468193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:76.85, Z:26.95 [[ 6.67681754e-01 -7.37960677e-01 -9.80566921e-02 1.62729084e+02] [ 7.30185304e-01 6.74843664e-01 -1.06843117e-01 7.68499138e+01] [ 1.45018956e-01 -2.62355855e-04 9.89428842e-01 2.69542112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:76.89, Z:26.96 [[ 6.72004957e-01 -7.34029957e-01 -9.80273439e-02 1.62765978e+02] [ 7.26208764e-01 6.79116799e-01 -1.06870037e-01 7.68934807e+01] [ 1.45017825e-01 6.28878249e-04 9.89428843e-01 2.69638721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:162.80, Y:76.94, Z:26.97 [[ 6.79396658e-01 -7.27197825e-01 -9.79974741e-02 1.62801628e+02] [ 7.19301175e-01 6.86424621e-01 -1.06897420e-01 7.69375566e+01] [ 1.45003450e-01 2.13605149e-03 9.89428844e-01 2.69713322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.84, Y:76.98, Z:26.98 [[ 6.83664053e-01 -7.23190963e-01 -9.79708806e-02 1.62839323e+02] [ 7.15249642e-01 6.90641499e-01 -1.06921787e-01 7.69815084e+01] [ 1.44987626e-01 3.02494522e-03 9.89428844e-01 2.69800246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:77.02, Z:26.99 [[ 6.87952668e-01 -7.19116583e-01 -9.79411390e-02 1.62876881e+02] [ 7.11130078e-01 6.94878348e-01 -1.06949024e-01 7.70248226e+01] [ 1.44965994e-01 3.92697669e-03 9.89428845e-01 2.69867138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.91, Y:77.07, Z:26.99 [[ 6.89033971e-01 -7.18084844e-01 -9.79098773e-02 1.62914738e+02] [ 7.10083910e-01 6.95942976e-01 -1.06977636e-01 7.70671833e+01] [ 1.44958711e-01 4.18699698e-03 9.89428846e-01 2.69922860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:77.11, Z:27.00 [[ 6.88578371e-01 -7.18524524e-01 -9.78894056e-02 1.62954449e+02] [ 7.10525344e-01 6.95489406e-01 -1.06996365e-01 7.71083576e+01] [ 1.44960557e-01 4.12247950e-03 9.89428846e-01 2.70000180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:77.15, Z:27.01 [[ 6.86239067e-01 -7.20763085e-01 -9.78596823e-02 1.62994579e+02] [ 7.12782583e-01 6.93171660e-01 -1.07023544e-01 7.71496500e+01] [ 1.44972178e-01 3.69105976e-03 9.89428847e-01 2.70088821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.04, Y:77.19, Z:27.02 [[ 6.81277516e-01 -7.25458531e-01 -9.78308006e-02 1.63036399e+02] [ 7.17522035e-01 6.88260444e-01 -1.07049938e-01 7.71893477e+01] [ 1.44993361e-01 2.73496095e-03 9.89428848e-01 2.70199212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:77.23, Z:27.03 [[ 6.77232730e-01 -7.29239915e-01 -9.78006923e-02 1.63076348e+02] [ 7.21338445e-01 6.84255267e-01 -1.07077438e-01 7.72290680e+01] [ 1.45005781e-01 1.96894661e-03 9.89428849e-01 2.70289302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.12, Y:77.27, Z:27.04 [[ 6.74100203e-01 -7.32140137e-01 -9.77739069e-02 1.63116280e+02] [ 7.24265337e-01 6.81152631e-01 -1.07101891e-01 7.72706729e+01] [ 1.45012547e-01 1.38315497e-03 9.89428849e-01 2.70379127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:77.31, Z:27.05 [[ 6.69756103e-01 -7.36120161e-01 -9.77439036e-02 1.63156946e+02] [ 7.28283277e-01 6.76850640e-01 -1.07129266e-01 7.73117168e+01] [ 1.45018036e-01 5.65229378e-04 9.89428850e-01 2.70460806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:77.35, Z:27.05 [[ 6.67045097e-01 -7.38581706e-01 -9.77133679e-02 1.63196639e+02] [ 7.30766923e-01 6.74163970e-01 -1.07157111e-01 7.73537096e+01] [ 1.45019114e-01 7.29282318e-05 9.89428851e-01 2.70542423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:77.40, Z:27.06 [[ 6.64104124e-01 -7.41231224e-01 -9.76830833e-02 1.63234006e+02] [ 7.33440781e-01 6.71249625e-01 -1.07184711e-01 7.73956803e+01] [ 1.45018387e-01 -4.62948275e-04 9.89428852e-01 2.70633669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.27, Y:77.44, Z:27.07 [[ 6.64115323e-01 -7.41224085e-01 -9.76611136e-02 1.63271911e+02] [ 7.33430622e-01 6.71257528e-01 -1.07204725e-01 7.74386190e+01] [ 1.45018482e-01 -4.31350812e-04 9.89428852e-01 2.70738215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:77.48, Z:27.08 [[ 6.67402065e-01 -7.38269882e-01 -9.76323018e-02 1.63308316e+02] [ 7.30440965e-01 6.74505388e-01 -1.07230958e-01 7.74825760e+01] [ 1.45018900e-01 2.51529834e-04 9.89428853e-01 2.70832615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.34, Y:77.53, Z:27.09 [[ 6.71174509e-01 -7.34845900e-01 -9.76026761e-02 1.63344648e+02] [ 7.26976825e-01 6.78233319e-01 -1.07257917e-01 7.75278375e+01] [ 1.45015427e-01 1.03389599e-03 9.89428854e-01 2.70904223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:163.38, Y:77.57, Z:27.09 [[ 6.75693522e-01 -7.30696785e-01 -9.75729121e-02 1.63379071e+02] [ 7.22780462e-01 6.82699301e-01 -1.07284986e-01 7.75736932e+01] [ 1.45005754e-01 1.96797582e-03 9.89428855e-01 2.70932706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:77.62, Z:27.10 [[ 6.82097350e-01 -7.24727171e-01 -9.75383639e-02 1.63415658e+02] [ 7.16745066e-01 6.89028086e-01 -1.07316387e-01 7.76179530e+01] [ 1.44981774e-01 3.29008216e-03 9.89428856e-01 2.71008165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.45, Y:77.66, Z:27.11 [[ 6.84108018e-01 -7.22834329e-01 -9.75025785e-02 1.63452791e+02] [ 7.14828424e-01 6.91011245e-01 -1.07348890e-01 7.76612805e+01] [ 1.44970841e-01 3.74062209e-03 9.89428857e-01 2.71091024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:77.70, Z:27.12 [[ 6.85316182e-01 -7.21693026e-01 -9.74726000e-02 1.63491393e+02] [ 7.13671760e-01 6.92201554e-01 -1.07376104e-01 7.77041891e+01] [ 1.44963271e-01 4.02313965e-03 9.89428858e-01 2.71170236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:77.75, Z:27.13 [[ 6.85013855e-01 -7.21984020e-01 -9.74427713e-02 1.63529727e+02] [ 7.13961835e-01 6.91898155e-01 -1.07403167e-01 7.77467005e+01] [ 1.44963844e-01 4.00223739e-03 9.89428859e-01 2.71256198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.57, Y:77.79, Z:27.13 [[ 6.84614622e-01 -7.22366731e-01 -9.74121460e-02 1.63568170e+02] [ 7.14344450e-01 6.91498808e-01 -1.07430936e-01 7.77892971e+01] [ 1.44964917e-01 3.96296387e-03 9.89428859e-01 2.71336839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.61, Y:77.83, Z:27.14 [[ 6.82962023e-01 -7.23933494e-01 -9.73815800e-02 1.63606820e+02] [ 7.15923063e-01 6.89859993e-01 -1.07458636e-01 7.78307805e+01] [ 1.44972562e-01 3.67244836e-03 9.89428860e-01 2.71411072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:77.87, Z:27.15 [[ 6.81079220e-01 -7.25708804e-01 -9.73541320e-02 1.63645586e+02] [ 7.17712806e-01 6.87993914e-01 -1.07483497e-01 7.78726231e+01] [ 1.44980771e-01 3.33246927e-03 9.89428861e-01 2.71497022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.68, Y:77.92, Z:27.15 [[ 6.75356164e-01 -7.31041904e-01 -9.73231076e-02 1.63682309e+02] [ 7.23096479e-01 6.82328910e-01 -1.07511582e-01 7.79158739e+01] [ 1.45001841e-01 2.23461297e-03 9.89428862e-01 2.71539734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:77.95, Z:27.17 [[ 6.72937477e-01 -7.33270884e-01 -9.73085945e-02 1.63724290e+02] [ 7.25346659e-01 6.79934305e-01 -1.07524716e-01 7.79547200e+01] [ 1.45008195e-01 1.77494713e-03 9.89428862e-01 2.71671137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:78.00, Z:27.17 [[ 6.68090281e-01 -7.37693889e-01 -9.72784802e-02 1.63760399e+02] [ 7.29812024e-01 6.75134792e-01 -1.07551954e-01 7.80015265e+01] [ 1.45016506e-01 8.59410639e-04 9.89428863e-01 2.71685263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:78.04, Z:27.18 [[ 6.68721956e-01 -7.37125565e-01 -9.72463237e-02 1.63800687e+02] [ 7.29233485e-01 6.75755021e-01 -1.07581022e-01 7.80400798e+01] [ 1.45015413e-01 1.02651563e-03 9.89428864e-01 2.71828703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:78.08, Z:27.19 [[ 6.66166638e-01 -7.39439312e-01 -9.72189011e-02 1.63838688e+02] [ 7.31568044e-01 6.73222986e-01 -1.07605797e-01 7.80827992e+01] [ 1.45017956e-01 5.61150828e-04 9.89428864e-01 2.71916733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:78.13, Z:27.20 [[ 6.66152982e-01 -7.39455566e-01 -9.71888363e-02 1.63875098e+02] [ 7.31580510e-01 6.73205100e-01 -1.07632945e-01 7.81259566e+01] [ 1.45017801e-01 5.98548758e-04 9.89428865e-01 2.72024268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.91, Y:78.17, Z:27.20 [[ 6.66033649e-01 -7.39566606e-01 -9.71617900e-02 1.63910818e+02] [ 7.31689164e-01 6.73083102e-01 -1.07657355e-01 7.81730193e+01] [ 1.45017743e-01 6.11191834e-04 9.89428866e-01 2.72046783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:78.21, Z:27.22 [[ 6.74440532e-01 -7.31911948e-01 -9.71332575e-02 1.63948057e+02] [ 7.23950806e-01 6.81395320e-01 -1.07683092e-01 7.82140833e+01] [ 1.45000689e-01 2.30614169e-03 9.89428867e-01 2.72198153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:78.26, Z:27.22 [[ 6.77635592e-01 -7.28958667e-01 -9.71044081e-02 1.63985490e+02] [ 7.20963495e-01 6.84551232e-01 -1.07709101e-01 7.82594881e+01] [ 1.44988425e-01 2.97878694e-03 9.89428867e-01 2.72230890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:78.30, Z:27.23 [[ 6.81330622e-01 -7.25510233e-01 -9.70746375e-02 1.64022703e+02] [ 7.17476250e-01 6.88201134e-01 -1.07735926e-01 7.83026862e+01] [ 1.44970392e-01 3.75503840e-03 9.89428868e-01 2.72302467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:78.35, Z:27.24 [[ 6.83107019e-01 -7.23842762e-01 -9.70384256e-02 1.64060946e+02] [ 7.15787385e-01 6.89952435e-01 -1.07768532e-01 7.83469222e+01] [ 1.44959370e-01 4.15856003e-03 9.89428869e-01 2.72353310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:78.39, Z:27.25 [[ 6.80739814e-01 -7.26073717e-01 -9.70065076e-02 1.64098299e+02] [ 7.18036691e-01 6.87606764e-01 -1.07797255e-01 7.83892702e+01] [ 1.44971085e-01 3.72765184e-03 9.89428870e-01 2.72498805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.14, Y:78.43, Z:27.26 [[ 6.78423032e-01 -7.28243131e-01 -9.69749035e-02 1.64137282e+02] [ 7.20224008e-01 6.85310879e-01 -1.07825679e-01 7.84319435e+01] [ 1.44981267e-01 3.30777055e-03 9.89428871e-01 2.72598787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:78.47, Z:27.27 [[ 6.75638941e-01 -7.30830655e-01 -9.69462475e-02 1.64175886e+02] [ 7.22834222e-01 6.82553115e-01 -1.07851438e-01 7.84746473e+01] [ 1.44992100e-01 2.79256588e-03 9.89428872e-01 2.72690889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.21, Y:78.52, Z:27.28 [[ 6.74458921e-01 -7.31923774e-01 -9.69162153e-02 1.64214473e+02] [ 7.23934673e-01 6.81381565e-01 -1.07878419e-01 7.85167299e+01] [ 1.44995702e-01 2.59855323e-03 9.89428873e-01 2.72772883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.25, Y:78.56, Z:27.28 [[ 6.73832841e-01 -7.32504322e-01 -9.68850961e-02 1.64253493e+02] [ 7.24517169e-01 6.80757732e-01 -1.07906360e-01 7.85585729e+01] [ 1.44997153e-01 2.51593324e-03 9.89428874e-01 2.72841452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:78.60, Z:27.29 [[ 6.75365010e-01 -7.31095356e-01 -9.68590925e-02 1.64292399e+02] [ 7.23090413e-01 6.82269328e-01 -1.07929696e-01 7.86019001e+01] [ 1.44990887e-01 2.85405909e-03 9.89428874e-01 2.72910739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.33, Y:78.64, Z:27.30 [[ 6.77045942e-01 -7.29542892e-01 -9.68295452e-02 1.64331058e+02] [ 7.21518333e-01 6.83927449e-01 -1.07956198e-01 7.86449087e+01] [ 1.44983061e-01 3.22701386e-03 9.89428875e-01 2.72979784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.37, Y:78.69, Z:27.31 [[ 6.79290880e-01 -7.27457031e-01 -9.67996291e-02 1.64369384e+02] [ 7.19407527e-01 6.86143191e-01 -1.07983016e-01 7.86878520e+01] [ 1.44971411e-01 3.71349624e-03 9.89428876e-01 2.73060358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.41, Y:78.73, Z:27.32 [[ 6.79980297e-01 -7.26816640e-01 -9.67696641e-02 1.64408225e+02] [ 7.18756868e-01 6.86820526e-01 -1.08009863e-01 7.87299389e+01] [ 1.44966757e-01 3.89071800e-03 9.89428876e-01 2.73156227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.45, Y:78.77, Z:27.33 [[ 6.79446049e-01 -7.27320012e-01 -9.67402016e-02 1.64446449e+02] [ 7.19261557e-01 6.86287828e-01 -1.08036245e-01 7.87720968e+01] [ 1.44968546e-01 3.82329188e-03 9.89428877e-01 2.73256412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:78.81, Z:27.34 [[ 6.76433426e-01 -7.30124745e-01 -9.67247511e-02 1.64484943e+02] [ 7.22092688e-01 6.83306176e-01 -1.08050076e-01 7.88142383e+01] [ 1.44982654e-01 3.24444751e-03 9.89428877e-01 2.73364851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:78.86, Z:27.35 [[ 6.71332049e-01 -7.34821925e-01 -9.66954944e-02 1.64523764e+02] [ 7.26834199e-01 6.78256272e-01 -1.08076252e-01 7.88566719e+01] [ 1.45001125e-01 2.27345952e-03 9.89428878e-01 2.73459187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.56, Y:78.90, Z:27.35 [[ 6.68180643e-01 -7.37692728e-01 -9.66647187e-02 1.64560321e+02] [ 7.29730775e-01 6.75134484e-01 -1.08103771e-01 7.88993532e+01] [ 1.45009051e-01 1.69362740e-03 9.89428879e-01 2.73531742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:78.94, Z:27.36 [[ 6.64307825e-01 -7.41184904e-01 -9.66439459e-02 1.64597194e+02] [ 7.33256808e-01 6.71300241e-01 -1.08122339e-01 7.89439738e+01] [ 1.45015750e-01 9.61684548e-04 9.89428879e-01 2.73607005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:78.99, Z:27.37 [[ 6.62690641e-01 -7.42635144e-01 -9.66134443e-02 1.64634698e+02] [ 7.34718377e-01 6.69695881e-01 -1.08149587e-01 7.89884162e+01] [ 1.45017310e-01 6.86046264e-04 9.89428880e-01 2.73683706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:79.03, Z:27.38 [[ 6.61806479e-01 -7.43427063e-01 -9.65835693e-02 1.64671588e+02] [ 7.35514786e-01 6.68816788e-01 -1.08176261e-01 7.90334341e+01] [ 1.45017873e-01 5.53106931e-04 9.89428881e-01 2.73755056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:79.08, Z:27.38 [[ 6.62622596e-01 -7.42703624e-01 -9.65537215e-02 1.64706962e+02] [ 7.34779812e-01 6.69619863e-01 -1.08202895e-01 7.90777277e+01] [ 1.45016972e-01 7.51958055e-04 9.89428882e-01 2.73838473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.74, Y:79.12, Z:27.39 [[ 6.63364130e-01 -7.42044880e-01 -9.65268215e-02 1.64744369e+02] [ 7.34110628e-01 6.70349556e-01 -1.08226887e-01 7.91217352e+01] [ 1.45015920e-01 9.32469515e-04 9.89428883e-01 2.73929632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.78, Y:79.17, Z:27.40 [[ 6.67749627e-01 -7.38104910e-01 -9.64965179e-02 1.64779135e+02] [ 7.30125542e-01 6.74683471e-01 -1.08253900e-01 7.91674005e+01] [ 1.45007341e-01 1.83192885e-03 9.89428883e-01 2.74021503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:79.21, Z:27.41 [[ 6.70921508e-01 -7.35226985e-01 -9.64655932e-02 1.64814870e+02] [ 7.27213918e-01 6.77816380e-01 -1.08281450e-01 7.92119775e+01] [ 1.44997403e-01 2.49723194e-03 9.89428884e-01 2.74098568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:79.26, Z:27.42 [[ 6.74717220e-01 -7.31748854e-01 -9.64379953e-02 1.64850384e+02] [ 7.23696743e-01 6.81566452e-01 -1.08306024e-01 7.92571903e+01] [ 1.44981711e-01 3.28407643e-03 9.89428885e-01 2.74165924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:79.30, Z:27.43 [[ 6.75806381e-01 -7.30747040e-01 -9.64079800e-02 1.64887416e+02] [ 7.22680971e-01 6.82639168e-01 -1.08332736e-01 7.93009595e+01] [ 1.44975689e-01 3.53974147e-03 9.89428886e-01 2.74259334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:79.35, Z:27.43 [[ 6.75910555e-01 -7.30654834e-01 -9.63765233e-02 1.64924947e+02] [ 7.22583848e-01 6.82737533e-01 -1.08360714e-01 7.93451675e+01] [ 1.44974149e-01 3.60203101e-03 9.89428887e-01 2.74346144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.96, Y:79.39, Z:27.44 [[ 6.75520807e-01 -7.31019066e-01 -9.63471082e-02 1.64961249e+02] [ 7.22948035e-01 6.82347731e-01 -1.08386861e-01 7.93891349e+01] [ 1.44975093e-01 3.56362748e-03 9.89428887e-01 2.74411536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:79.43, Z:27.45 [[ 6.74683615e-01 -7.31794603e-01 -9.63258991e-02 1.64999074e+02] [ 7.23728733e-01 6.81516635e-01 -1.08405707e-01 7.94326858e+01] [ 1.44978414e-01 3.42573350e-03 9.89428888e-01 2.74490551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:79.48, Z:27.46 [[ 6.72810750e-01 -7.33520820e-01 -9.62959027e-02 1.65036859e+02] [ 7.25468675e-01 6.79659936e-01 -1.08432346e-01 7.94760309e+01] [ 1.44985851e-01 3.09478741e-03 9.89428889e-01 2.74576367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.08, Y:79.52, Z:27.47 [[ 6.71224514e-01 -7.34976540e-01 -9.62659699e-02 1.65075427e+02] [ 7.26935442e-01 6.78086666e-01 -1.08458914e-01 7.95190623e+01] [ 1.44991428e-01 2.82113658e-03 9.89428889e-01 2.74668719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.11, Y:79.56, Z:27.47 [[ 6.68954287e-01 -7.37047339e-01 -9.62360760e-02 1.65112814e+02] [ 7.29023672e-01 6.75836812e-01 -1.08485433e-01 7.95622336e+01] [ 1.44998782e-01 2.41341790e-03 9.89428890e-01 2.74747355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:79.61, Z:27.48 [[ 6.67593456e-01 -7.38284076e-01 -9.62060327e-02 1.65150287e+02] [ 7.30269323e-01 6.74486357e-01 -1.08512069e-01 7.96052734e+01] [ 1.45002389e-01 2.18563297e-03 9.89428891e-01 2.74832512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.19, Y:79.65, Z:27.49 [[ 6.67252310e-01 -7.38596340e-01 -9.61758886e-02 1.65187315e+02] [ 7.30580965e-01 6.74144485e-01 -1.08538780e-01 7.96488464e+01] [ 1.45002791e-01 2.15847817e-03 9.89428892e-01 2.74944680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:79.69, Z:27.50 [[ 6.68327764e-01 -7.37627307e-01 -9.61454908e-02 1.65224095e+02] [ 7.29598068e-01 6.75203783e-01 -1.08565700e-01 7.96934369e+01] [ 1.44998824e-01 2.40990754e-03 9.89428893e-01 2.75043907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.26, Y:79.74, Z:27.51 [[ 6.69509555e-01 -7.36558399e-01 -9.61180552e-02 1.65260945e+02] [ 7.28514698e-01 6.76368649e-01 -1.08589985e-01 7.97379844e+01] [ 1.44994105e-01 2.67861661e-03 9.89428893e-01 2.75124265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:79.78, Z:27.52 [[ 6.70207363e-01 -7.35927588e-01 -9.60868159e-02 1.65298657e+02] [ 7.27873472e-01 6.77054223e-01 -1.08617620e-01 7.97814555e+01] [ 1.44990688e-01 2.85728460e-03 9.89428894e-01 2.75209303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:79.82, Z:27.53 [[ 6.69882468e-01 -7.36227452e-01 -9.60552845e-02 1.65335631e+02] [ 7.28172406e-01 6.76728234e-01 -1.08645498e-01 7.98243101e+01] [ 1.44991121e-01 2.83490678e-03 9.89428895e-01 2.75291233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.37, Y:79.87, Z:27.54 [[ 6.70061303e-01 -7.36068370e-01 -9.60271063e-02 1.65372233e+02] [ 7.28008133e-01 6.76900955e-01 -1.08670398e-01 7.98692758e+01] [ 1.44989683e-01 2.90731414e-03 9.89428896e-01 2.75368538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.41, Y:79.91, Z:27.54 [[ 6.71579072e-01 -7.34687967e-01 -9.59955241e-02 1.65409010e+02] [ 7.26609690e-01 6.78397405e-01 -1.08698290e-01 7.99133431e+01] [ 1.44982440e-01 3.24821840e-03 9.89428896e-01 2.75424025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:79.96, Z:27.55 [[ 6.73601621e-01 -7.32837348e-01 -9.59701886e-02 1.65446330e+02] [ 7.24737159e-01 6.80393908e-01 -1.08720654e-01 7.99579286e+01] [ 1.44972087e-01 3.68124694e-03 9.89428897e-01 2.75499465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:80.00, Z:27.56 [[ 6.76579817e-01 -7.30092629e-01 -9.59401044e-02 1.65482017e+02] [ 7.21961135e-01 6.83334594e-01 -1.08747195e-01 8.00034593e+01] [ 1.44954718e-01 4.31113097e-03 9.89428898e-01 2.75576450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.52, Y:80.05, Z:27.57 [[ 6.78788686e-01 -7.28043484e-01 -9.59093631e-02 1.65519179e+02] [ 7.19887781e-01 6.85514211e-01 -1.08774301e-01 8.00464685e+01] [ 1.44939652e-01 4.79078617e-03 9.89428899e-01 2.75676466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.56, Y:80.09, Z:27.58 [[ 6.79580020e-01 -7.27308488e-01 -9.58820069e-02 1.65556929e+02] [ 7.19142119e-01 6.86292590e-01 -1.08798410e-01 8.00899968e+01] [ 1.44933118e-01 4.98443577e-03 9.89428899e-01 2.75768770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:80.13, Z:27.59 [[ 6.79795009e-01 -7.27111498e-01 -9.58520442e-02 1.65594919e+02] [ 7.18939473e-01 6.86500690e-01 -1.08824801e-01 8.01334220e+01] [ 1.44930258e-01 5.06673833e-03 9.89428900e-01 2.75863303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:80.18, Z:27.59 [[ 6.79600504e-01 -7.27297476e-01 -9.58203301e-02 1.65633328e+02] [ 7.19123360e-01 6.86303635e-01 -1.08852718e-01 8.01750724e+01] [ 1.44930148e-01 5.06972429e-03 9.89428901e-01 2.75931588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.67, Y:80.22, Z:27.60 [[ 6.79923152e-01 -7.26998655e-01 -9.57990812e-02 1.65672363e+02] [ 7.18818965e-01 6.86619480e-01 -1.08871416e-01 8.02178665e+01] [ 1.44926888e-01 5.16199953e-03 9.89428901e-01 2.76007697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:80.26, Z:27.61 [[ 6.80300582e-01 -7.26649486e-01 -9.57686925e-02 1.65712323e+02] [ 7.18462608e-01 6.86988119e-01 -1.08898141e-01 8.02591094e+01] [ 1.44922732e-01 5.27724387e-03 9.89428902e-01 2.76092960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.75, Y:80.30, Z:27.62 [[ 6.79481893e-01 -7.27419041e-01 -9.57386847e-02 1.65751843e+02] [ 7.19236032e-01 6.86174162e-01 -1.08924516e-01 8.03009357e+01] [ 1.44927179e-01 5.15352463e-03 9.89428903e-01 2.76184990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:80.34, Z:27.63 [[ 6.78330093e-01 -7.28497214e-01 -9.57083791e-02 1.65793152e+02] [ 7.20321097e-01 6.85030778e-01 -1.08951138e-01 8.03411794e+01] [ 1.44933786e-01 4.96407117e-03 9.89428904e-01 2.76299666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:80.38, Z:27.64 [[ 6.77519141e-01 -7.29255463e-01 -9.56780160e-02 1.65832530e+02] [ 7.21083090e-01 6.84224391e-01 -1.08977796e-01 8.03831435e+01] [ 1.44937885e-01 4.84274327e-03 9.89428905e-01 2.76377280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.87, Y:80.42, Z:27.64 [[ 6.76190227e-01 -7.30491902e-01 -9.56470517e-02 1.65872433e+02] [ 7.22327956e-01 6.82905734e-01 -1.09004966e-01 8.04247981e+01] [ 1.44945165e-01 4.61955318e-03 9.89428905e-01 2.76437479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:80.47, Z:27.65 [[ 6.75567382e-01 -7.31071981e-01 -9.56162712e-02 1.65911048e+02] [ 7.22909989e-01 6.82285262e-01 -1.09031959e-01 8.04658605e+01] [ 1.44947783e-01 4.53647756e-03 9.89428906e-01 2.76516199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:80.51, Z:27.66 [[ 6.74689306e-01 -7.31885991e-01 -9.55888960e-02 1.65950100e+02] [ 7.23728712e-01 6.81412907e-01 -1.09055954e-01 8.05083359e+01] [ 1.44952032e-01 4.39845730e-03 9.89428907e-01 2.76610988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.99, Y:80.55, Z:27.67 [[ 6.73653422e-01 -7.32843692e-01 -9.55572569e-02 1.65989264e+02] [ 7.24692049e-01 6.80383853e-01 -1.09083670e-01 8.05507194e+01] [ 1.44956894e-01 4.23500331e-03 9.89428908e-01 2.76688595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:80.59, Z:27.68 [[ 6.71631093e-01 -7.34701620e-01 -9.55259339e-02 1.66029705e+02] [ 7.26564703e-01 6.78379320e-01 -1.09111093e-01 8.05921874e+01] [ 1.44966915e-01 3.87663099e-03 9.89428909e-01 2.76767385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:80.63, Z:27.68 [[ 6.70537971e-01 -7.35703467e-01 -9.54947045e-02 1.66068803e+02] [ 7.27572747e-01 6.77293661e-01 -1.09138419e-01 8.06334063e+01] [ 1.44971471e-01 3.70210931e-03 9.89428910e-01 2.76831526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:80.68, Z:27.69 [[ 6.69415843e-01 -7.36727287e-01 -9.54742570e-02 1.66108360e+02] [ 7.28604353e-01 6.76180891e-01 -1.09156303e-01 8.06756549e+01] [ 1.44976295e-01 3.50799947e-03 9.89428910e-01 2.76908020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.15, Y:80.72, Z:27.70 [[ 6.68621147e-01 -7.37452493e-01 -9.54441317e-02 1.66149109e+02] [ 7.29333142e-01 6.75390494e-01 -1.09182638e-01 8.07161896e+01] [ 1.44979068e-01 3.39125213e-03 9.89428911e-01 2.77020701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.19, Y:80.76, Z:27.71 [[ 6.67920983e-01 -7.38088563e-01 -9.54297279e-02 1.66189815e+02] [ 7.29973862e-01 6.74695904e-01 -1.09195226e-01 8.07568531e+01] [ 1.44981794e-01 3.27257567e-03 9.89428911e-01 2.77109263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:80.80, Z:27.72 [[ 6.67933199e-01 -7.38081492e-01 -9.53989163e-02 1.66228855e+02] [ 7.29962880e-01 6.74703430e-01 -1.09222138e-01 8.07978178e+01] [ 1.44980815e-01 3.31542450e-03 9.89428912e-01 2.77178010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:80.84, Z:27.72 [[ 6.68492689e-01 -7.37578304e-01 -9.53717504e-02 1.66269280e+02] [ 7.29451216e-01 6.75252743e-01 -1.09245854e-01 8.08387933e+01] [ 1.44977408e-01 3.46101562e-03 9.89428912e-01 2.77244532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:80.88, Z:27.73 [[ 6.68668586e-01 -7.37422825e-01 -9.53409580e-02 1.66308789e+02] [ 7.29290340e-01 6.75422144e-01 -1.09272721e-01 8.08797265e+01] [ 1.44975593e-01 3.53599621e-03 9.89428913e-01 2.77304461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:80.92, Z:27.74 [[ 6.68353090e-01 -7.37712283e-01 -9.53138764e-02 1.66350459e+02] [ 7.29579358e-01 6.75106118e-01 -1.09296338e-01 8.09195003e+01] [ 1.44976232e-01 3.50950848e-03 9.89428914e-01 2.77383924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:80.96, Z:27.75 [[ 6.67182546e-01 -7.38774949e-01 -9.52839222e-02 1.66390901e+02] [ 7.30649056e-01 6.73944033e-01 -1.09322446e-01 8.09604224e+01] [ 1.44980715e-01 3.31892004e-03 9.89428915e-01 2.77477533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.43, Y:81.00, Z:27.76 [[ 6.65294160e-01 -7.40479891e-01 -9.52534076e-02 1.66432740e+02] [ 7.32367525e-01 6.72071870e-01 -1.09349027e-01 8.10010106e+01] [ 1.44987892e-01 2.98876681e-03 9.89428915e-01 2.77586777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.47, Y:81.04, Z:27.77 [[ 6.64433107e-01 -7.41256037e-01 -9.52267502e-02 1.66471668e+02] [ 7.33148265e-01 6.71216310e-01 -1.09372237e-01 8.10421624e+01] [ 1.44990579e-01 2.85520863e-03 9.89428916e-01 2.77674368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:81.08, Z:27.78 [[ 6.64149859e-01 -7.41513381e-01 -9.51991129e-02 1.66511568e+02] [ 7.33404792e-01 6.70932086e-01 -1.09396288e-01 8.10841079e+01] [ 1.44990951e-01 2.83604355e-03 9.89428917e-01 2.77757446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:81.13, Z:27.78 [[ 6.64243533e-01 -7.41433408e-01 -9.51684266e-02 1.66548864e+02] [ 7.33320182e-01 6.71020210e-01 -1.09422977e-01 8.11265419e+01] [ 1.44989788e-01 2.89457673e-03 9.89428917e-01 2.77824701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.59, Y:81.17, Z:27.79 [[ 6.63528594e-01 -7.42076787e-01 -9.51412023e-02 1.66587434e+02] [ 7.33966741e-01 6.70309075e-01 -1.09446643e-01 8.11686695e+01] [ 1.44991824e-01 2.79049884e-03 9.89428918e-01 2.77911415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:81.21, Z:27.80 [[ 6.59824811e-01 -7.45375936e-01 -9.51101125e-02 1.66625765e+02] [ 7.37295906e-01 6.66641032e-01 -1.09473654e-01 8.12119479e+01] [ 1.45003331e-01 2.10913609e-03 9.89428919e-01 2.77980687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:81.25, Z:27.81 [[ 6.55206121e-01 -7.49443064e-01 -9.50790908e-02 1.66665575e+02] [ 7.41401442e-01 6.62067612e-01 -1.09500590e-01 8.12536985e+01] [ 1.45013244e-01 1.25368168e-03 9.89428920e-01 2.78086198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:81.30, Z:27.82 [[ 6.53167774e-01 -7.51224087e-01 -9.50485667e-02 1.66703312e+02] [ 7.43197321e-01 6.60046636e-01 -1.09527079e-01 8.12966443e+01] [ 1.45015867e-01 8.99718178e-04 9.89428921e-01 2.78159208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:81.34, Z:27.82 [[ 6.48110087e-01 -7.55595635e-01 -9.50186898e-02 1.66739201e+02] [ 7.47611468e-01 6.55038346e-01 -1.09552992e-01 8.13433622e+01] [ 1.45018648e-01 -3.46628232e-05 9.89428921e-01 2.78188609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:81.39, Z:27.83 [[ 6.44963413e-01 -7.58286960e-01 -9.49899054e-02 1.66776703e+02] [ 7.50328026e-01 6.51920645e-01 -1.09577945e-01 8.13859749e+01] [ 1.45017407e-01 -5.99822886e-04 9.89428922e-01 2.78343297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.81, Y:81.43, Z:27.84 [[ 6.44793760e-01 -7.58434796e-01 -9.49613986e-02 1.66812100e+02] [ 7.50473820e-01 6.51748653e-01 -1.09602644e-01 8.14313587e+01] [ 1.45017422e-01 -5.94942726e-04 9.89428923e-01 2.78428562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:81.48, Z:27.85 [[ 6.48479044e-01 -7.55290021e-01 -9.49311035e-02 1.66844792e+02] [ 7.47291474e-01 6.55390694e-01 -1.09628877e-01 8.14783866e+01] [ 1.45018559e-01 1.50825256e-04 9.89428924e-01 2.78489283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.88, Y:81.52, Z:27.86 [[ 6.55736302e-01 -7.49001273e-01 -9.49051874e-02 1.66878702e+02] [ 7.40933200e-01 6.62566664e-01 -1.09651308e-01 8.15241010e+01] [ 1.45009983e-01 1.58393926e-03 9.89428924e-01 2.78590121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:81.57, Z:27.87 [[ 6.58381376e-01 -7.46680821e-01 -9.48773734e-02 1.66913559e+02] [ 7.38585210e-01 6.65179074e-01 -1.09675370e-01 8.15706200e+01] [ 1.45002938e-01 2.13319598e-03 9.89428925e-01 2.78652206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.95, Y:81.62, Z:27.87 [[ 6.59929215e-01 -7.45316867e-01 -9.48482964e-02 1.66949352e+02] [ 7.37203596e-01 6.66705825e-01 -1.09700510e-01 8.16155198e+01] [ 1.44997552e-01 2.47206626e-03 9.89428926e-01 2.78723174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:81.66, Z:27.88 [[ 6.59954640e-01 -7.45298217e-01 -9.48179346e-02 1.66986557e+02] [ 7.37180987e-01 6.66726506e-01 -1.09726747e-01 8.16587423e+01] [ 1.44996779e-01 2.51669696e-03 9.89428926e-01 2.78844303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:81.70, Z:27.89 [[ 6.59452631e-01 -7.45746095e-01 -9.47891791e-02 1.67022348e+02] [ 7.37629896e-01 6.66225732e-01 -1.09751582e-01 8.17033531e+01] [ 1.44997804e-01 2.45663722e-03 9.89428927e-01 2.78929908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:81.75, Z:27.90 [[ 6.58875865e-01 -7.46259167e-01 -9.47620771e-02 1.67059344e+02] [ 7.38144879e-01 6.65651254e-01 -1.09774978e-01 8.17476000e+01] [ 1.44999079e-01 2.37994142e-03 9.89428928e-01 2.79023610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.10, Y:81.79, Z:27.91 [[ 6.58557036e-01 -7.46544421e-01 -9.47315022e-02 1.67096284e+02] [ 7.38429276e-01 6.65331396e-01 -1.09801357e-01 8.17903421e+01] [ 1.44999433e-01 2.35794133e-03 9.89428929e-01 2.79094921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:81.83, Z:27.92 [[ 6.57979643e-01 -7.47056751e-01 -9.47048066e-02 1.67133667e+02] [ 7.38943568e-01 6.64756354e-01 -1.09824377e-01 8.18340630e+01] [ 1.45000664e-01 2.28069678e-03 9.89428929e-01 2.79175865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.17, Y:81.88, Z:27.91 [[ 6.53544527e-01 -7.50943713e-01 -9.46736071e-02 1.67166847e+02] [ 7.42866945e-01 6.60364597e-01 -1.09851266e-01 8.18843278e+01] [ 1.45011216e-01 1.46280035e-03 9.89428930e-01 2.79133728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:81.93, Z:27.92 [[ 6.53439737e-01 -7.51037477e-01 -9.46531527e-02 1.67205135e+02] [ 7.42959136e-01 6.60257942e-01 -1.09868888e-01 8.19271997e+01] [ 1.45011148e-01 1.46927257e-03 9.89428930e-01 2.79224443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:81.96, Z:27.94 [[ 6.58273011e-01 -7.46808835e-01 -9.46213889e-02 1.67247473e+02] [ 7.38682773e-01 6.65034269e-01 -1.09896237e-01 8.19646439e+01] [ 1.44997947e-01 2.44653675e-03 9.89428931e-01 2.79418799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:82.01, Z:27.95 [[ 6.59221946e-01 -7.45972561e-01 -9.46116491e-02 1.67285462e+02] [ 7.37836719e-01 6.65971433e-01 -1.09904621e-01 8.20079366e+01] [ 1.44994487e-01 2.64358950e-03 9.89428931e-01 2.79516515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:82.05, Z:27.96 [[ 6.60244107e-01 -7.45071818e-01 -9.45817379e-02 1.67322566e+02] [ 7.36923085e-01 6.66978024e-01 -1.09930356e-01 8.20506258e+01] [ 1.44989951e-01 2.88140390e-03 9.89428932e-01 2.79597628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.36, Y:82.09, Z:27.97 [[ 6.60515696e-01 -7.44834577e-01 -9.45540522e-02 1.67360702e+02] [ 7.36680020e-01 6.67242557e-01 -1.09954165e-01 8.20942371e+01] [ 1.44988151e-01 2.97037036e-03 9.89428933e-01 2.79681799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:82.14, Z:27.97 [[ 6.61011792e-01 -7.44398140e-01 -9.45241797e-02 1.67398584e+02] [ 7.36235473e-01 6.67728810e-01 -1.09979839e-01 8.21386815e+01] [ 1.44985306e-01 3.10591637e-03 9.89428934e-01 2.79730820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:82.18, Z:27.98 [[ 6.60862742e-01 -7.44534202e-01 -9.44947552e-02 1.67436457e+02] [ 7.36369307e-01 6.67577050e-01 -1.10005115e-01 8.21824954e+01] [ 1.44985100e-01 3.11524450e-03 9.89428934e-01 2.79814071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:82.23, Z:27.99 [[ 6.61145233e-01 -7.44287209e-01 -9.44644467e-02 1.67475277e+02] [ 7.36116092e-01 6.67851965e-01 -1.10031136e-01 8.22254559e+01] [ 1.44983033e-01 3.20976148e-03 9.89428935e-01 2.79903626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.51, Y:82.27, Z:28.00 [[ 6.61001669e-01 -7.44418472e-01 -9.44348044e-02 1.67513231e+02] [ 7.36245057e-01 6.67705600e-01 -1.10056571e-01 8.22693202e+01] [ 1.44982792e-01 3.22041904e-03 9.89428936e-01 2.79986947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:82.31, Z:28.01 [[ 6.59068806e-01 -7.46134116e-01 -9.44043912e-02 1.67552140e+02] [ 7.37974421e-01 6.65789428e-01 -1.10082653e-01 8.23124044e+01] [ 1.44989868e-01 2.88401651e-03 9.89428937e-01 2.80082964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:82.35, Z:28.02 [[ 6.55877716e-01 -7.48944091e-01 -9.43778057e-02 1.67591167e+02] [ 7.40809916e-01 6.62629202e-01 -1.10105441e-01 8.23547269e+01] [ 1.45000309e-01 2.29969051e-03 9.89428937e-01 2.80180459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:82.40, Z:28.03 [[ 6.55319679e-01 -7.49436117e-01 -9.43484211e-02 1.67628199e+02] [ 7.41303388e-01 6.62072907e-01 -1.10130614e-01 8.23985743e+01] [ 1.45001393e-01 2.22995471e-03 9.89428938e-01 2.80269898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.67, Y:82.44, Z:28.04 [[ 6.55209771e-01 -7.49535826e-01 -9.43196761e-02 1.67665487e+02] [ 7.41400584e-01 6.61959969e-01 -1.10155227e-01 8.24424971e+01] [ 1.45001139e-01 2.24611839e-03 9.89428939e-01 2.80362144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.70, Y:82.49, Z:28.05 [[ 6.55576726e-01 -7.49218688e-01 -9.42895184e-02 1.67702245e+02] [ 7.41076470e-01 6.62318507e-01 -1.10181035e-01 8.24861346e+01] [ 1.44999384e-01 2.35637896e-03 9.89428939e-01 2.80452491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.74, Y:82.53, Z:28.05 [[ 6.56060745e-01 -7.48798780e-01 -9.42586122e-02 1.67738727e+02] [ 7.40648451e-01 6.62792717e-01 -1.10207469e-01 8.25304530e+01] [ 1.44997140e-01 2.49029925e-03 9.89428940e-01 2.80530573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.78, Y:82.57, Z:28.06 [[ 6.56955579e-01 -7.48017663e-01 -9.42281427e-02 1.67775877e+02] [ 7.39855597e-01 6.63673314e-01 -1.10233515e-01 8.25746878e+01] [ 1.44993320e-01 2.70330377e-03 9.89428941e-01 2.80618475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:82.62, Z:28.07 [[ 6.57032483e-01 -7.47953908e-01 -9.41980221e-02 1.67811602e+02] [ 7.39787504e-01 6.63744942e-01 -1.10259248e-01 8.26179699e+01] [ 1.44992296e-01 2.75738784e-03 9.89428942e-01 2.80705087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:82.66, Z:28.08 [[ 6.55547804e-01 -7.49258966e-01 -9.41704741e-02 1.67848319e+02] [ 7.41102548e-01 6.62272394e-01 -1.10282771e-01 8.26629127e+01] [ 1.44996861e-01 2.50565030e-03 9.89428942e-01 2.80801016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:82.71, Z:28.09 [[ 6.53548140e-01 -7.51007402e-01 -9.41419672e-02 1.67885592e+02] [ 7.42865473e-01 6.60290264e-01 -1.10307101e-01 8.27064339e+01] [ 1.45002474e-01 2.15618356e-03 9.89428943e-01 2.80898817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.92, Y:82.76, Z:28.09 [[ 6.50417300e-01 -7.53724338e-01 -9.41114161e-02 1.67919937e+02] [ 7.45606805e-01 6.57188775e-01 -1.10333160e-01 8.27556848e+01] [ 1.45009754e-01 1.59248391e-03 9.89428944e-01 2.80902320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:82.80, Z:28.11 [[ 6.54587909e-01 -7.50108544e-01 -9.40842266e-02 1.67960778e+02] [ 7.41950282e-01 6.61310258e-01 -1.10356341e-01 8.27965165e+01] [ 1.44998098e-01 2.43210787e-03 9.89428945e-01 2.81059857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:82.84, Z:28.11 [[ 6.55590499e-01 -7.49235812e-01 -9.40574003e-02 1.67998394e+02] [ 7.41065324e-01 6.62297982e-01 -1.10379200e-01 8.28407318e+01] [ 1.44994076e-01 2.66087730e-03 9.89428945e-01 2.81121951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:82.88, Z:28.12 [[ 6.57346127e-01 -7.47699712e-01 -9.40277075e-02 1.68037032e+02] [ 7.39509937e-01 6.64030046e-01 -1.10404489e-01 8.28831476e+01] [ 1.44986627e-01 3.03953914e-03 9.89428946e-01 2.81202502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.08, Y:82.93, Z:28.13 [[ 6.58754558e-01 -7.46462996e-01 -9.39969631e-02 1.68075073e+02] [ 7.38256943e-01 6.65418481e-01 -1.10430658e-01 8.29258672e+01] [ 1.44979716e-01 3.35278871e-03 9.89428947e-01 2.81269418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:82.97, Z:28.13 [[ 6.58520945e-01 -7.46672632e-01 -9.39688590e-02 1.68111571e+02] [ 7.38465293e-01 6.65183283e-01 -1.10454568e-01 8.29719589e+01] [ 1.44979917e-01 3.34390531e-03 9.89428947e-01 2.81300374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:83.01, Z:28.15 [[ 6.63431136e-01 -7.42316739e-01 -9.39414000e-02 1.68153009e+02] [ 7.34062374e-01 6.70035120e-01 -1.10477917e-01 8.30105877e+01] [ 1.44953644e-01 4.33564284e-03 9.89428948e-01 2.81475371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.19, Y:83.06, Z:28.15 [[ 6.61263890e-01 -7.44249255e-01 -9.39314351e-02 1.68188253e+02] [ 7.36012992e-01 6.67890435e-01 -1.10486389e-01 8.30586601e+01] [ 1.44965320e-01 3.92590247e-03 9.89428948e-01 2.81505900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.23, Y:83.10, Z:28.17 [[ 6.62412328e-01 -7.43230861e-01 -9.39031152e-02 1.68230650e+02] [ 7.34981006e-01 6.69021943e-01 -1.10510453e-01 8.30955489e+01] [ 1.44958024e-01 4.18648019e-03 9.89428949e-01 2.81654422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:83.14, Z:28.17 [[ 6.59021877e-01 -7.46241739e-01 -9.38798811e-02 1.68268847e+02] [ 7.38019282e-01 6.65665544e-01 -1.10530187e-01 8.31378171e+01] [ 1.44974841e-01 3.55664887e-03 9.89428949e-01 2.81699764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:83.18, Z:28.18 [[ 6.54059384e-01 -7.50599333e-01 -9.38454227e-02 1.68308553e+02] [ 7.42416958e-01 6.60752353e-01 -1.10559436e-01 8.31785614e+01] [ 1.44994423e-01 2.64000366e-03 9.89428950e-01 2.81807578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:83.22, Z:28.19 [[ 6.51696165e-01 -7.52656405e-01 -9.38106856e-02 1.68347013e+02] [ 7.44490918e-01 6.58409726e-01 -1.10588903e-01 8.32216051e+01] [ 1.45001314e-01 2.22916072e-03 9.89428951e-01 2.81899793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:83.26, Z:28.20 [[ 6.45005861e-01 -7.58401409e-01 -9.37802913e-02 1.68386181e+02] [ 7.50291983e-01 6.51787031e-01 -1.10614672e-01 8.32633573e+01] [ 1.45015101e-01 9.84510985e-04 9.89428952e-01 2.82002340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.42, Y:83.31, Z:28.21 [[ 6.41213799e-01 -7.61613806e-01 -9.37511321e-02 1.68424581e+02] [ 7.53534741e-01 6.48031112e-01 -1.10639381e-01 8.33063198e+01] [ 1.45018130e-01 2.98762516e-04 9.89428953e-01 2.82089399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:83.35, Z:28.22 [[ 6.37628411e-01 -7.64621798e-01 -9.37204121e-02 1.68463390e+02] [ 7.56571068e-01 6.44479161e-01 -1.10665397e-01 8.33492244e+01] [ 1.45018027e-01 -3.42751121e-04 9.89428954e-01 2.82161698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.50, Y:83.39, Z:28.22 [[ 6.35748220e-01 -7.66189537e-01 -9.36898852e-02 1.68500766e+02] [ 7.58151892e-01 6.42614316e-01 -1.10691235e-01 8.33926360e+01] [ 1.45016928e-01 -6.59408098e-04 9.89428954e-01 2.82249866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:83.44, Z:28.23 [[ 6.35462750e-01 -7.66430139e-01 -9.36586101e-02 1.68536192e+02] [ 7.58391195e-01 6.42327322e-01 -1.10717692e-01 8.34362309e+01] [ 1.45016860e-01 -6.72896372e-04 9.89428955e-01 2.82322980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:83.48, Z:28.24 [[ 6.37483934e-01 -7.64753237e-01 -9.36307643e-02 1.68572041e+02] [ 7.56692776e-01 6.44323228e-01 -1.10741235e-01 8.34818855e+01] [ 1.45018194e-01 -2.53964623e-04 9.89428956e-01 2.82397937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.61, Y:83.53, Z:28.25 [[ 6.39823391e-01 -7.62800783e-01 -9.36001766e-02 1.68608156e+02] [ 7.54715669e-01 6.46633522e-01 -1.10767082e-01 8.35272081e+01] [ 1.45018229e-01 2.29850452e-04 9.89428957e-01 2.82470964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:83.57, Z:28.25 [[ 6.44031871e-01 -7.59254662e-01 -9.35697979e-02 1.68642676e+02] [ 7.51128323e-01 6.50792756e-01 -1.10792739e-01 8.35729384e+01] [ 1.45014450e-01 1.07112963e-03 9.89428958e-01 2.82547177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.68, Y:83.62, Z:28.26 [[ 6.46504580e-01 -7.57154076e-01 -9.35389396e-02 1.68679007e+02] [ 7.49002003e-01 6.53234412e-01 -1.10818786e-01 8.36176349e+01] [ 1.45009749e-01 1.58399948e-03 9.89428958e-01 2.82635094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:83.66, Z:28.27 [[ 6.49337225e-01 -7.54729999e-01 -9.35082684e-02 1.68713907e+02] [ 7.46549080e-01 6.56031960e-01 -1.10844660e-01 8.36633239e+01] [ 1.45002203e-01 2.16705212e-03 9.89428959e-01 2.82732450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:83.71, Z:28.28 [[ 6.51770267e-01 -7.52633591e-01 -9.34783226e-02 1.68749044e+02] [ 7.44427522e-01 6.58434149e-01 -1.10869908e-01 8.37092299e+01] [ 1.44993737e-01 2.67387375e-03 9.89428960e-01 2.82824985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.79, Y:83.75, Z:28.29 [[ 6.53359868e-01 -7.51257879e-01 -9.34477503e-02 1.68785618e+02] [ 7.43034098e-01 6.60001878e-01 -1.10895671e-01 8.37537705e+01] [ 1.44986937e-01 3.01991592e-03 9.89428961e-01 2.82907726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.82, Y:83.80, Z:28.30 [[ 6.54769282e-01 -7.50033651e-01 -9.34168634e-02 1.68822387e+02] [ 7.41793745e-01 6.61391276e-01 -1.10921684e-01 8.37975026e+01] [ 1.44980094e-01 3.33206611e-03 9.89428961e-01 2.82985051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:83.84, Z:28.31 [[ 6.55198097e-01 -7.49662994e-01 -9.33854889e-02 1.68859281e+02] [ 7.41415582e-01 6.61810740e-01 -1.10948092e-01 8.38405531e+01] [ 1.44977198e-01 3.45552192e-03 9.89428962e-01 2.83054675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:83.88, Z:28.31 [[ 6.54762891e-01 -7.50046591e-01 -9.33577428e-02 1.68896687e+02] [ 7.41799729e-01 6.61376219e-01 -1.10971434e-01 8.38847736e+01] [ 1.44978337e-01 3.40722870e-03 9.89428963e-01 2.83117760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.93, Y:83.93, Z:28.32 [[ 6.55311848e-01 -7.49570827e-01 -9.33271567e-02 1.68934504e+02] [ 7.41315506e-01 6.61914611e-01 -1.10997151e-01 8.39285911e+01] [ 1.44974835e-01 3.55287977e-03 9.89428964e-01 2.83178983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:168.97, Y:83.97, Z:28.33 [[ 6.56149303e-01 -7.48841574e-01 -9.32973178e-02 1.68971638e+02] [ 7.40575355e-01 6.62738417e-01 -1.11022226e-01 8.39731116e+01] [ 1.44969775e-01 3.75346226e-03 9.89428964e-01 2.83259381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.01, Y:84.02, Z:28.34 [[ 6.54920269e-01 -7.49920518e-01 -9.32665978e-02 1.69009066e+02] [ 7.41661486e-01 6.61518387e-01 -1.11048028e-01 8.40173447e+01] [ 1.44974764e-01 3.55536058e-03 9.89428965e-01 2.83356063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.05, Y:84.06, Z:28.35 [[ 6.53053864e-01 -7.51550123e-01 -9.32365948e-02 1.69046801e+02] [ 7.43303966e-01 6.59668065e-01 -1.11073213e-01 8.40610555e+01] [ 1.44982291e-01 3.23366008e-03 9.89428966e-01 2.83462988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:84.10, Z:28.36 [[ 6.48725219e-01 -7.55293326e-01 -9.32071951e-02 1.69083884e+02] [ 7.47081801e-01 6.55382365e-01 -1.11097878e-01 8.41044337e+01] [ 1.44997838e-01 2.43859627e-03 9.89428967e-01 2.83562580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:84.15, Z:28.36 [[ 6.45149860e-01 -7.58353365e-01 -9.31763479e-02 1.69121030e+02] [ 7.50169685e-01 6.51841206e-01 -1.11123743e-01 8.41481395e+01] [ 1.45007248e-01 1.79339600e-03 9.89428968e-01 2.83626664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.16, Y:84.19, Z:28.37 [[ 6.42311337e-01 -7.60762750e-01 -9.31460428e-02 1.69157809e+02] [ 7.52600489e-01 6.49028792e-01 -1.11149140e-01 8.41917622e+01] [ 1.45012589e-01 1.29059532e-03 9.89428968e-01 2.83709647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:84.24, Z:28.38 [[ 6.37877009e-01 -7.64488342e-01 -9.31155020e-02 1.69194579e+02] [ 7.56361582e-01 6.44637370e-01 -1.11174720e-01 8.42366306e+01] [ 1.45017510e-01 4.86809460e-04 9.89428969e-01 2.83792292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:84.28, Z:28.39 [[ 6.36003465e-01 -7.66051446e-01 -9.30847652e-02 1.69231361e+02] [ 7.57937536e-01 6.42779240e-01 -1.11200450e-01 8.42806309e+01] [ 1.45018220e-01 1.71433709e-04 9.89428970e-01 2.83888926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.27, Y:84.33, Z:28.40 [[ 6.36428643e-01 -7.65701946e-01 -9.30543533e-02 1.69266603e+02] [ 7.57580593e-01 6.43195496e-01 -1.11225893e-01 8.43263368e+01] [ 1.45018024e-01 2.91172095e-04 9.89428971e-01 2.83974388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:84.37, Z:28.41 [[ 6.38969761e-01 -7.63586441e-01 -9.30236126e-02 1.69302193e+02] [ 7.55438942e-01 6.45705109e-01 -1.11251597e-01 8.43718589e+01] [ 1.45016033e-01 8.12746984e-04 9.89428971e-01 2.84054685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.34, Y:84.42, Z:28.41 [[ 6.45739356e-01 -7.57874018e-01 -9.29927814e-02 1.69336456e+02] [ 7.49663236e-01 6.52397410e-01 -1.11277362e-01 8.44178585e+01] [ 1.45002472e-01 2.14290288e-03 9.89428972e-01 2.84128777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:84.46, Z:28.42 [[ 6.52969623e-01 -7.51657348e-01 -9.29618364e-02 1.69370917e+02] [ 7.43379527e-01 6.59544142e-01 -1.11303208e-01 8.44641125e+01] [ 1.44974309e-01 3.57168798e-03 9.89428973e-01 2.84188321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.41, Y:84.51, Z:28.43 [[ 6.56884530e-01 -7.48242289e-01 -9.29311087e-02 1.69406955e+02] [ 7.39926677e-01 6.63411183e-01 -1.11328858e-01 8.45086413e+01] [ 1.44952496e-01 4.36799828e-03 9.89428974e-01 2.84278964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:84.55, Z:28.44 [[ 6.60321641e-01 -7.45214699e-01 -9.28998544e-02 1.69443668e+02] [ 7.36865514e-01 6.66805288e-01 -1.11354933e-01 8.45521238e+01] [ 1.44929447e-01 5.07537292e-03 9.89428975e-01 2.84389372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.48, Y:84.60, Z:28.45 [[ 6.60910099e-01 -7.44696922e-01 -9.28672957e-02 1.69479852e+02] [ 7.36338855e-01 6.67382291e-01 -1.11382080e-01 8.45951243e+01] [ 1.44923880e-01 5.23174307e-03 9.89428976e-01 2.84470406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.52, Y:84.64, Z:28.45 [[ 6.60716036e-01 -7.44872742e-01 -9.28381274e-02 1.69516389e+02] [ 7.36512992e-01 6.67186053e-01 -1.11406386e-01 8.46389086e+01] [ 1.44923884e-01 5.23149893e-03 9.89428976e-01 2.84544499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.55, Y:84.68, Z:28.46 [[ 6.59161855e-01 -7.46251982e-01 -9.28096296e-02 1.69554151e+02] [ 7.37902440e-01 6.65645039e-01 -1.11430122e-01 8.46829317e+01] [ 1.44933219e-01 4.96603410e-03 9.89428977e-01 2.84625527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.59, Y:84.73, Z:28.47 [[ 6.53073823e-01 -7.51589513e-01 -9.27781534e-02 1.69586432e+02] [ 7.43289270e-01 6.59620003e-01 -1.11456324e-01 8.47318445e+01] [ 1.44967730e-01 3.82820141e-03 9.89428978e-01 2.84693099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.63, Y:84.77, Z:28.48 [[ 6.51688207e-01 -7.52795104e-01 -9.27470318e-02 1.69628363e+02] [ 7.44503292e-01 6.58245063e-01 -1.11482215e-01 8.47707633e+01] [ 1.44973542e-01 3.60117459e-03 9.89428979e-01 2.84815821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:84.82, Z:28.49 [[ 6.49802983e-01 -7.54426681e-01 -9.27171307e-02 1.69664575e+02] [ 7.46147791e-01 6.56376146e-01 -1.11507078e-01 8.48154851e+01] [ 1.44981228e-01 3.27694964e-03 9.89428979e-01 2.84906643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.69, Y:84.87, Z:28.49 [[ 6.42976384e-01 -7.60256981e-01 -9.26859841e-02 1.69693826e+02] [ 7.52033986e-01 6.49619336e-01 -1.11532962e-01 8.48692103e+01] [ 1.45004320e-01 2.01005028e-03 9.89428980e-01 2.84888953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:84.91, Z:28.50 [[ 6.46063832e-01 -7.57638328e-01 -9.26589901e-02 1.69737106e+02] [ 7.49385197e-01 6.52669306e-01 -1.11555383e-01 8.49059575e+01] [ 1.44994313e-01 2.63462279e-03 9.89428981e-01 2.85023273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:84.95, Z:28.51 [[ 6.42765953e-01 -7.60440111e-01 -9.26432253e-02 1.69772955e+02] [ 7.52213891e-01 6.49404910e-01 -1.11568474e-01 8.49505376e+01] [ 1.45004108e-01 2.02489537e-03 9.89428981e-01 2.85135777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:85.00, Z:28.53 [[ 6.38986924e-01 -7.63621998e-01 -9.26129337e-02 1.69809256e+02] [ 7.55425197e-01 6.45662169e-01 -1.11593613e-01 8.49959107e+01] [ 1.45012006e-01 1.34471605e-03 9.89428982e-01 2.85253535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:85.04, Z:28.54 [[ 6.31667502e-01 -7.69690900e-01 -9.25855552e-02 1.69844578e+02] [ 7.61554908e-01 6.38416727e-01 -1.11616324e-01 8.50401419e+01] [ 1.45018236e-01 -4.57944566e-06 9.89428982e-01 2.85385828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.88, Y:85.09, Z:28.55 [[ 6.25950973e-01 -7.74349210e-01 -9.25671644e-02 1.69879737e+02] [ 7.66261185e-01 6.32757606e-01 -1.11631574e-01 8.50856408e+01] [ 1.45014399e-01 -1.05473269e-03 9.89428983e-01 2.85495248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:85.13, Z:28.56 [[ 6.17680412e-01 -7.80965874e-01 -9.25376215e-02 1.69912101e+02] [ 7.72947068e-01 6.24568455e-01 -1.11656059e-01 8.51334760e+01] [ 1.44995651e-01 -2.55892291e-03 9.89428983e-01 2.85583621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.94, Y:85.18, Z:28.57 [[ 6.11240769e-01 -7.86019816e-01 -9.25071393e-02 1.69943772e+02] [ 7.78054119e-01 6.18190160e-01 -1.11681308e-01 8.51826617e+01] [ 1.44970724e-01 -3.71139241e-03 9.89428984e-01 2.85655582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:85.23, Z:28.57 [[ 6.08867526e-01 -7.87863102e-01 -9.24773894e-02 1.69975369e+02] [ 7.79914705e-01 6.15836697e-01 -1.11705937e-01 8.52312094e+01] [ 1.44959956e-01 -4.11035861e-03 9.89428985e-01 2.85738457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:85.28, Z:28.58 [[ 6.08665966e-01 -7.88022391e-01 -9.24470287e-02 1.70005714e+02] [ 7.80072009e-01 6.15632871e-01 -1.11731057e-01 8.52806500e+01] [ 1.44960005e-01 -4.10844735e-03 9.89428986e-01 2.85829847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:85.34, Z:28.59 [[ 6.12493395e-01 -7.85054798e-01 -9.24164721e-02 1.70030190e+02] [ 7.77066841e-01 6.19417185e-01 -1.11756326e-01 8.53350397e+01] [ 1.44979191e-01 -3.36376435e-03 9.89428986e-01 2.85925477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:85.38, Z:28.60 [[ 6.15461840e-01 -7.82733589e-01 -9.23842590e-02 1.70060809e+02] [ 7.74715519e-01 6.22350734e-01 -1.11782949e-01 8.53828534e+01] [ 1.44991680e-01 -2.77337964e-03 9.89428987e-01 2.86006613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:85.44, Z:28.61 [[ 6.20494116e-01 -7.78753793e-01 -9.23557368e-02 1.70086771e+02] [ 7.70688019e-01 6.27327093e-01 -1.11806510e-01 8.54357882e+01] [ 1.45006999e-01 -1.80217856e-03 9.89428988e-01 2.86103568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:85.49, Z:28.62 [[ 6.23501976e-01 -7.76351442e-01 -9.23240197e-02 1.70116386e+02] [ 7.68255460e-01 6.30299133e-01 -1.11832694e-01 8.54853765e+01] [ 1.45013223e-01 -1.20052653e-03 9.89428989e-01 2.86187309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.14, Y:85.54, Z:28.63 [[ 6.27271315e-01 -7.73312959e-01 -9.22917407e-02 1.70143897e+02] [ 7.65180129e-01 6.34024338e-01 -1.11859327e-01 8.55360567e+01] [ 1.45017477e-01 -4.53659195e-04 9.89428990e-01 2.86250376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:85.58, Z:28.63 [[ 6.29943091e-01 -7.71140542e-01 -9.22711564e-02 1.70175991e+02] [ 7.62981936e-01 6.36664950e-01 -1.11876304e-01 8.55846816e+01] [ 1.45018165e-01 7.44789774e-05 9.89428990e-01 2.86326350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:85.64, Z:28.64 [[ 6.34940493e-01 -7.67034757e-01 -9.22401902e-02 1.70206936e+02] [ 7.58828976e-01 6.41604681e-01 -1.11901829e-01 8.56352192e+01] [ 1.45014330e-01 1.05647346e-03 9.89428991e-01 2.86388298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.24, Y:85.68, Z:28.65 [[ 6.38838106e-01 -7.63794931e-01 -9.22126755e-02 1.70240367e+02] [ 7.55552085e-01 6.45456392e-01 -1.11924498e-01 8.56820741e+01] [ 1.45006625e-01 1.83015525e-03 9.89428991e-01 2.86463092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.27, Y:85.73, Z:28.66 [[ 6.44293405e-01 -7.59202621e-01 -9.21812881e-02 1.70273545e+02] [ 7.50908918e-01 6.50847846e-01 -1.11950343e-01 8.57297308e+01] [ 1.44988987e-01 2.90911641e-03 9.89428992e-01 2.86551301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:85.78, Z:28.66 [[ 6.47106449e-01 -7.56810032e-01 -9.21510636e-02 1.70309028e+02] [ 7.48488562e-01 6.53625599e-01 -1.11975217e-01 8.57756263e+01] [ 1.44976262e-01 3.48586784e-03 9.89428993e-01 2.86639180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:85.82, Z:28.68 [[ 6.49412083e-01 -7.54836354e-01 -9.21196252e-02 1.70346434e+02] [ 7.46491412e-01 6.55901160e-01 -1.12001075e-01 8.58195221e+01] [ 1.44963852e-01 3.96834213e-03 9.89428994e-01 2.86753279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.38, Y:85.86, Z:28.69 [[ 6.49832580e-01 -7.54477791e-01 -9.20916967e-02 1.70383698e+02] [ 7.46126021e-01 6.56312865e-01 -1.12024034e-01 8.58636107e+01] [ 1.44960611e-01 4.08485588e-03 9.89428995e-01 2.86852857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.42, Y:85.91, Z:28.69 [[ 6.50192006e-01 -7.54171836e-01 -9.20608313e-02 1.70421224e+02] [ 7.45813433e-01 6.56663732e-01 -1.12049393e-01 8.59072680e+01] [ 1.44957506e-01 4.19341532e-03 9.89428995e-01 2.86906334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:85.95, Z:28.70 [[ 6.50029469e-01 -7.54315701e-01 -9.20299550e-02 1.70459918e+02] [ 7.45955148e-01 6.56498415e-01 -1.12074748e-01 8.59500106e+01] [ 1.44957261e-01 4.20166994e-03 9.89428996e-01 2.86986722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:85.99, Z:28.71 [[ 6.48529128e-01 -7.55609973e-01 -9.19974933e-02 1.70500691e+02] [ 7.47258559e-01 6.55009867e-01 -1.12101388e-01 8.59913571e+01] [ 1.44964193e-01 3.95510103e-03 9.89428997e-01 2.87054228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.54, Y:86.03, Z:28.71 [[ 6.46047626e-01 -7.57736559e-01 -9.19661527e-02 1.70539180e+02] [ 7.49402826e-01 6.52551086e-01 -1.12127093e-01 8.60326740e+01] [ 1.44975411e-01 3.51974775e-03 9.89428998e-01 2.87140897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:86.07, Z:28.73 [[ 6.39322109e-01 -7.63422191e-01 -9.19445475e-02 1.70581179e+02] [ 7.55143771e-01 6.45895833e-01 -1.12144807e-01 8.60720014e+01] [ 1.45000434e-01 2.26530219e-03 9.89428998e-01 2.87262113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.62, Y:86.11, Z:28.74 [[ 6.36319843e-01 -7.65930168e-01 -9.19131920e-02 1.70618717e+02] [ 7.57673950e-01 6.42921429e-01 -1.12170500e-01 8.61140680e+01] [ 1.45007731e-01 1.73608376e-03 9.89428999e-01 2.87352474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.66, Y:86.15, Z:28.75 [[ 6.28208072e-01 -7.72600711e-01 -9.18844880e-02 1.70658628e+02] [ 7.64411161e-01 6.34892181e-01 -1.12194008e-01 8.61549547e+01] [ 1.45017914e-01 2.43653468e-04 9.89429000e-01 2.87457166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:86.20, Z:28.76 [[ 6.22402820e-01 -7.77286842e-01 -9.18689013e-02 1.70697705e+02] [ 7.69145729e-01 6.29145841e-01 -1.12206770e-01 8.61973060e+01] [ 1.45015783e-01 -8.22763132e-04 9.89429000e-01 2.87560462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:86.24, Z:28.77 [[ 6.16745962e-01 -7.81786578e-01 -9.18377084e-02 1.70736303e+02] [ 7.73690852e-01 6.23543405e-01 -1.12232295e-01 8.62401097e+01] [ 1.45006499e-01 -1.83518043e-03 9.89429001e-01 2.87652535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.77, Y:86.28, Z:28.77 [[ 6.15783305e-01 -7.82548754e-01 -9.18061511e-02 1.70772378e+02] [ 7.74457593e-01 6.22586182e-01 -1.12258103e-01 8.62836575e+01] [ 1.45004679e-01 -1.97330538e-03 9.89429002e-01 2.87731970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:86.33, Z:28.78 [[ 6.19413607e-01 -7.79681707e-01 -9.17781030e-02 1.70807390e+02] [ 7.71555656e-01 6.26174768e-01 -1.12281029e-01 8.63298272e+01] [ 1.45012597e-01 -1.26351721e-03 9.89429002e-01 2.87786605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.84, Y:86.37, Z:28.78 [[ 6.23091578e-01 -7.76749206e-01 -9.17472391e-02 1.70842437e+02] [ 7.68587619e-01 6.29809797e-01 -1.12306243e-01 8.63748328e+01] [ 1.45017095e-01 -5.38717723e-04 9.89429003e-01 2.87844383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:170.88, Y:86.42, Z:28.79 [[ 6.28662378e-01 -7.72250390e-01 -9.17221296e-02 1.70877139e+02] [ 7.64037732e-01 6.35318067e-01 -1.12326747e-01 8.64208454e+01] [ 1.45017100e-01 5.36431980e-04 9.89429003e-01 2.87912645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:86.47, Z:28.80 [[ 6.31371548e-01 -7.70040573e-01 -9.16923326e-02 1.70912575e+02] [ 7.61801088e-01 6.37993998e-01 -1.12351065e-01 8.64662547e+01] [ 1.45014036e-01 1.08394721e-03 9.89429004e-01 2.88002977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.95, Y:86.51, Z:28.81 [[ 6.33680495e-01 -7.68145263e-01 -9.16617967e-02 1.70949537e+02] [ 7.59882369e-01 6.40273712e-01 -1.12375972e-01 8.65107737e+01] [ 1.45009710e-01 1.55827861e-03 9.89429005e-01 2.88095257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:86.56, Z:28.82 [[ 6.34347693e-01 -7.67598127e-01 -9.16303473e-02 1.70985770e+02] [ 7.59325843e-01 6.40929124e-01 -1.12401610e-01 8.65551255e+01] [ 1.45007824e-01 1.72441140e-03 9.89429006e-01 2.88187144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:86.60, Z:28.83 [[ 6.35806128e-01 -7.66394423e-01 -9.15977992e-02 1.71021912e+02] [ 7.58105860e-01 6.42367045e-01 -1.12428128e-01 8.66001817e+01] [ 1.45003698e-01 2.04166450e-03 9.89429007e-01 2.88271078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:86.64, Z:28.83 [[ 6.37490062e-01 -7.64998102e-01 -9.15659599e-02 1.71057975e+02] [ 7.56691448e-01 6.44028058e-01 -1.12454054e-01 8.66439008e+01] [ 1.44998185e-01 2.40116282e-03 9.89429007e-01 2.88345103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:86.69, Z:28.84 [[ 6.40879402e-01 -7.62164336e-01 -9.15375144e-02 1.71094575e+02] [ 7.53825475e-01 6.47376268e-01 -1.12477204e-01 8.66874258e+01] [ 1.44985328e-01 3.08101271e-03 9.89429008e-01 2.88397025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.13, Y:86.73, Z:28.85 [[ 6.43395944e-01 -7.60044186e-01 -9.15122629e-02 1.71132031e+02] [ 7.51681002e-01 6.49861469e-01 -1.12497745e-01 8.67313090e+01] [ 1.44973550e-01 3.59256307e-03 9.89429009e-01 2.88497656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.17, Y:86.77, Z:28.86 [[ 6.47587793e-01 -7.56479660e-01 -9.14799083e-02 1.71171503e+02] [ 7.48077192e-01 6.54002181e-01 -1.12524049e-01 8.67731685e+01] [ 1.44950214e-01 4.43516737e-03 9.89429010e-01 2.88604378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:86.82, Z:28.87 [[ 6.49631313e-01 -7.54729210e-01 -9.14493161e-02 1.71209705e+02] [ 7.46305971e-01 6.56018400e-01 -1.12548906e-01 8.68158131e+01] [ 1.44936381e-01 4.86612274e-03 9.89429010e-01 2.88684749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.25, Y:86.86, Z:28.87 [[ 6.50841357e-01 -7.53689868e-01 -9.14172358e-02 1.71247774e+02] [ 7.45252783e-01 6.57210140e-01 -1.12574957e-01 8.68576781e+01] [ 1.44926939e-01 5.13948818e-03 9.89429011e-01 2.88748180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:86.90, Z:28.88 [[ 6.50954049e-01 -7.53595810e-01 -9.13902678e-02 1.71288591e+02] [ 7.45154741e-01 6.57317550e-01 -1.12596846e-01 8.68985138e+01] [ 1.44924938e-01 5.19548142e-03 9.89429012e-01 2.88840665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:86.94, Z:28.89 [[ 6.49501804e-01 -7.54851635e-01 -9.13587163e-02 1.71329217e+02] [ 7.46419282e-01 6.55876849e-01 -1.12622440e-01 8.69391951e+01] [ 1.44933300e-01 4.95657071e-03 9.89429013e-01 2.88920876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.37, Y:86.98, Z:28.90 [[ 6.48622177e-01 -7.55611465e-01 -9.13268106e-02 1.71369146e+02] [ 7.47182948e-01 6.55002291e-01 -1.12648307e-01 8.69812788e+01] [ 1.44937623e-01 4.82835466e-03 9.89429013e-01 2.89012935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:87.02, Z:28.91 [[ 6.48164209e-01 -7.56008027e-01 -9.12963344e-02 1.71410545e+02] [ 7.47579945e-01 6.54544896e-01 -1.12673002e-01 8.70223550e+01] [ 1.44939243e-01 4.77929834e-03 9.89429014e-01 2.89113317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:87.07, Z:28.92 [[ 6.48324045e-01 -7.55874659e-01 -9.12657234e-02 1.71449413e+02] [ 7.47441783e-01 6.54698395e-01 -1.12697791e-01 8.70651311e+01] [ 1.44936927e-01 4.84887290e-03 9.89429015e-01 2.89186785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.49, Y:87.11, Z:28.92 [[ 6.48765744e-01 -7.55499515e-01 -9.12331786e-02 1.71489868e+02] [ 7.47059260e-01 6.55130317e-01 -1.12724132e-01 8.71058417e+01] [ 1.44932648e-01 4.97496425e-03 9.89429016e-01 2.89238602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:87.15, Z:28.93 [[ 6.47469450e-01 -7.56613760e-01 -9.12081716e-02 1.71530865e+02] [ 7.48181616e-01 6.53844766e-01 -1.12744362e-01 8.71463273e+01] [ 1.44939921e-01 4.75825273e-03 9.89429016e-01 2.89300817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:87.19, Z:28.94 [[ 6.44545569e-01 -7.59108596e-01 -9.11874370e-02 1.71570796e+02] [ 7.50698769e-01 6.50950294e-01 -1.12761130e-01 8.71875859e+01] [ 1.44956432e-01 4.22538972e-03 9.89429017e-01 2.89406093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:87.23, Z:28.95 [[ 6.41700145e-01 -7.61519273e-01 -9.11554764e-02 1.71611633e+02] [ 7.53129848e-01 6.48131571e-01 -1.12786961e-01 8.72281518e+01] [ 1.44970186e-01 3.72349895e-03 9.89429017e-01 2.89494108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:87.27, Z:28.96 [[ 6.40730559e-01 -7.62337061e-01 -9.11403043e-02 1.71651077e+02] [ 7.53954105e-01 6.47170413e-01 -1.12799220e-01 8.72702887e+01] [ 1.44974334e-01 3.55830041e-03 9.89429018e-01 2.89580559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:87.31, Z:28.97 [[ 6.41007001e-01 -7.62108301e-01 -9.11096144e-02 1.71691115e+02] [ 7.53719529e-01 6.47439276e-01 -1.12824003e-01 8.73113409e+01] [ 1.44972052e-01 3.64988013e-03 9.89429018e-01 2.89664459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.73, Y:87.35, Z:28.98 [[ 6.41332856e-01 -7.61837582e-01 -9.10805461e-02 1.71729932e+02] [ 7.53442768e-01 6.47757242e-01 -1.12847464e-01 8.73540009e+01] [ 1.44969523e-01 3.74880785e-03 9.89429019e-01 2.89757752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.77, Y:87.40, Z:28.98 [[ 6.41882980e-01 -7.61378020e-01 -9.10480630e-02 1.71769533e+02] [ 7.52974896e-01 6.48296491e-01 -1.12873667e-01 8.73965001e+01] [ 1.44965669e-01 3.89477976e-03 9.89429020e-01 2.89846756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.81, Y:87.44, Z:28.99 [[ 6.42199535e-01 -7.61114625e-01 -9.10180466e-02 1.71807472e+02] [ 7.52705447e-01 6.48605104e-01 -1.12897866e-01 8.74394460e+01] [ 1.44962987e-01 3.99317753e-03 9.89429021e-01 2.89923244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:87.48, Z:29.00 [[ 6.42045531e-01 -7.61248349e-01 -9.09861908e-02 1.71846485e+02] [ 7.52836874e-01 6.48448083e-01 -1.12923533e-01 8.74821872e+01] [ 1.44962674e-01 4.00429052e-03 9.89429022e-01 2.90019874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:87.53, Z:29.01 [[ 6.42143093e-01 -7.61169827e-01 -9.09546147e-02 1.71884873e+02] [ 7.52753974e-01 6.48539888e-01 -1.12948961e-01 8.75251618e+01] [ 1.44961037e-01 4.06294741e-03 9.89429022e-01 2.90108339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:87.57, Z:29.02 [[ 6.43002060e-01 -7.60448150e-01 -9.09228293e-02 1.71923311e+02] [ 7.52021508e-01 6.49384635e-01 -1.12974542e-01 8.75679397e+01] [ 1.44955170e-01 4.26694014e-03 9.89429023e-01 2.90178436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:87.62, Z:29.02 [[ 6.39963851e-01 -7.63010534e-01 -9.08911097e-02 1.71958151e+02] [ 7.54605836e-01 6.46375293e-01 -1.13000056e-01 8.76169646e+01] [ 1.44970001e-01 3.72898911e-03 9.89429024e-01 2.90165927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:87.66, Z:29.03 [[ 6.41246587e-01 -7.61936316e-01 -9.08617941e-02 1.71999508e+02] [ 7.53517545e-01 6.47639537e-01 -1.13023623e-01 8.76553217e+01] [ 1.44962493e-01 4.01005669e-03 9.89429025e-01 2.90322737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:87.70, Z:29.04 [[ 6.39662229e-01 -7.63268281e-01 -9.08502320e-02 1.72036581e+02] [ 7.54861506e-01 6.46070946e-01 -1.13032916e-01 8.76993677e+01] [ 1.44970135e-01 3.72354436e-03 9.89429025e-01 2.90411735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:87.74, Z:29.05 [[ 6.38566959e-01 -7.64188406e-01 -9.08202573e-02 1.72074178e+02] [ 7.55787446e-01 6.44983296e-01 -1.13056996e-01 8.77426239e+01] [ 1.44974394e-01 3.55365161e-03 9.89429026e-01 2.90498267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.11, Y:87.79, Z:29.06 [[ 6.32243222e-01 -7.69432265e-01 -9.07882050e-02 1.72112776e+02] [ 7.61080850e-01 6.38723913e-01 -1.13082729e-01 8.77856662e+01] [ 1.44998098e-01 2.39862468e-03 9.89429026e-01 2.90595901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:87.83, Z:29.07 [[ 6.28672715e-01 -7.72356095e-01 -9.07561583e-02 1.72149721e+02] [ 7.64031114e-01 6.35187325e-01 -1.13108443e-01 8.78295970e+01] [ 1.45007157e-01 1.76766310e-03 9.89429027e-01 2.90692301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:87.88, Z:29.07 [[ 6.24809521e-01 -7.75488344e-01 -9.07242582e-02 1.72184430e+02] [ 7.67192309e-01 6.31360953e-01 -1.13134024e-01 8.78775162e+01] [ 1.45013871e-01 1.08426231e-03 9.89429028e-01 2.90696612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:87.92, Z:29.08 [[ 6.25958943e-01 -7.74564296e-01 -9.06948394e-02 1.72223610e+02] [ 7.66255174e-01 6.32493767e-01 -1.13157603e-01 8.79181987e+01] [ 1.45011760e-01 1.33662381e-03 9.89429029e-01 2.90827727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:87.96, Z:29.09 [[ 6.24854822e-01 -7.75459220e-01 -9.06611806e-02 1.72259910e+02] [ 7.67155545e-01 6.31396566e-01 -1.13184564e-01 8.79621673e+01] [ 1.45013172e-01 1.17269330e-03 9.89429030e-01 2.90935972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:88.01, Z:29.10 [[ 6.24360890e-01 -7.75860221e-01 -9.06333077e-02 1.72295905e+02] [ 7.67557509e-01 6.30903853e-01 -1.13206879e-01 8.80063026e+01] [ 1.45013618e-01 1.11567193e-03 9.89429030e-01 2.91046169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:88.05, Z:29.11 [[ 6.24232541e-01 -7.75967131e-01 -9.06021278e-02 1.72330191e+02] [ 7.67661919e-01 6.30772330e-01 -1.13231828e-01 8.80515723e+01] [ 1.45013492e-01 1.13118852e-03 9.89429031e-01 2.91113442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:88.10, Z:29.12 [[ 6.24668092e-01 -7.75620375e-01 -9.05693590e-02 1.72365333e+02] [ 7.67307733e-01 6.31198433e-01 -1.13258033e-01 8.80975745e+01] [ 1.45012475e-01 1.25410959e-03 9.89429032e-01 2.91205354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.40, Y:88.14, Z:29.13 [[ 6.25765569e-01 -7.74738870e-01 -9.05380352e-02 1.72400670e+02] [ 7.66413407e-01 6.32279555e-01 -1.13283067e-01 8.81429331e+01] [ 1.45010144e-01 1.49907902e-03 9.89429033e-01 2.91304488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:88.19, Z:29.14 [[ 6.26358159e-01 -7.74263571e-01 -9.05062399e-02 1.72435264e+02] [ 7.65929496e-01 6.32861121e-01 -1.13308464e-01 8.81876176e+01] [ 1.45008497e-01 1.65028230e-03 9.89429034e-01 2.91371111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.47, Y:88.23, Z:29.14 [[ 6.26964115e-01 -7.73776870e-01 -9.04729429e-02 1.72470324e+02] [ 7.65433912e-01 6.33455676e-01 -1.13335045e-01 8.82328055e+01] [ 1.45006635e-01 1.80594740e-03 9.89429034e-01 2.91447952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.51, Y:88.28, Z:29.15 [[ 6.27434360e-01 -7.73399263e-01 -9.04417128e-02 1.72506003e+02] [ 7.65048808e-01 6.33916273e-01 -1.13359961e-01 8.82782257e+01] [ 1.45004984e-01 1.93361004e-03 9.89429035e-01 2.91527542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:88.32, Z:29.16 [[ 6.28350905e-01 -7.72658526e-01 -9.04098541e-02 1.72540936e+02] [ 7.64296776e-01 6.34818240e-01 -1.13385364e-01 8.83241025e+01] [ 1.45001993e-01 2.14583626e-03 9.89429036e-01 2.91589986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.58, Y:88.37, Z:29.17 [[ 6.28045674e-01 -7.72910345e-01 -9.03782589e-02 1.72575645e+02] [ 7.64547566e-01 6.34511677e-01 -1.13410543e-01 8.83695802e+01] [ 1.45002243e-01 2.12852310e-03 9.89429037e-01 2.91669040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:88.42, Z:29.18 [[ 6.26864972e-01 -7.73871921e-01 -9.03468670e-02 1.72611365e+02] [ 7.65515459e-01 6.33339134e-01 -1.13435546e-01 8.84151644e+01] [ 1.45004790e-01 1.94684679e-03 9.89429038e-01 2.91778556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.65, Y:88.46, Z:29.19 [[ 6.22910005e-01 -7.77062410e-01 -9.03168711e-02 1.72647088e+02] [ 7.68735649e-01 6.29422323e-01 -1.13459423e-01 8.84604900e+01] [ 1.45012508e-01 1.24521132e-03 9.89429038e-01 2.91899068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:88.50, Z:29.21 [[ 6.04013523e-01 -7.91843317e-01 -9.02874642e-02 1.72680821e+02] [ 7.83672364e-01 6.10720292e-01 -1.13482820e-01 8.85046937e+01] [ 1.45000999e-01 -2.21063287e-03 9.89429039e-01 2.92121613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.71, Y:88.56, Z:29.21 [[ 5.99657209e-01 -7.95150755e-01 -9.02580063e-02 1.72711528e+02] [ 7.87013262e-01 6.06404534e-01 -1.13506244e-01 8.85555061e+01] [ 1.44987440e-01 -2.96941032e-03 9.89429040e-01 2.92081903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:88.61, Z:29.20 [[ 6.00467254e-01 -7.94542687e-01 -9.02274631e-02 1.72742315e+02] [ 7.86394716e-01 6.07201921e-01 -1.13530518e-01 8.86074551e+01] [ 1.44991132e-01 -2.78304163e-03 9.89429041e-01 2.92036038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:88.65, Z:29.22 [[ 6.02980012e-01 -7.92640782e-01 -9.01980918e-02 1.72778044e+02] [ 7.84468076e-01 6.09684641e-01 -1.13553849e-01 8.86517715e+01] [ 1.44999803e-01 -2.28682256e-03 9.89429041e-01 2.92174617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:88.70, Z:29.23 [[ 6.09330371e-01 -7.87773058e-01 -9.01671171e-02 1.72809751e+02] [ 7.79543135e-01 6.15964640e-01 -1.13578439e-01 8.86989955e+01] [ 1.45013790e-01 -1.08236489e-03 9.89429042e-01 2.92338284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:88.75, Z:29.24 [[ 6.15005533e-01 -7.83353940e-01 -9.01376676e-02 1.72840922e+02] [ 7.75072916e-01 6.21575904e-01 -1.13601806e-01 8.87483876e+01] [ 1.45017824e-01 2.47417124e-06 9.89429043e-01 2.92401005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:88.80, Z:29.25 [[ 6.22289189e-01 -7.77583913e-01 -9.01078451e-02 1.72874156e+02] [ 7.69238545e-01 6.28777637e-01 -1.13625456e-01 8.87950106e+01] [ 1.45011124e-01 1.39346524e-03 9.89429043e-01 2.92496506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.91, Y:88.84, Z:29.26 [[ 6.25676841e-01 -7.74863993e-01 -9.00793123e-02 1.72908216e+02] [ 7.66487167e-01 6.32124623e-01 -1.13648072e-01 8.88400033e+01] [ 1.45003150e-01 2.06232955e-03 9.89429044e-01 2.92609493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.94, Y:88.89, Z:29.27 [[ 6.28780835e-01 -7.72349686e-01 -9.00590103e-02 1.72942011e+02] [ 7.63944778e-01 6.35191968e-01 -1.13664157e-01 8.88860862e+01] [ 1.44993236e-01 2.66973309e-03 9.89429044e-01 2.92694731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:88.93, Z:29.28 [[ 6.30281431e-01 -7.71129368e-01 -9.00267507e-02 1.72976897e+02] [ 7.62708403e-01 6.36671457e-01 -1.13689703e-01 8.89322198e+01] [ 1.44986931e-01 2.99234937e-03 9.89429045e-01 2.92755851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:88.98, Z:29.28 [[ 6.31981613e-01 -7.69740335e-01 -8.99947647e-02 1.73013095e+02] [ 7.61301726e-01 6.38348319e-01 -1.13715017e-01 8.89767846e+01] [ 1.44979042e-01 3.35263006e-03 9.89429046e-01 2.92787484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:89.02, Z:29.29 [[ 6.33444328e-01 -7.68539707e-01 -8.99722292e-02 1.73050373e+02] [ 7.60086504e-01 6.39791644e-01 -1.13732844e-01 8.90216729e+01] [ 1.44971687e-01 3.65674812e-03 9.89429047e-01 2.92850039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:173.09, Y:89.06, Z:29.30 [[ 6.36184177e-01 -7.66276644e-01 -8.99433025e-02 1.73088345e+02] [ 7.57797640e-01 6.42496984e-01 -1.13755716e-01 8.90645370e+01] [ 1.44956649e-01 4.21076431e-03 9.89429047e-01 2.92958540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.13, Y:89.11, Z:29.31 [[ 6.37711825e-01 -7.65009548e-01 -8.99111698e-02 1.73125311e+02] [ 7.56514431e-01 6.44002931e-01 -1.13781108e-01 8.91078980e+01] [ 1.44946691e-01 4.54046049e-03 9.89429048e-01 2.93054631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:89.15, Z:29.32 [[ 6.39370966e-01 -7.63626804e-01 -8.98825520e-02 1.73163545e+02] [ 7.55114914e-01 6.45639359e-01 -1.13803710e-01 8.91522185e+01] [ 1.44935277e-01 4.89113266e-03 9.89429049e-01 2.93157748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:173.20, Y:89.20, Z:29.32 [[ 6.39865488e-01 -7.63215810e-01 -8.98542440e-02 1.73201071e+02] [ 7.54696766e-01 6.46124153e-01 -1.13826057e-01 8.91955928e+01] [ 1.44930843e-01 5.02065797e-03 9.89429049e-01 2.93246777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:89.24, Z:29.33 [[ 6.36544105e-01 -7.65991847e-01 -8.98225639e-02 1.73239209e+02] [ 7.57496588e-01 6.42835016e-01 -1.13851051e-01 8.92389012e+01] [ 1.44950066e-01 4.43092957e-03 9.89429050e-01 2.93324258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:89.28, Z:29.34 [[ 6.33483196e-01 -7.68528957e-01 -8.97902159e-02 1.73276479e+02] [ 7.60055291e-01 6.39803160e-01 -1.13876557e-01 8.92829502e+01] [ 1.44965496e-01 3.89335662e-03 9.89429051e-01 2.93399798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.31, Y:89.33, Z:29.33 [[ 6.27617706e-01 -7.73330125e-01 -8.97581887e-02 1.73309362e+02] [ 7.64901220e-01 6.33997244e-01 -1.13901796e-01 8.93334533e+01] [ 1.44990134e-01 2.83063562e-03 9.89429052e-01 2.93338636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:89.37, Z:29.35 [[ 6.30175133e-01 -7.71249803e-01 -8.97387476e-02 1.73350599e+02] [ 7.62797663e-01 6.36523854e-01 -1.13917111e-01 8.93722484e+01] [ 1.44979403e-01 3.33522336e-03 9.89429052e-01 2.93493004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:89.41, Z:29.36 [[ 6.27556067e-01 -7.73383916e-01 -8.97256987e-02 1.73389386e+02] [ 7.64951902e-01 6.33931494e-01 -1.13927387e-01 8.94147568e+01] [ 1.44989555e-01 2.85997936e-03 9.89429052e-01 2.93624111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:89.46, Z:29.37 [[ 6.25171688e-01 -7.75316071e-01 -8.96958737e-02 1.73426942e+02] [ 7.66900397e-01 6.31568668e-01 -1.13950864e-01 8.94581879e+01] [ 1.44997040e-01 2.45105305e-03 9.89429053e-01 2.93735123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.46, Y:89.50, Z:29.38 [[ 6.20146407e-01 -7.79344987e-01 -8.96650735e-02 1.73463587e+02] [ 7.70967377e-01 6.26593155e-01 -1.13975095e-01 8.95013491e+01] [ 1.45009440e-01 1.55239908e-03 9.89429054e-01 2.93811623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.50, Y:89.55, Z:29.39 [[ 6.17008655e-01 -7.81835350e-01 -8.96315014e-02 1.73500028e+02] [ 7.73479927e-01 6.23484132e-01 -1.14001491e-01 8.95460367e+01] [ 1.45014214e-01 1.01173923e-03 9.89429055e-01 2.93910144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:89.59, Z:29.40 [[ 6.15779513e-01 -7.82807516e-01 -8.95990154e-02 1.73534883e+02] [ 7.74458603e-01 6.22263378e-01 -1.14027017e-01 8.95910125e+01] [ 1.45015392e-01 8.24772937e-04 9.89429055e-01 2.93950368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:89.64, Z:29.40 [[ 6.16412203e-01 -7.82312456e-01 -8.95724148e-02 1.73570657e+02] [ 7.73955299e-01 6.22885439e-01 -1.14047909e-01 8.96366895e+01] [ 1.45014453e-01 9.75478027e-04 9.89429056e-01 2.94028279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:89.68, Z:29.41 [[ 6.16794522e-01 -7.82014631e-01 -8.95412398e-02 1.73605042e+02] [ 7.73650796e-01 6.23259126e-01 -1.14072380e-01 8.96820480e+01] [ 1.45013665e-01 1.08556794e-03 9.89429057e-01 2.94117962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.64, Y:89.73, Z:29.42 [[ 6.18637959e-01 -7.80560885e-01 -8.95085563e-02 1.73638790e+02] [ 7.72178149e-01 6.25078034e-01 -1.14098020e-01 8.97285997e+01] [ 1.45010284e-01 1.46881508e-03 9.89429058e-01 2.94204722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:89.77, Z:29.43 [[ 6.19168832e-01 -7.80143333e-01 -8.94781384e-02 1.73673639e+02] [ 7.71752809e-01 6.25598754e-01 -1.14121870e-01 8.97745806e+01] [ 1.45008828e-01 1.60570024e-03 9.89429058e-01 2.94304062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:89.82, Z:29.44 [[ 6.20211637e-01 -7.79318196e-01 -8.94464931e-02 1.73707961e+02] [ 7.70915541e-01 6.26625699e-01 -1.14146668e-01 8.98204589e+01] [ 1.45006046e-01 1.83939992e-03 9.89429059e-01 2.94410774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.74, Y:89.87, Z:29.45 [[ 6.21885019e-01 -7.77986992e-01 -8.94162309e-02 1.73740974e+02] [ 7.69567203e-01 6.28276569e-01 -1.14170369e-01 8.98671364e+01] [ 1.45001184e-01 2.18904315e-03 9.89429060e-01 2.94495210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:89.91, Z:29.46 [[ 6.23129638e-01 -7.76994115e-01 -8.93845646e-02 1.73775363e+02] [ 7.68560588e-01 6.29503050e-01 -1.14195155e-01 8.99133742e+01] [ 1.44996819e-01 2.46093206e-03 9.89429061e-01 2.94570225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.81, Y:89.96, Z:29.46 [[ 6.24424526e-01 -7.75957544e-01 -8.93526749e-02 1.73810135e+02] [ 7.67509871e-01 6.30779174e-01 -1.14220102e-01 8.99599900e+01] [ 1.44991756e-01 2.74277319e-03 9.89429062e-01 2.94645245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:90.01, Z:29.47 [[ 6.26895049e-01 -7.73966384e-01 -8.93231954e-02 1.73843819e+02] [ 7.65495250e-01 6.33218387e-01 -1.14243151e-01 9.00065098e+01] [ 1.44981448e-01 3.24198414e-03 9.89429062e-01 2.94726770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:90.05, Z:29.48 [[ 6.27903607e-01 -7.73151982e-01 -8.92920724e-02 1.73878832e+02] [ 7.64669192e-01 6.34211299e-01 -1.14267472e-01 9.00519313e+01] [ 1.44976164e-01 3.47006084e-03 9.89429063e-01 2.94808372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:90.10, Z:29.49 [[ 6.28854342e-01 -7.72382442e-01 -8.92612993e-02 1.73914461e+02] [ 7.63888528e-01 6.35147045e-01 -1.14291506e-01 9.00967062e+01] [ 1.44970803e-01 3.68702713e-03 9.89429064e-01 2.94900742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.95, Y:90.14, Z:29.50 [[ 6.29182171e-01 -7.72119262e-01 -8.92280221e-02 1.73950124e+02] [ 7.63619038e-01 6.35466347e-01 -1.14317480e-01 9.01411026e+01] [ 1.44968133e-01 3.79030367e-03 9.89429065e-01 2.94974280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.99, Y:90.18, Z:29.50 [[ 6.26887972e-01 -7.73986522e-01 -8.91982905e-02 1.73986977e+02] [ 7.65501723e-01 6.33192958e-01 -1.14340674e-01 9.01846969e+01] [ 1.44977870e-01 3.39734800e-03 9.89429065e-01 2.95047711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:90.23, Z:29.51 [[ 6.26388630e-01 -7.74394605e-01 -8.91643440e-02 1.74022773e+02] [ 7.65910151e-01 6.32694079e-01 -1.14367140e-01 9.02296713e+01] [ 1.44979048e-01 3.34639981e-03 9.89429066e-01 2.95129494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:90.27, Z:29.52 [[ 6.25563246e-01 -7.75065231e-01 -8.91319955e-02 1.74059821e+02] [ 7.66583951e-01 6.31872960e-01 -1.14392345e-01 9.02744060e+01] [ 1.44981627e-01 3.23248940e-03 9.89429067e-01 2.95206121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.10, Y:90.32, Z:29.53 [[ 6.24914265e-01 -7.75592247e-01 -8.91000928e-02 1.74095843e+02] [ 7.67112750e-01 6.31226375e-01 -1.14417189e-01 9.03196169e+01] [ 1.44983413e-01 3.15111627e-03 9.89429068e-01 2.95297379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.13, Y:90.36, Z:29.54 [[ 6.22728841e-01 -7.77351784e-01 -8.90673562e-02 1.74132967e+02] [ 7.68886483e-01 6.29059975e-01 -1.14442667e-01 9.03619396e+01] [ 1.44990920e-01 2.78406308e-03 9.89429069e-01 2.95391369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:90.41, Z:29.55 [[ 6.20923842e-01 -7.78798233e-01 -8.90331082e-02 1.74169806e+02] [ 7.70343864e-01 6.27269566e-01 -1.14469305e-01 9.04062157e+01] [ 1.44996252e-01 2.49061199e-03 9.89429070e-01 2.95484312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.21, Y:90.45, Z:29.56 [[ 6.16688201e-01 -7.82160097e-01 -8.90013813e-02 1.74207389e+02] [ 7.73736769e-01 6.23075070e-01 -1.14493968e-01 9.04498744e+01] [ 1.45007155e-01 1.74343779e-03 9.89429070e-01 2.95566081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:90.49, Z:29.56 [[ 6.15829163e-01 -7.82840299e-01 -8.89691456e-02 1.74243731e+02] [ 7.74420409e-01 6.22220561e-01 -1.14519012e-01 9.04942749e+01] [ 1.45008529e-01 1.62462495e-03 9.89429071e-01 2.95647395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:90.54, Z:29.57 [[ 6.14974855e-01 -7.83515230e-01 -8.89371232e-02 1.74280491e+02] [ 7.75098759e-01 6.21370754e-01 -1.14543875e-01 9.05387671e+01] [ 1.45009798e-01 1.50654937e-03 9.89429072e-01 2.95709576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:90.58, Z:29.58 [[ 6.15093501e-01 -7.83425680e-01 -8.89055044e-02 1.74315828e+02] [ 7.75004732e-01 6.21483503e-01 -1.14568412e-01 9.05844583e+01] [ 1.45009140e-01 1.56809898e-03 9.89429073e-01 2.95781460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:90.64, Z:29.58 [[ 6.07518903e-01 -7.89317600e-01 -8.88735526e-02 1.74345426e+02] [ 7.80955004e-01 6.13985083e-01 -1.14593192e-01 9.06370197e+01] [ 1.45017459e-01 2.11284991e-04 9.89429074e-01 2.95750505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:90.68, Z:29.60 [[ 6.10476033e-01 -7.87036474e-01 -8.88403180e-02 1.74385621e+02] [ 7.78645967e-01 6.16905952e-01 -1.14618953e-01 9.06753120e+01] [ 1.45015417e-01 7.96968134e-04 9.89429075e-01 2.95969458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.42, Y:90.72, Z:29.60 [[ 6.08523438e-01 -7.88549501e-01 -8.88195396e-02 1.74418527e+02] [ 7.80172631e-01 6.14971113e-01 -1.14635052e-01 9.07226019e+01] [ 1.45016864e-01 4.63541841e-04 9.89429075e-01 2.96040210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:90.77, Z:29.61 [[ 6.06808066e-01 -7.89873795e-01 -8.87882771e-02 1.74452393e+02] [ 7.81507455e-01 6.13269396e-01 -1.14659261e-01 9.07693266e+01] [ 1.45017478e-01 1.87463773e-04 9.89429076e-01 2.96097497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.49, Y:90.82, Z:29.62 [[ 6.06244217e-01 -7.90310186e-01 -8.87567384e-02 1.74486492e+02] [ 7.81944922e-01 6.12706940e-01 -1.14683669e-01 9.08160970e+01] [ 1.45017542e-01 1.23430442e-04 9.89429076e-01 2.96183018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:90.86, Z:29.63 [[ 6.06904011e-01 -7.89807185e-01 -8.87250357e-02 1.74519339e+02] [ 7.81432980e-01 6.13355141e-01 -1.14708191e-01 9.08631461e+01] [ 1.45017310e-01 2.84192197e-04 9.89429077e-01 2.96267711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.55, Y:90.91, Z:29.63 [[ 6.09475235e-01 -7.87828312e-01 -8.86932280e-02 1.74551485e+02] [ 7.79429582e-01 6.15894403e-01 -1.14732780e-01 9.09106474e+01] [ 1.45015395e-01 7.96662324e-04 9.89429078e-01 2.96339790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.59, Y:90.96, Z:29.64 [[ 6.10581711e-01 -7.86974674e-01 -8.86613563e-02 1.74585174e+02] [ 7.78563394e-01 6.16984425e-01 -1.14757404e-01 9.09570226e+01] [ 1.45013847e-01 1.04028565e-03 9.89429079e-01 2.96425675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.61, Y:91.01, Z:29.64 [[ 6.07969783e-01 -7.88997862e-01 -8.86290969e-02 1.74614094e+02] [ 7.80604257e-01 6.14395650e-01 -1.14782313e-01 9.10089127e+01] [ 1.45016331e-01 5.99927830e-04 9.89429080e-01 2.96403274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:91.05, Z:29.66 [[ 6.14346625e-01 -7.84046571e-01 -8.85957059e-02 1.74652351e+02] [ 7.75597468e-01 6.20699341e-01 -1.14808081e-01 9.10485011e+01] [ 1.45006178e-01 1.81735168e-03 9.89429081e-01 2.96575185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.68, Y:91.10, Z:29.66 [[ 6.16064676e-01 -7.82700713e-01 -8.85658468e-02 1.74683539e+02] [ 7.74234424e-01 6.22394468e-01 -1.14831110e-01 9.10981119e+01] [ 1.45001285e-01 2.17266334e-03 9.89429081e-01 2.96594889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.72, Y:91.14, Z:29.67 [[ 6.21640247e-01 -7.78283566e-01 -8.85330114e-02 1.74720482e+02] [ 7.69768713e-01 6.27904556e-01 -1.14856421e-01 9.11415753e+01] [ 1.44981146e-01 3.24943142e-03 9.89429082e-01 2.96703877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:91.19, Z:29.68 [[ 6.25864321e-01 -7.74892015e-01 -8.85224058e-02 1.74754637e+02] [ 7.66342073e-01 6.32080654e-01 -1.14864594e-01 9.11885079e+01] [ 1.44960957e-01 4.05120716e-03 9.89429082e-01 2.96768415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.79, Y:91.23, Z:29.69 [[ 6.27427129e-01 -7.73630803e-01 -8.84905547e-02 1.74790215e+02] [ 7.65064914e-01 6.33621469e-01 -1.14889127e-01 9.12339233e+01] [ 1.44951282e-01 4.38353626e-03 9.89429083e-01 2.96854990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:91.28, Z:29.69 [[ 6.25224210e-01 -7.75415843e-01 -8.84587877e-02 1.74825374e+02] [ 7.66864190e-01 6.31438186e-01 -1.14913581e-01 9.12787755e+01] [ 1.44962067e-01 4.01087608e-03 9.89429084e-01 2.96941086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:91.32, Z:29.71 [[ 6.20853563e-01 -7.78923326e-01 -8.84268316e-02 1.74862325e+02] [ 7.70403293e-01 6.27110822e-01 -1.14938166e-01 9.13220644e+01] [ 1.44981442e-01 3.23544752e-03 9.89429085e-01 2.97057237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.89, Y:91.37, Z:29.70 [[ 6.13813620e-01 -7.84486578e-01 -8.83948498e-02 1.74894084e+02] [ 7.76019739e-01 6.20142669e-01 -1.14962757e-01 9.13718491e+01] [ 1.45004158e-01 1.96955767e-03 9.89429085e-01 2.97041075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:91.42, Z:29.71 [[ 6.11216151e-01 -7.86515661e-01 -8.83625030e-02 1.74931771e+02] [ 7.78066241e-01 6.17568436e-01 -1.14987614e-01 9.14159162e+01] [ 1.45009452e-01 1.53040615e-03 9.89429086e-01 2.97129308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:91.46, Z:29.72 [[ 6.07734670e-01 -7.89212541e-01 -8.83297001e-02 1.74969295e+02] [ 7.80787650e-01 6.14119451e-01 -1.15012807e-01 9.14594429e+01] [ 1.45014536e-01 9.30531138e-04 9.89429087e-01 2.97210702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.01, Y:91.50, Z:29.74 [[ 6.08640285e-01 -7.88518060e-01 -8.82965044e-02 1.75009660e+02] [ 7.80082187e-01 6.15010548e-01 -1.15038286e-01 9.14977628e+01] [ 1.45013047e-01 1.13840483e-03 9.89429088e-01 2.97402231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.05, Y:91.54, Z:29.75 [[ 6.07339833e-01 -7.89523226e-01 -8.82689282e-02 1.75045346e+02] [ 7.81094822e-01 6.13719972e-01 -1.15059441e-01 9.15427236e+01] [ 1.45014505e-01 9.33779126e-04 9.89429089e-01 2.97485175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:91.59, Z:29.76 [[ 6.06572401e-01 -7.90116541e-01 -8.82370384e-02 1.75081184e+02] [ 7.81690821e-01 6.12956082e-01 -1.15083892e-01 9.15876237e+01] [ 1.45015116e-01 8.32629690e-04 9.89429089e-01 2.97557610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:91.64, Z:29.76 [[ 6.03200692e-01 -7.92697139e-01 -8.82052782e-02 1.75112336e+02] [ 7.84295171e-01 6.09615601e-01 -1.15108229e-01 9.16382491e+01] [ 1.45017278e-01 2.54389867e-04 9.89429090e-01 2.97551844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:91.68, Z:29.77 [[ 6.06906026e-01 -7.89865889e-01 -8.81870344e-02 1.75151455e+02] [ 7.81431964e-01 6.13278862e-01 -1.15122205e-01 9.16775874e+01] [ 1.45014347e-01 9.56192288e-04 9.89429090e-01 2.97726853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:91.72, Z:29.78 [[ 6.06576174e-01 -7.90121513e-01 -8.81665495e-02 1.75186491e+02] [ 7.81687994e-01 6.12949547e-01 -1.15137891e-01 9.17224506e+01] [ 1.45014571e-01 9.21168235e-04 9.89429091e-01 2.97825178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.22, Y:91.77, Z:29.79 [[ 6.06453690e-01 -7.90219061e-01 -8.81348867e-02 1.75221449e+02] [ 7.81783045e-01 6.12823756e-01 -1.15162123e-01 9.17686245e+01] [ 1.45014457e-01 9.38134389e-04 9.89429092e-01 2.97908736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.26, Y:91.81, Z:29.80 [[ 6.06300964e-01 -7.90339766e-01 -8.81033178e-02 1.75255521e+02] [ 7.81901510e-01 6.12668061e-01 -1.15186270e-01 9.18144387e+01] [ 1.45014378e-01 9.49429097e-04 9.89429092e-01 2.98003128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:91.87, Z:29.80 [[ 6.00824894e-01 -7.94514239e-01 -8.80713929e-02 1.75285749e+02] [ 7.86116643e-01 6.07245522e-01 -1.15210674e-01 9.18658170e+01] [ 1.45017480e-01 -1.29465144e-05 9.89429093e-01 2.97992522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:91.90, Z:29.82 [[ 6.05967662e-01 -7.90602488e-01 -8.80391894e-02 1.75325713e+02] [ 7.82159869e-01 6.12328972e-01 -1.15235278e-01 9.19041911e+01] [ 1.45014244e-01 9.68130993e-04 9.89429094e-01 2.98194398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:91.95, Z:29.83 [[ 6.07023473e-01 -7.89795148e-01 -8.80120902e-02 1.75359640e+02] [ 7.81341069e-01 6.13369542e-01 -1.15255971e-01 9.19507336e+01] [ 1.45012542e-01 1.19561949e-03 9.89429095e-01 2.98278394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.39, Y:92.00, Z:29.84 [[ 6.07255825e-01 -7.89620122e-01 -8.79796906e-02 1.75392617e+02] [ 7.81160632e-01 6.13594677e-01 -1.15280698e-01 9.19975480e+01] [ 1.45011829e-01 1.27860476e-03 9.89429095e-01 2.98357566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:92.04, Z:29.85 [[ 6.04193989e-01 -7.91968990e-01 -8.79473856e-02 1.75427315e+02] [ 7.83530557e-01 6.10560845e-01 -1.15305339e-01 9.20434066e+01] [ 1.45015483e-01 7.57328339e-04 9.89429096e-01 2.98464414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:92.09, Z:29.86 [[ 6.01742816e-01 -7.93836571e-01 -8.79152016e-02 1.75459906e+02] [ 7.85414313e-01 6.08131053e-01 -1.15329872e-01 9.20899034e+01] [ 1.45017034e-01 3.49064506e-04 9.89429097e-01 2.98587759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.49, Y:92.14, Z:29.87 [[ 6.00961705e-01 -7.94431310e-01 -8.78858558e-02 1.75492019e+02] [ 7.86012104e-01 6.07353962e-01 -1.15352231e-01 9.21372877e+01] [ 1.45017246e-01 2.42926788e-04 9.89429098e-01 2.98657218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:92.18, Z:29.87 [[ 6.01155924e-01 -7.94288162e-01 -8.78514186e-02 1.75524155e+02] [ 7.85863601e-01 6.07541120e-01 -1.15378452e-01 9.21848646e+01] [ 1.45017088e-01 3.21207711e-04 9.89429099e-01 2.98740155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:92.23, Z:29.88 [[ 6.01849338e-01 -7.93766397e-01 -8.78195919e-02 1.75557256e+02] [ 7.85332767e-01 6.08222549e-01 -1.15402672e-01 9.22315356e+01] [ 1.45016619e-01 4.87418623e-04 9.89429099e-01 2.98837259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.59, Y:92.28, Z:29.89 [[ 6.02858155e-01 -7.93003998e-01 -8.77878337e-02 1.75588263e+02] [ 7.84558790e-01 6.09216015e-01 -1.15426826e-01 9.22801228e+01] [ 1.45015688e-01 7.11286595e-04 9.89429100e-01 2.98921076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:92.33, Z:29.90 [[ 6.02979378e-01 -7.92915432e-01 -8.77552723e-02 1.75621268e+02] [ 7.84465687e-01 6.09331206e-01 -1.15451576e-01 9.23277162e+01] [ 1.45015362e-01 7.73919475e-04 9.89429101e-01 2.98988912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.65, Y:92.38, Z:29.91 [[ 6.02916688e-01 -7.92966702e-01 -8.77227238e-02 1.75652673e+02] [ 7.84513900e-01 6.09264445e-01 -1.15476302e-01 9.23753260e+01] [ 1.45015199e-01 8.02893238e-04 9.89429102e-01 2.99062884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:92.42, Z:29.91 [[ 6.02919775e-01 -7.92968133e-01 -8.76885670e-02 1.75685575e+02] [ 7.84511574e-01 6.09262525e-01 -1.15502234e-01 9.24225350e+01] [ 1.45014948e-01 8.45884871e-04 9.89429103e-01 2.99141980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.72, Y:92.47, Z:29.92 [[ 6.03190056e-01 -7.92766106e-01 -8.76564705e-02 1.75718135e+02] [ 7.84303883e-01 6.09525247e-01 -1.15526587e-01 9.24699743e+01] [ 1.45014395e-01 9.35178408e-04 9.89429103e-01 2.99198175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:92.52, Z:29.93 [[ 6.03620647e-01 -7.92441918e-01 -8.76237506e-02 1.75751859e+02] [ 7.83972690e-01 6.09946469e-01 -1.15551399e-01 9.25171520e+01] [ 1.45013570e-01 1.05458284e-03 9.89429104e-01 2.99267897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.79, Y:92.56, Z:29.93 [[ 6.04271825e-01 -7.91949071e-01 -8.75912685e-02 1.75785245e+02] [ 7.83471116e-01 6.10585943e-01 -1.15576016e-01 9.25640713e+01] [ 1.45012316e-01 1.21410140e-03 9.89429105e-01 2.99333034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:92.61, Z:29.94 [[ 6.04314684e-01 -7.91919993e-01 -8.75584827e-02 1.75819541e+02] [ 7.83438136e-01 6.10623559e-01 -1.15600849e-01 9.26104262e+01] [ 1.45011896e-01 1.26263612e-03 9.89429106e-01 2.99416845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.85, Y:92.66, Z:29.95 [[ 6.04565755e-01 -7.91731919e-01 -8.75260885e-02 1.75853271e+02] [ 7.83244549e-01 6.10867211e-01 -1.15625371e-01 9.26561866e+01] [ 1.45011115e-01 1.34880806e-03 9.89429107e-01 2.99496180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:92.70, Z:29.96 [[ 6.06007485e-01 -7.90632699e-01 -8.74920751e-02 1.75885465e+02] [ 7.82130185e-01 6.12288491e-01 -1.15651103e-01 9.27041994e+01] [ 1.45007934e-01 1.65524116e-03 9.89429108e-01 2.99552603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:92.75, Z:29.96 [[ 6.06827943e-01 -7.90006668e-01 -8.74603392e-02 1.75918326e+02] [ 7.81494218e-01 6.13095473e-01 -1.15675098e-01 9.27510097e+01] [ 1.45005637e-01 1.84513268e-03 9.89429108e-01 2.99632256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:92.80, Z:29.97 [[ 6.06364996e-01 -7.90365586e-01 -8.74284422e-02 1.75951725e+02] [ 7.81853371e-01 6.12632844e-01 -1.15699201e-01 9.27967177e+01] [ 1.45006202e-01 1.79972355e-03 9.89429109e-01 2.99713549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.98, Y:92.84, Z:29.98 [[ 6.06007634e-01 -7.90643321e-01 -8.73950028e-02 1.75984985e+02] [ 7.82130337e-01 6.12274437e-01 -1.15724455e-01 9.28428045e+01] [ 1.45006494e-01 1.77562024e-03 9.89429110e-01 2.99822347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:92.89, Z:29.99 [[ 6.06992115e-01 -7.89891215e-01 -8.73638375e-02 1.76018275e+02] [ 7.81367082e-01 6.13243743e-01 -1.15747978e-01 9.28889658e+01] [ 1.45003638e-01 1.99488316e-03 9.89429111e-01 2.99917424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:92.93, Z:30.00 [[ 6.07958056e-01 -7.89151592e-01 -8.73313591e-02 1.76051474e+02] [ 7.80616336e-01 6.14194488e-01 -1.15772478e-01 9.29346166e+01] [ 1.45000475e-01 2.21252490e-03 9.89429112e-01 2.99983809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:92.98, Z:30.01 [[ 6.09396806e-01 -7.88044816e-01 -8.72977716e-02 1.76085147e+02] [ 7.79494609e-01 6.15612723e-01 -1.15797799e-01 9.29807658e+01] [ 1.44995474e-01 2.51866647e-03 9.89429113e-01 3.00090746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.12, Y:93.03, Z:30.02 [[ 6.09422441e-01 -7.88028601e-01 -8.72651850e-02 1.76119832e+02] [ 7.79474715e-01 6.15633293e-01 -1.15822351e-01 9.30270259e+01] [ 1.44994679e-01 2.56373475e-03 9.89429113e-01 3.00192144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.15, Y:93.07, Z:30.03 [[ 6.09062366e-01 -7.88310421e-01 -8.72336850e-02 1.76154144e+02] [ 7.79756014e-01 6.15272498e-01 -1.15846071e-01 9.30710203e+01] [ 1.44995152e-01 2.53649167e-03 9.89429114e-01 3.00309739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:93.12, Z:30.04 [[ 6.08650632e-01 -7.88629956e-01 -8.72192664e-02 1.76188226e+02] [ 7.80077255e-01 6.14863114e-01 -1.15856926e-01 9.31172529e+01] [ 1.44996152e-01 2.47862521e-03 9.89429114e-01 3.00426044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:93.16, Z:30.05 [[ 6.08723744e-01 -7.88576896e-01 -8.71887756e-02 1.76221982e+02] [ 7.80020370e-01 6.14930955e-01 -1.15879867e-01 9.31632038e+01] [ 1.44995263e-01 2.52980577e-03 9.89429115e-01 3.00511858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:93.21, Z:30.06 [[ 6.09243819e-01 -7.88178823e-01 -8.71556819e-02 1.76255442e+02] [ 7.79614683e-01 6.15440520e-01 -1.15904753e-01 9.32086308e+01] [ 1.44992810e-01 2.66640479e-03 9.89429116e-01 3.00572890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:93.26, Z:30.06 [[ 6.09642957e-01 -7.87873382e-01 -8.71263401e-02 1.76290083e+02] [ 7.79302989e-01 6.15831005e-01 -1.15926805e-01 9.32553226e+01] [ 1.44990746e-01 2.77614290e-03 9.89429117e-01 3.00633203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:93.30, Z:30.07 [[ 6.09134533e-01 -7.88270055e-01 -8.70944382e-02 1.76325436e+02] [ 7.79700269e-01 6.15323419e-01 -1.15950768e-01 9.33008202e+01] [ 1.44991766e-01 2.72205983e-03 9.89429117e-01 3.00715492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:93.35, Z:30.08 [[ 6.07736839e-01 -7.89351651e-01 -8.70626457e-02 1.76360669e+02] [ 7.80789463e-01 6.13936233e-01 -1.15974635e-01 9.33463208e+01] [ 1.44995682e-01 2.50446149e-03 9.89429118e-01 3.00801423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:93.39, Z:30.09 [[ 6.06311072e-01 -7.90450917e-01 -8.70300606e-02 1.76395891e+02] [ 7.81896462e-01 6.12521131e-01 -1.15999082e-01 9.33919687e+01] [ 1.44999332e-01 2.28303151e-03 9.89429119e-01 3.00869244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:93.44, Z:30.10 [[ 6.03988364e-01 -7.92230721e-01 -8.69973579e-02 1.76432117e+02] [ 7.83691037e-01 6.10218717e-01 -1.16023604e-01 9.34367274e+01] [ 1.45004879e-01 1.89785700e-03 9.89429120e-01 3.00955805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.47, Y:93.48, Z:30.11 [[ 6.00180102e-01 -7.95123216e-01 -8.69650358e-02 1.76469150e+02] [ 7.86610051e-01 6.06446642e-01 -1.16047826e-01 9.34807961e+01] [ 1.45011974e-01 1.24202464e-03 9.89429121e-01 3.01050436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.51, Y:93.53, Z:30.11 [[ 5.96205028e-01 -7.98111708e-01 -8.69325358e-02 1.76505759e+02] [ 7.89626407e-01 6.02509244e-01 -1.16072167e-01 9.35259924e+01] [ 1.45016212e-01 5.58583591e-04 9.89429121e-01 3.01126119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:93.57, Z:30.12 [[ 5.94004003e-01 -7.99754504e-01 -8.69021177e-02 1.76541036e+02] [ 7.91283306e-01 6.00327156e-01 -1.16094936e-01 9.35710777e+01] [ 1.45017149e-01 1.96661836e-04 9.89429122e-01 3.01200808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.58, Y:93.62, Z:30.13 [[ 5.91498741e-01 -8.01612681e-01 -8.68697252e-02 1.76576964e+02] [ 7.93157787e-01 5.97843678e-01 -1.16119169e-01 9.36155283e+01] [ 1.45017115e-01 -2.17056426e-04 9.89429123e-01 3.01288289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.61, Y:93.66, Z:30.13 [[ 5.88503809e-01 -8.03817442e-01 -8.68377059e-02 1.76610057e+02] [ 7.95382785e-01 5.94875620e-01 -1.16143110e-01 9.36646513e+01] [ 1.45015492e-01 -7.18553864e-04 9.89429124e-01 3.01304101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:93.71, Z:30.15 [[ 5.91653428e-01 -8.01505232e-01 -8.68077490e-02 1.76648295e+02] [ 7.93042386e-01 5.97987752e-01 -1.16165496e-01 9.37066933e+01] [ 1.45017223e-01 -1.12510534e-04 9.89429124e-01 3.01479296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:93.75, Z:30.16 [[ 5.94003779e-01 -7.99768357e-01 -8.67760723e-02 1.76682856e+02] [ 7.91283533e-01 6.00308630e-01 -1.16189154e-01 9.37522809e+01] [ 1.45016834e-01 3.52319487e-04 9.89429125e-01 3.01564526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.72, Y:93.80, Z:30.16 [[ 5.95648642e-01 -7.98547564e-01 -8.67437772e-02 1.76717530e+02] [ 7.90046308e-01 6.01931317e-01 -1.16213260e-01 9.37971187e+01] [ 1.45015612e-01 6.90669421e-04 9.89429126e-01 3.01641260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.75, Y:93.84, Z:30.17 [[ 5.97216485e-01 -7.97379350e-01 -8.67101028e-02 1.76753024e+02] [ 7.88862156e-01 6.03477537e-01 -1.16238380e-01 9.38415785e+01] [ 1.45013683e-01 1.01715803e-03 9.89429127e-01 3.01744709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.79, Y:93.89, Z:30.18 [[ 5.98088419e-01 -7.96729072e-01 -8.66777282e-02 1.76788106e+02] [ 7.88201573e-01 6.04335426e-01 -1.16262516e-01 9.38866520e+01] [ 1.45012149e-01 1.21574288e-03 9.89429128e-01 3.01823773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.82, Y:93.93, Z:30.19 [[ 5.98097832e-01 -7.96725481e-01 -8.66457827e-02 1.76824529e+02] [ 7.88194496e-01 6.04340077e-01 -1.16286319e-01 9.39306218e+01] [ 1.45011793e-01 1.25686652e-03 9.89429128e-01 3.01917128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:93.98, Z:30.20 [[ 5.96704925e-01 -7.97772757e-01 -8.66132821e-02 1.76860517e+02] [ 7.89249215e-01 6.02957328e-01 -1.16310522e-01 9.39756602e+01] [ 1.45013479e-01 1.04359635e-03 9.89429129e-01 3.01988228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.90, Y:94.02, Z:30.21 [[ 5.94199607e-01 -7.99644020e-01 -8.65809957e-02 1.76898293e+02] [ 7.91136667e-01 6.00474018e-01 -1.16334551e-01 9.40192200e+01] [ 1.45015866e-01 6.28544040e-04 9.89429130e-01 3.02067172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:94.06, Z:30.21 [[ 5.92386783e-01 -8.00991436e-01 -8.65483603e-02 1.76934582e+02] [ 7.92494808e-01 5.98675708e-01 -1.16358825e-01 9.40624734e+01] [ 1.45016824e-01 3.40304076e-04 9.89429131e-01 3.02140656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:94.10, Z:30.22 [[ 5.90263747e-01 -8.02560865e-01 -8.65145516e-02 1.76972392e+02] [ 7.94077274e-01 5.96570246e-01 -1.16383957e-01 9.41046628e+01] [ 1.45017217e-01 -2.00853184e-06 9.89429132e-01 3.02225342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.01, Y:94.15, Z:30.23 [[ 5.90309651e-01 -8.02529592e-01 -8.64914474e-02 1.77008421e+02] [ 7.94043150e-01 5.96612314e-01 -1.16401125e-01 9.41498695e+01] [ 1.45017210e-01 3.47660762e-05 9.89429132e-01 3.02323381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:94.19, Z:30.24 [[ 5.91485338e-01 -8.01666979e-01 -8.64589499e-02 1.77044206e+02] [ 7.93167818e-01 5.97770836e-01 -1.16425258e-01 9.41939700e+01] [ 1.45016924e-01 2.87376660e-04 9.89429133e-01 3.02379407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:94.24, Z:30.24 [[ 5.89770091e-01 -8.02933277e-01 -8.64256459e-02 1.77077510e+02] [ 7.94443989e-01 5.96068916e-01 -1.16449976e-01 9.42425121e+01] [ 1.45017202e-01 1.83778850e-05 9.89429134e-01 3.02375064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:94.29, Z:30.25 [[ 5.91901717e-01 -8.01366708e-01 -8.63930325e-02 1.77111795e+02] [ 7.92857217e-01 5.98173220e-01 -1.16474166e-01 9.42872042e+01] [ 1.45016518e-01 4.43919635e-04 9.89429135e-01 3.02453260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:94.33, Z:30.26 [[ 5.94497701e-01 -7.99446455e-01 -8.63588420e-02 1.77149438e+02] [ 7.90913025e-01 6.00736591e-01 -1.16499511e-01 9.43295395e+01] [ 1.45014038e-01 9.56358609e-04 9.89429136e-01 3.02647120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:94.37, Z:30.27 [[ 5.94037295e-01 -7.99791883e-01 -8.63286446e-02 1.77184424e+02] [ 7.91258830e-01 6.00276699e-01 -1.16521884e-01 9.43748391e+01] [ 1.45014331e-01 9.10042555e-04 9.89429136e-01 3.02745215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:94.42, Z:30.28 [[ 5.91348231e-01 -8.01785649e-01 -8.62962571e-02 1.77216876e+02] [ 7.93270132e-01 5.97611546e-01 -1.16545865e-01 9.44242967e+01] [ 1.45016442e-01 4.62948080e-04 9.89429137e-01 3.02762276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.25, Y:94.47, Z:30.29 [[ 5.90372266e-01 -8.02507655e-01 -8.62673233e-02 1.77251108e+02] [ 7.93996669e-01 5.96641735e-01 -1.16567278e-01 9.44697825e+01] [ 1.45016819e-01 3.22120953e-04 9.89429138e-01 3.02878045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:94.51, Z:30.30 [[ 5.92809470e-01 -8.00712826e-01 -8.62316762e-02 1.77286850e+02] [ 7.92179022e-01 5.99047844e-01 -1.16593643e-01 9.45134455e+01] [ 1.45014925e-01 8.06890754e-04 9.89429139e-01 3.03006612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.32, Y:94.56, Z:30.31 [[ 5.88785691e-01 -8.03678638e-01 -8.62093822e-02 1.77319582e+02] [ 7.95173845e-01 5.95063556e-01 -1.16610125e-01 9.45607828e+01] [ 1.45017128e-01 1.06927015e-04 9.89429139e-01 3.03084018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:94.61, Z:30.32 [[ 5.84671023e-01 -8.06680427e-01 -8.61770478e-02 1.77353689e+02] [ 7.98204341e-01 5.90987594e-01 -1.16634016e-01 9.46069238e+01] [ 1.45015944e-01 -5.94364356e-04 9.89429140e-01 3.03196827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:94.65, Z:30.33 [[ 5.82987714e-01 -8.07901049e-01 -8.61465039e-02 1.77387009e+02] [ 7.99434855e-01 5.89317535e-01 -1.16656571e-01 9.46533246e+01] [ 1.45014612e-01 -8.59169905e-04 9.89429141e-01 3.03279266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.42, Y:94.70, Z:30.33 [[ 5.77823081e-01 -8.11606334e-01 -8.61141407e-02 1.77419547e+02] [ 8.03177163e-01 5.84202119e-01 -1.16680457e-01 9.47014562e+01] [ 1.45006661e-01 -1.74425019e-03 9.89429141e-01 3.03344155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:94.75, Z:30.34 [[ 5.75935464e-01 -8.12950351e-01 -8.60817517e-02 1.77452731e+02] [ 8.04532496e-01 5.82329425e-01 -1.16704347e-01 9.47483290e+01] [ 1.45002777e-01 -2.04139417e-03 9.89429142e-01 3.03443338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:94.80, Z:30.35 [[ 5.76312009e-01 -8.12686876e-01 -8.60494676e-02 1.77485906e+02] [ 8.04262544e-01 5.82697434e-01 -1.16728147e-01 9.47953086e+01] [ 1.45004237e-01 -1.93453110e-03 9.89429143e-01 3.03548368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:94.84, Z:30.36 [[ 5.77424479e-01 -8.11900200e-01 -8.60176495e-02 1.77516962e+02] [ 8.03463677e-01 5.83793787e-01 -1.16751589e-01 9.48439762e+01] [ 1.45007208e-01 -1.69683159e-03 9.89429144e-01 3.03613444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:94.89, Z:30.37 [[ 5.81766458e-01 -8.08798039e-01 -8.59855773e-02 1.77548091e+02] [ 8.00324056e-01 5.88085841e-01 -1.16775205e-01 9.48923813e+01] [ 1.45014457e-01 -8.80428666e-04 9.89429145e-01 3.03694265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.58, Y:94.94, Z:30.38 [[ 5.84611621e-01 -8.06747319e-01 -8.59535665e-02 1.77579726e+02] [ 7.98247703e-01 5.90896483e-01 -1.16798762e-01 9.49401042e+01] [ 1.45016748e-01 -3.30323286e-04 9.89429145e-01 3.03780954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:177.61, Y:94.99, Z:30.38 [[ 5.87604016e-01 -8.04573830e-01 -8.59213138e-02 1.77610080e+02] [ 7.96047497e-01 5.93852583e-01 -1.16822484e-01 9.49895982e+01] [ 1.45016907e-01 2.47913745e-04 9.89429146e-01 3.03833000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:95.04, Z:30.39 [[ 5.88571113e-01 -8.03870109e-01 -8.58888355e-02 1.77643138e+02] [ 7.95332820e-01 5.94804702e-01 -1.16846357e-01 9.50369922e+01] [ 1.45016377e-01 4.62180784e-04 9.89429147e-01 3.03915402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:177.67, Y:95.09, Z:30.39 [[ 5.86633596e-01 -8.05288552e-01 -8.58566995e-02 1.77672873e+02] [ 7.96762879e-01 5.92883062e-01 -1.16869966e-01 9.50878805e+01] [ 1.45017028e-01 1.52417004e-04 9.89429148e-01 3.03924968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.71, Y:95.13, Z:30.41 [[ 5.88734128e-01 -8.03756277e-01 -8.58369043e-02 1.77708293e+02] [ 7.95212220e-01 5.94958434e-01 -1.16884503e-01 9.51320710e+01] [ 1.45016043e-01 5.55340511e-04 9.89429148e-01 3.04091139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:95.18, Z:30.42 [[ 5.88050905e-01 -8.04259703e-01 -8.58047996e-02 1.77740542e+02] [ 7.95717535e-01 5.94277804e-01 -1.16908066e-01 9.51792802e+01] [ 1.45016334e-01 4.71510575e-04 9.89429149e-01 3.04191522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.77, Y:95.23, Z:30.43 [[ 5.86441354e-01 -8.05436249e-01 -8.57845334e-02 1.77774661e+02] [ 7.96904399e-01 5.92682382e-01 -1.16922935e-01 9.52254643e+01] [ 1.45016952e-01 2.06372406e-04 9.89429149e-01 3.04284049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:95.27, Z:30.44 [[ 5.84514632e-01 -8.06838995e-01 -8.57524405e-02 1.77808267e+02] [ 7.98318669e-01 5.90771382e-01 -1.16946468e-01 9.52718283e+01] [ 1.45017058e-01 -1.00852667e-04 9.89429150e-01 3.04385144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.84, Y:95.32, Z:30.45 [[ 5.81756052e-01 -8.08833526e-01 -8.57217770e-02 1.77840930e+02] [ 8.00331339e-01 5.88037427e-01 -1.16968940e-01 9.53184995e+01] [ 1.45016013e-01 -5.58435741e-04 9.89429151e-01 3.04478299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:95.36, Z:30.46 [[ 5.79704915e-01 -8.10308256e-01 -8.56898035e-02 1.77873875e+02] [ 8.01818585e-01 5.86003195e-01 -1.16992359e-01 9.53649366e+01] [ 1.45014373e-01 -8.86631629e-04 9.89429151e-01 3.04568426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:95.41, Z:30.46 [[ 5.78563726e-01 -8.11126845e-01 -8.56577822e-02 1.77906917e+02] [ 8.02642615e-01 5.84869332e-01 -1.17015799e-01 9.54118773e+01] [ 1.45013266e-01 -1.05148956e-03 9.89429152e-01 3.04644784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:95.46, Z:30.47 [[ 5.77501052e-01 -8.11887171e-01 -8.56256720e-02 1.77939392e+02] [ 8.03407760e-01 5.83813134e-01 -1.17039291e-01 9.54590494e+01] [ 1.45012091e-01 -1.20201555e-03 9.89429153e-01 3.04732193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.97, Y:95.51, Z:30.48 [[ 5.76999074e-01 -8.12247011e-01 -8.55970868e-02 1.77972467e+02] [ 8.03768436e-01 5.83312278e-01 -1.17060193e-01 9.55053545e+01] [ 1.45011624e-01 -1.25661347e-03 9.89429154e-01 3.04830885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:95.55, Z:30.49 [[ 5.76977372e-01 -8.12265387e-01 -8.55689981e-02 1.78005648e+02] [ 8.03783968e-01 5.83286754e-01 -1.17080722e-01 9.55523398e+01] [ 1.45011881e-01 -1.22606144e-03 9.89429154e-01 3.04928831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.04, Y:95.60, Z:30.50 [[ 5.79151058e-01 -8.10720440e-01 -8.55360783e-02 1.78037394e+02] [ 8.02218637e-01 5.85432945e-01 -1.17104768e-01 9.55992408e+01] [ 1.45014867e-01 -7.97286085e-04 9.89429155e-01 3.04987156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:95.65, Z:30.51 [[ 5.80920799e-01 -8.09456916e-01 -8.55016214e-02 1.78070353e+02] [ 8.00937745e-01 5.87179112e-01 -1.17129920e-01 9.56459507e+01] [ 1.45016390e-01 -4.38268980e-04 9.89429156e-01 3.05063236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.10, Y:95.69, Z:30.51 [[ 5.84807634e-01 -8.06656685e-01 -8.54694305e-02 1.78102284e+02] [ 7.98104114e-01 5.91020222e-01 -1.17153406e-01 9.56933425e+01] [ 1.45016740e-01 2.98701739e-04 9.89429157e-01 3.05123647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:95.74, Z:30.52 [[ 5.88566655e-01 -8.03921659e-01 -8.54357011e-02 1.78134729e+02] [ 7.95336648e-01 5.94734338e-01 -1.17177998e-01 9.57411119e+01] [ 1.45013476e-01 1.01691828e-03 9.89429158e-01 3.05220619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:95.79, Z:30.53 [[ 5.90867476e-01 -8.02235560e-01 -8.54033438e-02 1.78168186e+02] [ 7.93629543e-01 5.97005811e-01 -1.17201577e-01 9.57872014e+01] [ 1.45009565e-01 1.47198307e-03 9.89429158e-01 3.05326672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.20, Y:95.83, Z:30.54 [[ 5.94597222e-01 -7.99478580e-01 -8.53706308e-02 1.78201155e+02] [ 7.90840685e-01 6.00690616e-01 -1.17225400e-01 9.58340115e+01] [ 1.45000533e-01 2.18732926e-03 9.89429159e-01 3.05423353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:95.88, Z:30.55 [[ 5.97404524e-01 -7.97386472e-01 -8.53384361e-02 1.78234225e+02] [ 7.88723897e-01 6.03462779e-01 -1.17248833e-01 9.58815803e+01] [ 1.44991203e-01 2.73651945e-03 9.89429160e-01 3.05502761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.27, Y:95.93, Z:30.56 [[ 6.01065358e-01 -7.94634074e-01 -8.53060593e-02 1.78267671e+02] [ 7.85940426e-01 6.07078936e-01 -1.17272385e-01 9.59286437e+01] [ 1.44976145e-01 3.44288737e-03 9.89429161e-01 3.05589656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.30, Y:95.98, Z:30.57 [[ 6.01913273e-01 -7.93995491e-01 -8.52735139e-02 1.78300877e+02] [ 7.85292117e-01 6.07912764e-01 -1.17296045e-01 9.59761276e+01] [ 1.44971389e-01 3.63742814e-03 9.89429162e-01 3.05671255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:96.02, Z:30.58 [[ 6.02527061e-01 -7.93533302e-01 -8.52410662e-02 1.78334038e+02] [ 7.84821996e-01 6.08515029e-01 -1.17319621e-01 9.60227383e+01] [ 1.44967496e-01 3.78918261e-03 9.89429162e-01 3.05767861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:96.07, Z:30.59 [[ 6.03297786e-01 -7.92950907e-01 -8.52093994e-02 1.78367250e+02] [ 7.84230579e-01 6.09272607e-01 -1.17342616e-01 9.60700744e+01] [ 1.44962687e-01 3.96872388e-03 9.89429163e-01 3.05863176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.40, Y:96.12, Z:30.60 [[ 6.05202803e-01 -7.91501385e-01 -8.51770157e-02 1.78400499e+02] [ 7.82763451e-01 6.11151843e-01 -1.17366118e-01 9.61174054e+01] [ 1.44951535e-01 4.35684912e-03 9.89429164e-01 3.05950776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:96.16, Z:30.60 [[ 6.05819293e-01 -7.91033240e-01 -8.51433987e-02 1.78434171e+02] [ 7.82287290e-01 6.11756541e-01 -1.17390501e-01 9.61643541e+01] [ 1.44946819e-01 4.51083156e-03 9.89429165e-01 3.06033817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:96.21, Z:30.61 [[ 6.06692264e-01 -7.90367525e-01 -8.51097665e-02 1.78465739e+02] [ 7.81611651e-01 6.12614865e-01 -1.17414880e-01 9.62113264e+01] [ 1.44940416e-01 4.71191420e-03 9.89429166e-01 3.06084843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:96.26, Z:30.62 [[ 6.04963510e-01 -7.91695225e-01 -8.50753908e-02 1.78498994e+02] [ 7.82948858e-01 6.10900142e-01 -1.17439782e-01 9.62579300e+01] [ 1.44949083e-01 4.43710297e-03 9.89429166e-01 3.06156124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:96.30, Z:30.62 [[ 5.99972585e-01 -7.95487852e-01 -8.50410165e-02 1.78533937e+02] [ 7.86775508e-01 6.05959034e-01 -1.17464669e-01 9.63037640e+01] [ 1.44973089e-01 3.56739180e-03 9.89429167e-01 3.06241611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:178.57, Y:96.35, Z:30.63 [[ 5.95485136e-01 -7.98856088e-01 -8.50082575e-02 1.78568338e+02] [ 7.90174236e-01 6.01515719e-01 -1.17488371e-01 9.63499780e+01] [ 1.44990104e-01 2.79124387e-03 9.89429168e-01 3.06326267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:96.40, Z:30.64 [[ 5.91490817e-01 -8.01821505e-01 -8.49758068e-02 1.78602361e+02] [ 7.93166524e-01 5.97559900e-01 -1.17511837e-01 9.63951341e+01] [ 1.45001653e-01 2.10720742e-03 9.89429169e-01 3.06416675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:96.44, Z:30.65 [[ 5.86778195e-01 -8.05280216e-01 -8.49418791e-02 1.78639595e+02] [ 7.96657465e-01 5.92892982e-01 -1.17536357e-01 9.64388107e+01] [ 1.45011147e-01 1.29818904e-03 9.89429170e-01 3.06506686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:96.48, Z:30.66 [[ 5.83834818e-01 -8.07420217e-01 -8.49087676e-02 1.78677066e+02] [ 7.98816402e-01 5.89976219e-01 -1.17560272e-01 9.64837849e+01] [ 1.45014694e-01 8.09263772e-04 9.89429171e-01 3.06555654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:96.53, Z:30.66 [[ 5.83074596e-01 -8.07972850e-01 -8.48757211e-02 1.78710394e+02] [ 7.99371384e-01 5.89219284e-01 -1.17584126e-01 9.65296383e+01] [ 1.45015193e-01 7.13094145e-04 9.89429171e-01 3.06642222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters Centerline goodness : 0.996862 with order 1 Centerline is valid? [True, True] Translation: X:178.75, Y:96.57, Z:30.67 [[ 5.83878254e-01 -8.07395908e-01 -8.48412191e-02 1.78745569e+02] [ 7.98784752e-01 5.90009355e-01 -1.17609015e-01 9.65748651e+01] [ 1.45014151e-01 8.99474331e-04 9.89429172e-01 3.06723844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:96.62, Z:30.68 [[ 5.84666794e-01 -8.06828574e-01 -8.48079701e-02 1.78780654e+02] [ 7.98207992e-01 5.90784633e-01 -1.17632986e-01 9.66209635e+01] [ 1.45012900e-01 1.08170159e-03 9.89429173e-01 3.06810686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters Centerline goodness : 0.995015 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:96.67, Z:30.68 [[ 5.80423604e-01 -8.09889937e-01 -8.47745847e-02 1.78808295e+02] [ 8.01298110e-01 5.86581759e-01 -1.17657042e-01 9.66732992e+01] [ 1.45016479e-01 3.61209582e-04 9.89429174e-01 3.06803390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters Centerline goodness : 0.995851 with order 1 Centerline is valid? [True, True] Translation: X:178.85, Y:96.71, Z:30.70 [[ 5.88287038e-01 -8.04199915e-01 -8.47399444e-02 1.78848716e+02] [ 7.95544940e-01 5.94356121e-01 -1.17681985e-01 9.67131192e+01] [ 1.45005547e-01 1.81635252e-03 9.89429175e-01 3.07003707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters Centerline goodness : 0.996420 with order 1 Centerline is valid? [True, True] Translation: X:178.88, Y:96.76, Z:30.71 [[ 5.91165283e-01 -8.02088175e-01 -8.47240743e-02 1.78880922e+02] [ 7.93409887e-01 5.97200982e-01 -1.17693410e-01 9.67607517e+01] [ 1.44997793e-01 2.35533961e-03 9.89429175e-01 3.07081270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters Centerline goodness : 0.994768 with order 1 Centerline is valid? [True, True] Translation: X:178.91, Y:96.82, Z:30.70 [[ 5.84543984e-01 -8.06929747e-01 -8.46918765e-02 1.78906218e+02] [ 7.98298107e-01 5.90646205e-01 -1.17716575e-01 9.68170954e+01] [ 1.45011941e-01 1.20115084e-03 9.89429176e-01 3.07046053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters Centerline goodness : 0.996086 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:96.86, Z:30.72 [[ 5.93423600e-01 -8.00425266e-01 -8.46630026e-02 1.78947244e+02] [ 7.91723804e-01 5.99425839e-01 -1.17737338e-01 9.68560880e+01] [ 1.44989131e-01 2.83840022e-03 9.89429177e-01 3.07232704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters Centerline goodness : 0.995524 with order 1 Centerline is valid? [True, True] Translation: X:178.98, Y:96.90, Z:30.73 [[ 5.93898284e-01 -8.00075767e-01 -8.46380251e-02 1.78979915e+02] [ 7.91368217e-01 5.99891687e-01 -1.17755291e-01 9.69037345e+01] [ 1.44986802e-01 2.95482198e-03 9.89429177e-01 3.07302169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters Centerline goodness : 0.994985 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:96.96, Z:30.73 [[ 5.87344418e-01 -8.04902755e-01 -8.46054935e-02 1.79002830e+02] [ 7.96241113e-01 5.93403975e-01 -1.17778660e-01 9.69606679e+01] [ 1.45005604e-01 1.81026607e-03 9.89429178e-01 3.07251841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:97.00, Z:30.74 [[ 5.94582117e-01 -7.99574535e-01 -8.45734573e-02 1.79045687e+02] [ 7.90855344e-01 6.00558568e-01 -1.17801660e-01 9.69978298e+01] [ 1.44982522e-01 3.15738936e-03 9.89429179e-01 3.07433903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters Centerline goodness : 0.996175 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:97.04, Z:30.75 [[ 5.93719734e-01 -8.00217293e-01 -8.45527139e-02 1.79079055e+02] [ 7.91502455e-01 5.99702531e-01 -1.17816546e-01 9.70442436e+01] [ 1.44985314e-01 3.02632794e-03 9.89429179e-01 3.07542796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:97.09, Z:30.76 [[ 5.93316598e-01 -8.00519702e-01 -8.45199510e-02 1.79112634e+02] [ 7.91804569e-01 5.99298964e-01 -1.17840045e-01 9.70906895e+01] [ 1.44985997e-01 2.99317147e-03 9.89429180e-01 3.07639824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters Centerline goodness : 0.995885 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:97.14, Z:30.77 [[ 5.92047017e-01 -8.01462629e-01 -8.44865964e-02 1.79145912e+02] [ 7.92753616e-01 5.98038287e-01 -1.17863955e-01 9.71367653e+01] [ 1.44989774e-01 2.80394803e-03 9.89429181e-01 3.07724639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters Centerline goodness : 0.996275 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:97.18, Z:30.78 [[ 5.91573690e-01 -8.01815743e-01 -8.44516703e-02 1.79179265e+02] [ 7.93106737e-01 5.97564970e-01 -1.17888975e-01 9.71841885e+01] [ 1.44990596e-01 2.76082704e-03 9.89429181e-01 3.07789231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters Centerline goodness : 0.996044 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:97.23, Z:30.79 [[ 5.92268215e-01 -8.01306299e-01 -8.44190509e-02 1.79211753e+02] [ 7.92588815e-01 5.98247150e-01 -1.17912329e-01 9.72299272e+01] [ 1.44987348e-01 2.92612894e-03 9.89429182e-01 3.07880981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:179.24, Y:97.28, Z:30.80 [[ 5.92085216e-01 -8.01445142e-01 -8.43847244e-02 1.79244451e+02] [ 7.92725563e-01 5.98061094e-01 -1.17936890e-01 9.72765246e+01] [ 1.44987168e-01 2.93476072e-03 9.89429183e-01 3.07984992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters Centerline goodness : 0.994738 with order 1 Centerline is valid? [True, True] Translation: X:179.27, Y:97.33, Z:30.79 [[ 5.84342112e-01 -8.07111492e-01 -8.43524447e-02 1.79267671e+02] [ 7.98446552e-01 5.90396942e-01 -1.17959973e-01 9.73342513e+01] [ 1.45008275e-01 1.57806106e-03 9.89429184e-01 3.07946482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters Centerline goodness : 0.994770 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:97.38, Z:30.80 [[ 5.84351709e-01 -8.07107606e-01 -8.43231364e-02 1.79302040e+02] [ 7.98439604e-01 5.90402153e-01 -1.17980920e-01 9.73807093e+01] [ 1.45007859e-01 1.61542082e-03 9.89429185e-01 3.08015214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters Centerline goodness : 0.996033 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:97.42, Z:30.82 [[ 5.90395705e-01 -8.02700521e-01 -8.42898915e-02 1.79346728e+02] [ 7.93983978e-01 5.96376007e-01 -1.18004667e-01 9.74167771e+01] [ 1.44990876e-01 2.74462511e-03 9.89429185e-01 3.08184254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters Centerline goodness : 0.996138 with order 1 Centerline is valid? [True, True] Translation: X:179.38, Y:97.46, Z:30.83 [[ 5.89429775e-01 -8.03411922e-01 -8.42723184e-02 1.79380882e+02] [ 7.94700805e-01 5.95417977e-01 -1.18017215e-01 9.74616556e+01] [ 1.44993691e-01 2.59158142e-03 9.89429186e-01 3.08260563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters Centerline goodness : 0.995898 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:97.51, Z:30.84 [[ 5.88639622e-01 -8.03994584e-01 -8.42383742e-02 1.79414773e+02] [ 7.95285931e-01 5.94631404e-01 -1.18041439e-01 9.75081987e+01] [ 1.44995461e-01 2.49027435e-03 9.89429186e-01 3.08363259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:97.55, Z:30.85 [[ 5.88345685e-01 -8.04213168e-01 -8.42053162e-02 1.79449518e+02] [ 7.95503368e-01 5.94335800e-01 -1.18065017e-01 9.75540851e+01] [ 1.44995675e-01 2.47743053e-03 9.89429187e-01 3.08455993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters Centerline goodness : 0.994489 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:97.61, Z:30.84 [[ 5.82617880e-01 -8.08375816e-01 -8.41721275e-02 1.79473051e+02] [ 7.99705407e-01 5.88664869e-01 -1.18088673e-01 9.76098947e+01] [ 1.45009202e-01 1.48766706e-03 9.89429188e-01 3.08432745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters Centerline goodness : 0.996165 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:97.65, Z:30.86 [[ 5.89650734e-01 -8.03263832e-01 -8.41381523e-02 1.79515760e+02] [ 7.94537564e-01 5.95616830e-01 -1.18112876e-01 9.76473258e+01] [ 1.44989901e-01 2.79442132e-03 9.89429189e-01 3.08614045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters Centerline goodness : 0.996614 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:97.69, Z:30.87 [[ 5.90678485e-01 -8.02511972e-01 -8.41038799e-02 1.79549013e+02] [ 7.93774640e-01 5.96628364e-01 -1.18137275e-01 9.76946411e+01] [ 1.44985338e-01 3.02161970e-03 9.89429190e-01 3.08682084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters Centerline goodness : 0.996036 with order 1 Centerline is valid? [True, True] Translation: X:179.58, Y:97.74, Z:30.88 [[ 5.91447665e-01 -8.01948652e-01 -8.40715152e-02 1.79583308e+02] [ 7.93202384e-01 5.97384400e-01 -1.18160303e-01 9.77411910e+01] [ 1.44981507e-01 3.19990893e-03 9.89429191e-01 3.08775657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:97.79, Z:30.89 [[ 5.91641259e-01 -8.01809217e-01 -8.40392731e-02 1.79616953e+02] [ 7.93058298e-01 5.97571134e-01 -1.18183230e-01 9.77884050e+01] [ 1.44979847e-01 3.27403215e-03 9.89429191e-01 3.08880957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters Centerline goodness : 0.996823 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:97.84, Z:30.90 [[ 5.90991825e-01 -8.02291237e-01 -8.40085385e-02 1.79649592e+02] [ 7.93542053e-01 5.96924258e-01 -1.18205073e-01 9.78353114e+01] [ 1.44981629e-01 3.19392381e-03 9.89429192e-01 3.08976382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters Centerline goodness : 0.996696 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:97.88, Z:30.91 [[ 5.88635906e-01 -8.04024731e-01 -8.39761932e-02 1.79683603e+02] [ 7.95289747e-01 5.94589226e-01 -1.18228048e-01 9.78806187e+01] [ 1.44989614e-01 2.80786880e-03 9.89429193e-01 3.09095138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters Centerline goodness : 0.996291 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:97.93, Z:30.92 [[ 5.84870797e-01 -8.06771202e-01 -8.39427081e-02 1.79714759e+02] [ 7.98060770e-01 5.90859979e-01 -1.18251818e-01 9.79283919e+01] [ 1.45000548e-01 2.17065276e-03 9.89429194e-01 3.09189995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters Centerline goodness : 0.996236 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:97.97, Z:30.93 [[ 5.82488294e-01 -8.08495143e-01 -8.39225250e-02 1.79750793e+02] [ 7.99800375e-01 5.88500195e-01 -1.18266140e-01 9.79740515e+01] [ 1.45006022e-01 1.76737533e-03 9.89429194e-01 3.09259620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:98.02, Z:30.94 [[ 5.80364526e-01 -8.10024180e-01 -8.38918707e-02 1.79783884e+02] [ 8.01342110e-01 5.86394748e-01 -1.18287881e-01 9.80204086e+01] [ 1.45009796e-01 1.42400123e-03 9.89429195e-01 3.09355026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:98.07, Z:30.94 [[ 5.75357265e-01 -8.13591764e-01 -8.38597594e-02 1.79810776e+02] [ 8.04943770e-01 5.81436255e-01 -1.18310642e-01 9.80727470e+01] [ 1.45015668e-01 5.68496439e-04 9.89429195e-01 3.09383133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:98.12, Z:30.94 [[ 5.76918590e-01 -8.12488791e-01 -8.38266340e-02 1.79841755e+02] [ 8.03825766e-01 5.82976138e-01 -1.18334108e-01 9.81211656e+01] [ 1.45014063e-01 8.87138296e-04 9.89429196e-01 3.09402657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters Centerline goodness : 0.997123 with order 1 Centerline is valid? [True, True] Translation: X:179.88, Y:98.16, Z:30.96 [[ 5.82633389e-01 -8.08403029e-01 -8.38026020e-02 1.79882452e+02] [ 7.99695085e-01 5.88626183e-01 -1.18351124e-01 9.81611989e+01] [ 1.45003813e-01 1.93878778e-03 9.89429197e-01 3.09579858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters Centerline goodness : 0.996422 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:98.21, Z:30.97 [[ 5.84632627e-01 -8.06961641e-01 -8.37711276e-02 1.79915811e+02] [ 7.98235732e-01 5.90599233e-01 -1.18373399e-01 9.82080460e+01] [ 1.44997956e-01 2.33584349e-03 9.89429197e-01 3.09669987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters Centerline goodness : 0.996183 with order 1 Centerline is valid? [True, True] Translation: X:179.95, Y:98.25, Z:30.98 [[ 5.85964362e-01 -8.05998422e-01 -8.37395385e-02 1.79949258e+02] [ 7.97259516e-01 5.91911914e-01 -1.18395741e-01 9.82540686e+01] [ 1.44993211e-01 2.61354104e-03 9.89429198e-01 3.09773588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:98.30, Z:30.99 [[ 5.87355531e-01 -8.04988559e-01 -8.37072246e-02 1.79982613e+02] [ 7.96236176e-01 5.93283231e-01 -1.18418583e-01 9.83000546e+01] [ 1.44987697e-01 2.90308948e-03 9.89429199e-01 3.09879131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters Centerline goodness : 0.995752 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:98.35, Z:31.00 [[ 5.88824290e-01 -8.03918167e-01 -8.36751860e-02 1.80014570e+02] [ 7.95151796e-01 5.94731283e-01 -1.18441218e-01 9.83476454e+01] [ 1.44981297e-01 3.20659138e-03 9.89429200e-01 3.09964630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters Centerline goodness : 0.995489 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:98.39, Z:31.00 [[ 5.89267057e-01 -8.03597088e-01 -8.36424301e-02 1.80047158e+02] [ 7.94824220e-01 5.95164396e-01 -1.18464345e-01 9.83946458e+01] [ 1.44978599e-01 3.32610692e-03 9.89429200e-01 3.10045813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters Centerline goodness : 0.996196 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:98.44, Z:31.02 [[ 5.87659256e-01 -8.04776958e-01 -8.36100898e-02 1.80080067e+02] [ 7.96012689e-01 5.93569364e-01 -1.18487166e-01 9.84411536e+01] [ 1.44984129e-01 3.07538762e-03 9.89429201e-01 3.10154549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters Centerline goodness : 0.995963 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:98.49, Z:31.02 [[ 5.82463223e-01 -8.08548986e-01 -8.35770972e-02 1.80108876e+02] [ 7.99819666e-01 5.88424829e-01 -1.18510434e-01 9.84934562e+01] [ 1.45000330e-01 2.18136327e-03 9.89429202e-01 3.10171806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters Centerline goodness : 0.995645 with order 1 Centerline is valid? [True, True] Translation: X:180.14, Y:98.54, Z:31.02 [[ 5.81494238e-01 -8.09249284e-01 -8.35466836e-02 1.80141239e+02] [ 8.00524065e-01 5.87461843e-01 -1.18531871e-01 9.85410128e+01] [ 1.45002320e-01 2.04446915e-03 9.89429203e-01 3.10241632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters Centerline goodness : 0.996188 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:98.58, Z:31.04 [[ 5.84410909e-01 -8.07149075e-01 -8.35120295e-02 1.80177510e+02] [ 7.98398928e-01 5.90341901e-01 -1.18556282e-01 9.85831510e+01] [ 1.44993243e-01 2.60966952e-03 9.89429204e-01 3.10401031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters Centerline goodness : 0.996113 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:98.63, Z:31.05 [[ 5.84323678e-01 -8.07215896e-01 -8.34765566e-02 1.80209230e+02] [ 7.98462863e-01 5.90250407e-01 -1.18581253e-01 9.86302267e+01] [ 1.44992744e-01 2.63690377e-03 9.89429205e-01 3.10476480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters Centerline goodness : 0.996419 with order 1 Centerline is valid? [True, True] Translation: X:180.24, Y:98.68, Z:31.06 [[ 5.84819396e-01 -8.06860426e-01 -8.34417549e-02 1.80240767e+02] [ 7.98100300e-01 5.90735635e-01 -1.18605737e-01 9.86785916e+01] [ 1.44990294e-01 2.76804603e-03 9.89429205e-01 3.10555950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters Centerline goodness : 0.996040 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:98.73, Z:31.07 [[ 5.85575965e-01 -8.06314684e-01 -8.34111520e-02 1.80271570e+02] [ 7.97545982e-01 5.91479485e-01 -1.18627255e-01 9.87271737e+01] [ 1.44986883e-01 2.94104047e-03 9.89429206e-01 3.10657156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:98.78, Z:31.07 [[ 5.86463017e-01 -8.05673151e-01 -8.33780769e-02 1.80302424e+02] [ 7.96894691e-01 5.92352016e-01 -1.18650498e-01 9.87759169e+01] [ 1.44982693e-01 3.14058227e-03 9.89429207e-01 3.10741661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters Centerline goodness : 0.996161 with order 1 Centerline is valid? [True, True] Translation: X:180.33, Y:98.82, Z:31.08 [[ 5.86683689e-01 -8.05515853e-01 -8.33454254e-02 1.80333600e+02] [ 7.96732561e-01 5.92565477e-01 -1.18673430e-01 9.88244044e+01] [ 1.44980951e-01 3.21975128e-03 9.89429208e-01 3.10831640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters Centerline goodness : 0.996032 with order 1 Centerline is valid? [True, True] Translation: X:180.36, Y:98.87, Z:31.09 [[ 5.86357654e-01 -8.05756680e-01 -8.33119045e-02 1.80364702e+02] [ 7.96972465e-01 5.92238062e-01 -1.18696958e-01 9.88719687e+01] [ 1.44981347e-01 3.20157586e-03 9.89429209e-01 3.10904484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters Centerline goodness : 0.995535 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:98.92, Z:31.10 [[ 5.86726369e-01 -8.05491693e-01 -8.32784479e-02 1.80396298e+02] [ 7.96701496e-01 5.92597829e-01 -1.18720427e-01 9.89196379e+01] [ 1.44978945e-01 3.30834089e-03 9.89429209e-01 3.10982338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters Centerline goodness : 0.995571 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:98.97, Z:31.11 [[ 5.86071533e-01 -8.05971631e-01 -8.32459544e-02 1.80427660e+02] [ 7.97183010e-01 5.91945352e-01 -1.18743207e-01 9.89674048e+01] [ 1.44980712e-01 3.22975261e-03 9.89429210e-01 3.11099998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters Centerline goodness : 0.996655 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:99.01, Z:31.12 [[ 5.84232328e-01 -8.07309063e-01 -8.32145606e-02 1.80459890e+02] [ 7.98530761e-01 5.90121555e-01 -1.18765203e-01 9.90143562e+01] [ 1.44986931e-01 2.93708480e-03 9.89429211e-01 3.11222265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters Centerline goodness : 0.995706 with order 1 Centerline is valid? [True, True] Translation: X:180.49, Y:99.06, Z:31.13 [[ 5.83001496e-01 -8.08201712e-01 -8.31820188e-02 1.80491506e+02] [ 7.99429180e-01 5.88899312e-01 -1.18787991e-01 9.90619621e+01] [ 1.44990491e-01 2.75544326e-03 9.89429212e-01 3.11295487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters Centerline goodness : 0.995321 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:99.11, Z:31.14 [[ 5.81620181e-01 -8.09199402e-01 -8.31522318e-02 1.80521492e+02] [ 8.00434009e-01 5.87528602e-01 -1.18808838e-01 9.91097469e+01] [ 1.44994355e-01 2.54374390e-03 9.89429212e-01 3.11357714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:99.16, Z:31.13 [[ 5.73198823e-01 -8.15189906e-01 -8.31175461e-02 1.80546229e+02] [ 8.06482764e-01 5.79192754e-01 -1.18833099e-01 9.91648882e+01] [ 1.45012624e-01 1.08212452e-03 9.89429213e-01 3.11342291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:99.20, Z:31.15 [[ 5.80284911e-01 -8.10164211e-01 -8.30865413e-02 1.80586556e+02] [ 8.01402068e-01 5.86198148e-01 -1.18854774e-01 9.92044730e+01] [ 1.44997061e-01 2.38390580e-03 9.89429214e-01 3.11537527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters Centerline goodness : 0.995333 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:99.25, Z:31.16 [[ 5.80233024e-01 -8.10205006e-01 -8.30511077e-02 1.80617682e+02] [ 8.01439737e-01 5.86141626e-01 -1.18879528e-01 9.92514872e+01] [ 1.44996500e-01 2.41737038e-03 9.89429215e-01 3.11613452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters Centerline goodness : 0.995454 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:99.30, Z:31.17 [[ 5.79647102e-01 -8.10626667e-01 -8.30279671e-02 1.80650503e+02] [ 8.01863384e-01 5.85558647e-01 -1.18895688e-01 9.92993920e+01] [ 1.44997759e-01 2.34045444e-03 9.89429215e-01 3.11676540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:180.68, Y:99.35, Z:31.18 [[ 5.82731477e-01 -8.08415298e-01 -8.29983847e-02 1.80682744e+02] [ 7.99626648e-01 5.88605241e-01 -1.18916336e-01 9.93473228e+01] [ 1.44987069e-01 2.92857172e-03 9.89429216e-01 3.11783679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:99.40, Z:31.17 [[ 5.76408859e-01 -8.12938844e-01 -8.29654316e-02 1.80706611e+02] [ 8.04192998e-01 5.82346168e-01 -1.18939322e-01 9.94026909e+01] [ 1.45004996e-01 1.83745965e-03 9.89429217e-01 3.11726866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters Centerline goodness : 0.995651 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:99.44, Z:31.19 [[ 5.87646286e-01 -8.04856553e-01 -8.29323339e-02 1.80746096e+02] [ 7.96025856e-01 5.93456641e-01 -1.18962395e-01 9.94412440e+01] [ 1.44964408e-01 3.89152773e-03 9.89429218e-01 3.11947709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:99.49, Z:31.20 [[ 5.89722016e-01 -8.03340707e-01 -8.28954344e-02 1.80778495e+02] [ 7.94491473e-01 5.95504099e-01 -1.18988102e-01 9.94881979e+01] [ 1.44952557e-01 4.31018784e-03 9.89429219e-01 3.12037795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters Centerline goodness : 0.993927 with order 1 Centerline is valid? [True, True] Translation: X:180.80, Y:99.54, Z:31.20 [[ 5.83371022e-01 -8.07967807e-01 -8.28629854e-02 1.80801932e+02] [ 7.99161256e-01 5.89217907e-01 -1.19010696e-01 9.95449128e+01] [ 1.44981166e-01 3.20650361e-03 9.89429219e-01 3.11989055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters Centerline goodness : 0.995288 with order 1 Centerline is valid? [True, True] Translation: X:180.84, Y:99.58, Z:31.22 [[ 5.93286941e-01 -8.00716810e-01 -8.28444082e-02 1.80843809e+02] [ 7.91837070e-01 5.99022063e-01 -1.19023626e-01 9.95824121e+01] [ 1.44929846e-01 5.01588958e-03 9.89429220e-01 3.12191194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:99.63, Z:31.23 [[ 5.93705393e-01 -8.00409132e-01 -8.28198493e-02 1.80877953e+02] [ 7.91524045e-01 5.99432227e-01 -1.19040712e-01 9.96296189e+01] [ 1.44926160e-01 5.12121081e-03 9.89429220e-01 3.12278000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters Centerline goodness : 0.995846 with order 1 Centerline is valid? [True, True] Translation: X:180.91, Y:99.68, Z:31.24 [[ 5.92794224e-01 -8.01087414e-01 -8.27886670e-02 1.80912041e+02] [ 7.92205863e-01 5.98526539e-01 -1.19062395e-01 9.96755507e+01] [ 1.44930600e-01 4.99383264e-03 9.89429221e-01 3.12368623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters Centerline goodness : 0.996291 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:99.72, Z:31.25 [[ 5.91620505e-01 -8.01958014e-01 -8.27557975e-02 1.80947770e+02] [ 7.93081715e-01 5.97360947e-01 -1.19085237e-01 9.97201994e+01] [ 1.44936442e-01 4.82115824e-03 9.89429222e-01 3.12465225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters Centerline goodness : 0.996008 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:99.76, Z:31.25 [[ 5.90299752e-01 -8.02933822e-01 -8.27253355e-02 1.80982893e+02] [ 7.94064057e-01 5.96050283e-01 -1.19106394e-01 9.97646482e+01] [ 1.44943012e-01 4.61925949e-03 9.89429222e-01 3.12537893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:99.82, Z:31.25 [[ 5.83025896e-01 -8.08234070e-01 -8.26951778e-02 1.81008460e+02] [ 7.99413655e-01 5.88851838e-01 -1.19127329e-01 9.98196044e+01] [ 1.44977974e-01 3.34666350e-03 9.89429223e-01 3.12501873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters Centerline goodness : 0.994389 with order 1 Centerline is valid? [True, True] Translation: X:181.04, Y:99.87, Z:31.26 [[ 5.82616865e-01 -8.08532235e-01 -8.26632529e-02 1.81043820e+02] [ 7.99711663e-01 5.88442569e-01 -1.19149478e-01 9.98651343e+01] [ 1.44978771e-01 3.31172794e-03 9.89429224e-01 3.12587416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters Centerline goodness : 0.995929 with order 1 Centerline is valid? [True, True] Translation: X:181.09, Y:99.90, Z:31.28 [[ 5.89262125e-01 -8.03705501e-01 -8.26293920e-02 1.81087078e+02] [ 7.94833956e-01 5.95009906e-01 -1.19172956e-01 9.99020633e+01] [ 1.44945267e-01 4.54746275e-03 9.89429224e-01 3.12785791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters Centerline goodness : 0.996320 with order 1 Centerline is valid? [True, True] Translation: X:181.12, Y:99.95, Z:31.29 [[ 5.88678474e-01 -8.04136547e-01 -8.25958169e-02 1.81121395e+02] [ 7.95265956e-01 5.94427725e-01 -1.19196222e-01 9.99469416e+01] [ 1.44947282e-01 4.48260860e-03 9.89429225e-01 3.12864408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:100.00, Z:31.28 [[ 5.81932856e-01 -8.09034044e-01 -8.25715832e-02 1.81146221e+02] [ 8.00209491e-01 5.87752524e-01 -1.19213007e-01 1.00001636e+02] [ 1.44979038e-01 3.29940106e-03 9.89429226e-01 3.12844637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters Centerline goodness : 0.996917 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:100.04, Z:31.30 [[ 5.88615852e-01 -8.04188463e-01 -8.25366251e-02 1.81190000e+02] [ 7.95312648e-01 5.94357032e-01 -1.19237205e-01 1.00037641e+02] [ 1.44945408e-01 4.54248724e-03 9.89429227e-01 3.13039129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters Centerline goodness : 0.996168 with order 1 Centerline is valid? [True, True] Translation: X:181.22, Y:100.09, Z:31.30 [[ 5.82470312e-01 -8.08652556e-01 -8.25189626e-02 1.81217523e+02] [ 7.99819039e-01 5.88276362e-01 -1.19249428e-01 1.00090534e+02] [ 1.44975310e-01 3.45901389e-03 9.89429227e-01 3.13032965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters Centerline goodness : 0.995963 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:100.13, Z:31.31 [[ 5.82510404e-01 -8.08626887e-01 -8.24874976e-02 1.81253411e+02] [ 7.99790038e-01 5.88311380e-01 -1.19271189e-01 1.00134825e+02] [ 1.44974224e-01 3.50402942e-03 9.89429228e-01 3.13132783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters Centerline goodness : 0.997225 with order 1 Centerline is valid? [True, True] Translation: X:181.29, Y:100.17, Z:31.33 [[ 5.86410247e-01 -8.05806129e-01 -8.24591060e-02 1.81294142e+02] [ 7.96938633e-01 5.92164265e-01 -1.19290814e-01 1.00173862e+02] [ 1.44954605e-01 4.23850878e-03 9.89429228e-01 3.13283216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters Centerline goodness : 0.996515 with order 1 Centerline is valid? [True, True] Translation: X:181.32, Y:100.23, Z:31.33 [[ 5.78555594e-01 -8.11465863e-01 -8.24413626e-02 1.81321755e+02] [ 8.02652948e-01 5.84392866e-01 -1.19303076e-01 1.00226634e+02] [ 1.44988517e-01 2.85165898e-03 9.89429228e-01 3.13269428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters Centerline goodness : 0.997606 with order 1 Centerline is valid? [True, True] Translation: X:181.36, Y:100.26, Z:31.35 [[ 5.81004363e-01 -8.09717731e-01 -8.24082897e-02 1.81364479e+02] [ 8.00884021e-01 5.86810115e-01 -1.19325916e-01 1.00264303e+02] [ 1.44978328e-01 3.32939566e-03 9.89429229e-01 3.13466057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters Centerline goodness : 0.996239 with order 1 Centerline is valid? [True, True] Translation: X:181.39, Y:100.32, Z:31.34 [[ 5.72820523e-01 -8.15531291e-01 -8.23733070e-02 1.81390702e+02] [ 8.06753062e-01 5.78709824e-01 -1.19350061e-01 1.00318492e+02] [ 1.45003951e-01 1.91124665e-03 9.89429230e-01 3.13440276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:181.43, Y:100.36, Z:31.36 [[ 5.76557325e-01 -8.12897061e-01 -8.23408713e-02 1.81432921e+02] [ 8.04088736e-01 5.82401517e-01 -1.19372435e-01 1.00355651e+02] [ 1.44992950e-01 2.61568452e-03 9.89429231e-01 3.13649621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:100.40, Z:31.37 [[ 5.74798219e-01 -8.14143950e-01 -8.23203266e-02 1.81467165e+02] [ 8.05346276e-01 5.80658432e-01 -1.19386601e-01 1.00402275e+02] [ 1.44997870e-01 2.32683702e-03 9.89429231e-01 3.13728533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters Centerline goodness : 0.997041 with order 1 Centerline is valid? [True, True] Translation: X:181.50, Y:100.45, Z:31.37 [[ 5.70006173e-01 -8.17509477e-01 -8.22874069e-02 1.81495753e+02] [ 8.08743137e-01 5.75913154e-01 -1.19409287e-01 1.00454337e+02] [ 1.45008623e-01 1.51465495e-03 9.89429232e-01 3.13741320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters Centerline goodness : 0.997763 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:100.50, Z:31.38 [[ 5.65126471e-01 -8.20893324e-01 -8.22570541e-02 1.81530227e+02] [ 8.12159313e-01 5.71081149e-01 -1.19430192e-01 1.00502013e+02] [ 1.45014900e-01 6.87330427e-04 9.89429233e-01 3.13789322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:100.55, Z:31.39 [[ 5.62010867e-01 -8.23032699e-01 -8.22250631e-02 1.81564044e+02] [ 8.14318134e-01 5.67993966e-01 -1.19452213e-01 1.00548095e+02] [ 1.45016417e-01 1.76081996e-04 9.89429233e-01 3.13860298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:181.60, Y:100.59, Z:31.39 [[ 5.58647161e-01 -8.25322740e-01 -8.21932131e-02 1.81598068e+02] [ 8.16629476e-01 5.64661166e-01 -1.19474125e-01 1.00594384e+02] [ 1.45016028e-01 -3.77519855e-04 9.89429234e-01 3.13941743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters Centerline goodness : 0.997355 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:100.64, Z:31.40 [[ 5.54684715e-01 -8.27994419e-01 -8.21590469e-02 1.81632398e+02] [ 8.19326639e-01 5.60735391e-01 -1.19497616e-01 1.00640660e+02] [ 1.45012844e-01 -1.03159492e-03 9.89429235e-01 3.14033519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:100.69, Z:31.41 [[ 5.54484411e-01 -8.28131900e-01 -8.21254802e-02 1.81667150e+02] [ 8.19462204e-01 5.60532339e-01 -1.19520680e-01 1.00686300e+02] [ 1.45012875e-01 -1.02637305e-03 9.89429236e-01 3.14148827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters Centerline goodness : 0.997571 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:100.73, Z:31.42 [[ 5.53245610e-01 -8.28963321e-01 -8.20920605e-02 1.81699465e+02] [ 8.20299309e-01 5.59301676e-01 -1.19543630e-01 1.00734655e+02] [ 1.45011512e-01 -1.20307198e-03 9.89429237e-01 3.14213028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:181.73, Y:100.78, Z:31.43 [[ 5.54972096e-01 -8.27811858e-01 -8.20579122e-02 1.81731516e+02] [ 8.19131814e-01 5.61005159e-01 -1.19567066e-01 1.00781940e+02] [ 1.45013947e-01 -8.59861326e-04 9.89429237e-01 3.14296037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters Centerline goodness : 0.997712 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:100.83, Z:31.44 [[ 5.57322796e-01 -8.26234418e-01 -8.20243101e-02 1.81763757e+02] [ 8.17533904e-01 5.63326300e-01 -1.19590113e-01 1.00829708e+02] [ 1.45015919e-01 -4.07358315e-04 9.89429238e-01 3.14389435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:181.80, Y:100.87, Z:31.45 [[ 5.65021650e-01 -8.20992000e-01 -8.19918944e-02 1.81802675e+02] [ 8.12232558e-01 5.70938842e-01 -1.19612333e-01 1.00871146e+02] [ 1.45013126e-01 9.87071721e-04 9.89429239e-01 3.14540943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters Centerline goodness : 0.998073 with order 1 Centerline is valid? [True, True] Translation: X:181.83, Y:100.92, Z:31.46 [[ 5.69835016e-01 -8.17661794e-01 -8.19588068e-02 1.81833480e+02] [ 8.08864515e-01 5.75695807e-01 -1.19635001e-01 1.00920004e+02] [ 1.45004311e-01 1.87864210e-03 9.89429240e-01 3.14640376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters Centerline goodness : 0.997429 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:100.97, Z:31.47 [[ 5.67397923e-01 -8.19357969e-01 -8.19275055e-02 1.81857773e+02] [ 8.10575118e-01 5.73280311e-01 -1.19656433e-01 1.00974250e+02] [ 1.45008878e-01 1.48441390e-03 9.89429240e-01 3.14652188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:181.90, Y:101.02, Z:31.48 [[ 5.73786699e-01 -8.14900155e-01 -8.18935997e-02 1.81895641e+02] [ 8.06068308e-01 5.79595263e-01 -1.19679634e-01 1.01016805e+02] [ 1.44992095e-01 2.65874667e-03 9.89429241e-01 3.14826290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters Centerline goodness : 0.998193 with order 1 Centerline is valid? [True, True] Translation: X:181.93, Y:101.06, Z:31.49 [[ 5.73563274e-01 -8.15060791e-01 -8.18601160e-02 1.81926747e+02] [ 8.06227305e-01 5.79369344e-01 -1.19702532e-01 1.01064699e+02] [ 1.44992082e-01 2.65911556e-03 9.89429242e-01 3.14907529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:181.96, Y:101.11, Z:31.50 [[ 5.73728255e-01 -8.14948019e-01 -8.18267417e-02 1.81957265e+02] [ 8.06110142e-01 5.79527636e-01 -1.19725342e-01 1.01112972e+02] [ 1.44990789e-01 2.72844514e-03 9.89429243e-01 3.14981785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:101.16, Z:31.51 [[ 5.74225512e-01 -8.14601245e-01 -8.17916433e-02 1.81987987e+02] [ 8.05756455e-01 5.80014342e-01 -1.19749315e-01 1.01161197e+02] [ 1.44988268e-01 2.85896738e-03 9.89429244e-01 3.15060420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters Centerline goodness : 0.997823 with order 1 Centerline is valid? [True, True] Translation: X:182.02, Y:101.21, Z:31.51 [[ 5.74839040e-01 -8.14171745e-01 -8.17584745e-02 1.82018409e+02] [ 8.05319412e-01 5.80616330e-01 -1.19771957e-01 1.01210728e+02] [ 1.44985249e-01 3.00791026e-03 9.89429245e-01 3.15137515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:101.26, Z:31.52 [[ 5.73205462e-01 -8.15325994e-01 -8.17252834e-02 1.82049471e+02] [ 8.06482071e-01 5.78995616e-01 -1.19794601e-01 1.01258527e+02] [ 1.44990233e-01 2.75694352e-03 9.89429245e-01 3.15236061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:182.07, Y:101.31, Z:31.53 [[ 5.65748065e-01 -8.20521543e-01 -8.16916415e-02 1.82074747e+02] [ 8.11727501e-01 5.71613700e-01 -1.19817538e-01 1.01312187e+02] [ 1.45008932e-01 1.47518815e-03 9.89429246e-01 3.15267220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:101.35, Z:31.55 [[ 5.67060901e-01 -8.19618100e-01 -8.16584580e-02 1.82112350e+02] [ 8.10811459e-01 5.72907599e-01 -1.19840149e-01 1.01353289e+02] [ 1.45005906e-01 1.74704945e-03 9.89429247e-01 3.15460653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters Centerline goodness : 0.996874 with order 1 Centerline is valid? [True, True] Translation: X:182.14, Y:101.41, Z:31.55 [[ 5.59082121e-01 -8.25083263e-01 -8.16381699e-02 1.82136404e+02] [ 8.16331765e-01 5.65011041e-01 -1.19853968e-01 1.01408565e+02] [ 1.45015971e-01 3.64379541e-04 9.89429247e-01 3.15452396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:101.45, Z:31.56 [[ 5.61306496e-01 -8.23574520e-01 -8.16089934e-02 1.82174994e+02] [ 8.14804197e-01 5.67207532e-01 -1.19873831e-01 1.01448749e+02] [ 1.45014269e-01 7.90609904e-04 9.89429248e-01 3.15619096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:182.20, Y:101.50, Z:31.56 [[ 5.53297209e-01 -8.28978572e-01 -8.15887626e-02 1.82198362e+02] [ 8.20263851e-01 5.59280054e-01 -1.19887599e-01 1.01504160e+02] [ 1.45015218e-01 -5.90838413e-04 9.89429248e-01 3.15597836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters Centerline goodness : 0.997415 with order 1 Centerline is valid? [True, True] Translation: X:182.24, Y:101.54, Z:31.58 [[ 5.58701976e-01 -8.25349011e-01 -8.15543581e-02 1.82238420e+02] [ 8.16592003e-01 5.64622752e-01 -1.19910999e-01 1.01543299e+02] [ 1.45015870e-01 3.97875318e-04 9.89429249e-01 3.15784279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters Centerline goodness : 0.996081 with order 1 Centerline is valid? [True, True] Translation: X:182.26, Y:101.60, Z:31.57 [[ 5.51936247e-01 -8.29890538e-01 -8.15357224e-02 1.82260440e+02] [ 8.21180373e-01 5.57925720e-01 -1.19923669e-01 1.01601107e+02] [ 1.45014395e-01 -7.65314852e-04 9.89429249e-01 3.15720877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters Centerline goodness : 0.997383 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:101.64, Z:31.59 [[ 5.63891690e-01 -8.21817098e-01 -8.15034895e-02 1.82301767e+02] [ 8.13018011e-01 5.69749746e-01 -1.19945572e-01 1.01638657e+02] [ 1.45009914e-01 1.37250632e-03 9.89429250e-01 3.15944093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters Centerline goodness : 0.996416 with order 1 Centerline is valid? [True, True] Translation: X:182.32, Y:101.70, Z:31.59 [[ 5.58989288e-01 -8.25161133e-01 -8.14866838e-02 1.82323205e+02] [ 8.16395429e-01 5.64897180e-01 -1.19956988e-01 1.01697425e+02] [ 1.45015442e-01 5.29315175e-04 9.89429250e-01 3.15854346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters Centerline goodness : 0.997674 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:101.73, Z:31.61 [[ 5.70857350e-01 -8.16998764e-01 -8.14549270e-02 1.82365948e+02] [ 8.08145545e-01 5.76633269e-01 -1.19978548e-01 1.01734018e+02] [ 1.44991946e-01 2.66319975e-03 9.89429251e-01 3.16103469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:101.78, Z:31.62 [[ 5.72173184e-01 -8.16079682e-01 -8.14358653e-02 1.82397855e+02] [ 8.07215346e-01 5.77932028e-01 -1.19991485e-01 1.01781670e+02] [ 1.44987008e-01 2.91962994e-03 9.89429251e-01 3.16203926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:182.43, Y:101.83, Z:31.63 [[ 5.72776464e-01 -8.15659515e-01 -8.14044106e-02 1.82430294e+02] [ 8.06787926e-01 5.78524127e-01 -1.20012821e-01 1.01829521e+02] [ 1.44984015e-01 3.06442359e-03 9.89429252e-01 3.16288726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters Centerline goodness : 0.996386 with order 1 Centerline is valid? [True, True] Translation: X:182.46, Y:101.89, Z:31.62 [[ 5.65344949e-01 -8.20831261e-01 -8.13703291e-02 1.82455311e+02] [ 8.12008949e-01 5.71167964e-01 -1.20035924e-01 1.01885721e+02] [ 1.45005364e-01 1.78826793e-03 9.89429253e-01 3.16223848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters Centerline goodness : 0.997324 with order 1 Centerline is valid? [True, True] Translation: X:182.50, Y:101.92, Z:31.65 [[ 5.71937402e-01 -8.16254554e-01 -8.13394845e-02 1.82496330e+02] [ 8.07382693e-01 5.77684643e-01 -1.20056822e-01 1.01923878e+02] [ 1.44985499e-01 2.99289476e-03 9.89429254e-01 3.16451092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters Centerline goodness : 0.997385 with order 1 Centerline is valid? [True, True] Translation: X:182.53, Y:101.97, Z:31.65 [[ 5.71894717e-01 -8.16286545e-01 -8.13185616e-02 1.82528583e+02] [ 8.07412994e-01 5.77639346e-01 -1.20070992e-01 1.01971997e+02] [ 1.44985136e-01 3.01030270e-03 9.89429254e-01 3.16537555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters Centerline goodness : 0.997698 with order 1 Centerline is valid? [True, True] Translation: X:182.56, Y:102.02, Z:31.66 [[ 5.71740176e-01 -8.16398098e-01 -8.12854059e-02 1.82561434e+02] [ 8.07522481e-01 5.77481610e-01 -1.20093434e-01 1.02019211e+02] [ 1.44984878e-01 3.02244815e-03 9.89429255e-01 3.16633789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:102.07, Z:31.67 [[ 5.71819516e-01 -8.16345669e-01 -8.12538594e-02 1.82594192e+02] [ 8.07466497e-01 5.77555450e-01 -1.20114774e-01 1.02066030e+02] [ 1.44983785e-01 3.07420259e-03 9.89429255e-01 3.16736289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters Centerline goodness : 0.997716 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:102.11, Z:31.68 [[ 5.71704858e-01 -8.16429356e-01 -8.12198320e-02 1.82625977e+02] [ 8.07547760e-01 5.77437036e-01 -1.20137779e-01 1.02113621e+02] [ 1.44983348e-01 3.09445826e-03 9.89429256e-01 3.16813666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters Centerline goodness : 0.996898 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:102.17, Z:31.68 [[ 5.66475676e-01 -8.20069638e-01 -8.11855772e-02 1.82651051e+02] [ 8.11221574e-01 5.72259478e-01 -1.20160923e-01 1.02168509e+02] [ 1.44999540e-01 2.20874807e-03 9.89429257e-01 3.16751630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:102.22, Z:31.68 [[ 5.65856345e-01 -8.20500272e-01 -8.11535558e-02 1.82683455e+02] [ 8.11653511e-01 5.71642138e-01 -1.20182545e-01 1.02216130e+02] [ 1.45000603e-01 2.13748729e-03 9.89429258e-01 3.16817672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters Centerline goodness : 0.997953 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:102.25, Z:31.70 [[ 5.73046718e-01 -8.15498097e-01 -8.11191322e-02 1.82724516e+02] [ 8.06597571e-01 5.78749454e-01 -1.20205776e-01 1.02254291e+02] [ 1.44975235e-01 3.45303023e-03 9.89429259e-01 3.17037188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:182.76, Y:102.30, Z:31.71 [[ 5.74253313e-01 -8.14651024e-01 -8.10977259e-02 1.82756855e+02] [ 8.05740052e-01 5.79939711e-01 -1.20220216e-01 1.02301814e+02] [ 1.44969314e-01 3.69317139e-03 9.89429259e-01 3.17114766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:182.79, Y:102.35, Z:31.72 [[ 5.75893873e-01 -8.13495481e-01 -8.10638582e-02 1.82789597e+02] [ 8.04569893e-01 5.81557302e-01 -1.20243049e-01 1.02349221e+02] [ 1.44960455e-01 4.02569516e-03 9.89429260e-01 3.17177140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters Centerline goodness : 0.996716 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:102.40, Z:31.72 [[ 5.71224509e-01 -8.16784320e-01 -8.10304573e-02 1.82814658e+02] [ 8.07888165e-01 5.76934060e-01 -1.20265553e-01 1.02403879e+02] [ 1.44980249e-01 3.23508400e-03 9.89429261e-01 3.17160023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters Centerline goodness : 0.997868 with order 1 Centerline is valid? [True, True] Translation: X:182.86, Y:102.44, Z:31.73 [[ 5.77019165e-01 -8.12704258e-01 -8.09979814e-02 1.82855234e+02] [ 8.03764691e-01 5.82660500e-01 -1.20287421e-01 1.02443424e+02] [ 1.44952424e-01 4.30482996e-03 9.89429261e-01 3.17349454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:102.49, Z:31.75 [[ 5.75939821e-01 -8.13472898e-01 -8.09639848e-02 1.82887890e+02] [ 8.04537652e-01 5.81587997e-01 -1.20310300e-01 1.02490223e+02] [ 1.44956850e-01 4.15291831e-03 9.89429262e-01 3.17452432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters Centerline goodness : 0.997078 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:102.55, Z:31.74 [[ 5.69540470e-01 -8.17969519e-01 -8.09290998e-02 1.82912437e+02] [ 8.09075563e-01 5.75253439e-01 -1.20333762e-01 1.02546057e+02] [ 1.44984092e-01 3.05719013e-03 9.89429263e-01 3.17425605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:182.94, Y:102.59, Z:31.75 [[ 5.69453967e-01 -8.18032949e-01 -8.08966871e-02 1.82943189e+02] [ 8.09136538e-01 5.75163112e-01 -1.20355548e-01 1.02593766e+02] [ 1.44983594e-01 3.08047887e-03 9.89429264e-01 3.17487745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:182.98, Y:102.63, Z:31.77 [[ 5.73810886e-01 -8.14985973e-01 -8.08636567e-02 1.82983691e+02] [ 8.06056137e-01 5.79467605e-01 -1.20377736e-01 1.02633510e+02] [ 1.44964036e-01 3.89340863e-03 9.89429265e-01 3.17684585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters Centerline goodness : 0.997066 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:102.69, Z:31.76 [[ 5.66981535e-01 -8.19755067e-01 -8.08304978e-02 1.83005516e+02] [ 8.10869667e-01 5.72707799e-01 -1.20399997e-01 1.02690795e+02] [ 1.44990764e-01 2.72157651e-03 9.89429265e-01 3.17633255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:102.73, Z:31.78 [[ 5.74207726e-01 -8.14713026e-01 -8.07971055e-02 1.83045590e+02] [ 8.05774229e-01 5.79850272e-01 -1.20422402e-01 1.02730384e+02] [ 1.44959923e-01 4.04324833e-03 9.89429266e-01 3.17832270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:183.07, Y:102.79, Z:31.78 [[ 5.68787483e-01 -8.18508458e-01 -8.07756332e-02 1.83069330e+02] [ 8.09605289e-01 5.74486077e-01 -1.20436803e-01 1.02786038e+02] [ 1.44983019e-01 3.10656641e-03 9.89429267e-01 3.17813275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:183.11, Y:102.83, Z:31.80 [[ 5.73076652e-01 -8.15514388e-01 -8.07430078e-02 1.83109700e+02] [ 8.06578382e-01 5.78723615e-01 -1.20458672e-01 1.02825912e+02] [ 1.44963666e-01 3.90648802e-03 9.89429267e-01 3.17998471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters Centerline goodness : 0.997091 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:102.88, Z:31.80 [[ 5.65200931e-01 -8.20995759e-01 -8.07085560e-02 1.83133282e+02] [ 8.12111259e-01 5.70928586e-01 -1.20481751e-01 1.02881521e+02] [ 1.44993828e-01 2.55207076e-03 9.89429268e-01 3.18011181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters Centerline goodness : 0.998025 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:102.92, Z:31.82 [[ 5.67622603e-01 -8.19326538e-01 -8.06759173e-02 1.83175379e+02] [ 8.10422095e-01 5.73319203e-01 -1.20503602e-01 1.02919922e+02] [ 1.44984852e-01 3.01902258e-03 9.89429269e-01 3.18180039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:102.97, Z:31.83 [[ 5.64035231e-01 -8.21802405e-01 -8.06539837e-02 1.83208226e+02] [ 8.12920876e-01 5.69767490e-01 -1.20518281e-01 1.02966616e+02] [ 1.44996231e-01 2.41124940e-03 9.89429269e-01 3.18270540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:103.01, Z:31.84 [[ 5.58804082e-01 -8.25371618e-01 -8.06206531e-02 1.83241173e+02] [ 8.16523495e-01 5.64587771e-01 -1.20540573e-01 1.03013902e+02] [ 1.45008203e-01 1.52990709e-03 9.89429270e-01 3.18360643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:103.06, Z:31.84 [[ 5.56037833e-01 -8.27240972e-01 -8.05872371e-02 1.83273923e+02] [ 8.18409058e-01 5.61846241e-01 -1.20562910e-01 1.03060659e+02] [ 1.45012215e-01 1.08421430e-03 9.89429271e-01 3.18449202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:103.11, Z:31.85 [[ 5.55012584e-01 -8.27932464e-01 -8.05535056e-02 1.83305484e+02] [ 8.19104516e-01 5.60827017e-01 -1.20585443e-01 1.03107353e+02] [ 1.45013185e-01 9.44698255e-04 9.89429272e-01 3.18525368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters Centerline goodness : 0.998238 with order 1 Centerline is valid? [True, True] Translation: X:183.34, Y:103.16, Z:31.86 [[ 5.56805488e-01 -8.26731210e-01 -8.05180340e-02 1.83337754e+02] [ 8.17887295e-01 5.62595603e-01 -1.20609124e-01 1.03155418e+02] [ 1.45010419e-01 1.30114518e-03 9.89429273e-01 3.18616085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:103.20, Z:31.87 [[ 5.58688073e-01 -8.25463396e-01 -8.04848949e-02 1.83368911e+02] [ 8.16603157e-01 5.64453177e-01 -1.20631234e-01 1.03203293e+02] [ 1.45006623e-01 1.67101268e-03 9.89429273e-01 3.18700984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:103.25, Z:31.88 [[ 5.60816704e-01 -8.24022009e-01 -8.04509401e-02 1.83399178e+02] [ 8.15143707e-01 5.66553951e-01 -1.20653875e-01 1.03251375e+02] [ 1.45001247e-01 2.08563119e-03 9.89429274e-01 3.18774585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:183.43, Y:103.30, Z:31.89 [[ 5.62517776e-01 -8.22865160e-01 -8.04156703e-02 1.83430366e+02] [ 8.13971703e-01 5.68231500e-01 -1.20677378e-01 1.03299153e+02] [ 1.44995927e-01 2.42709028e-03 9.89429275e-01 3.18857479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:103.36, Z:31.88 [[ 5.60433356e-01 -8.24289534e-01 -8.03816947e-02 1.83453634e+02] [ 8.15407357e-01 5.66164597e-01 -1.20700005e-01 1.03355131e+02] [ 1.45001021e-01 2.10048355e-03 9.89429276e-01 3.18845449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters Centerline goodness : 0.996753 with order 1 Centerline is valid? [True, True] Translation: X:183.48, Y:103.40, Z:31.89 [[ 5.62221475e-01 -8.23074149e-01 -8.03489806e-02 1.83484043e+02] [ 8.14176473e-01 5.67928624e-01 -1.20721779e-01 1.03404264e+02] [ 1.44995461e-01 2.45412665e-03 9.89429277e-01 3.18944890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters Centerline goodness : 0.997670 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:103.45, Z:31.90 [[ 5.56799670e-01 -8.26755115e-01 -8.03125616e-02 1.83514412e+02] [ 8.17891685e-01 5.62559859e-01 -1.20746002e-01 1.03451299e+02] [ 1.45007998e-01 1.54435791e-03 9.89429278e-01 3.19048850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:183.55, Y:103.49, Z:31.92 [[ 5.56605126e-01 -8.26889250e-01 -8.02801448e-02 1.83550116e+02] [ 8.18024100e-01 5.62362667e-01 -1.20767551e-01 1.03494865e+02] [ 1.45007946e-01 1.54874500e-03 9.89429278e-01 3.19201689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters Centerline goodness : 0.997043 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:103.55, Z:31.92 [[ 5.48986311e-01 -8.31969275e-01 -8.02568057e-02 1.83570673e+02] [ 8.23155142e-01 5.54821652e-01 -1.20783060e-01 1.03552463e+02] [ 1.45016008e-01 2.44444177e-04 9.89429279e-01 3.19171283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters Centerline goodness : 0.997554 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:103.59, Z:31.93 [[ 5.54043854e-01 -8.28613062e-01 -8.02234423e-02 1.83608943e+02] [ 8.19760373e-01 5.59820534e-01 -1.20805216e-01 1.03593861e+02] [ 1.45011510e-01 1.16738828e-03 9.89429280e-01 3.19304128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:183.64, Y:103.64, Z:31.94 [[ 5.53992433e-01 -8.28649456e-01 -8.02026425e-02 1.83639890e+02] [ 8.19795147e-01 5.59766630e-01 -1.20819023e-01 1.03641008e+02] [ 1.45011381e-01 1.18308742e-03 9.89429280e-01 3.19394092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:103.69, Z:31.95 [[ 5.55755691e-01 -8.27471331e-01 -8.01673790e-02 1.83669774e+02] [ 8.18601409e-01 5.61505872e-01 -1.20842417e-01 1.03689692e+02] [ 1.45008090e-01 1.53373165e-03 9.89429281e-01 3.19506123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:103.75, Z:31.95 [[ 5.51694963e-01 -8.30187485e-01 -8.01336785e-02 1.83691532e+02] [ 8.21342630e-01 5.57483627e-01 -1.20864761e-01 1.03746647e+02] [ 1.45013626e-01 8.63273535e-04 9.89429282e-01 3.19500179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters Centerline goodness : 0.997459 with order 1 Centerline is valid? [True, True] Translation: X:183.73, Y:103.79, Z:31.97 [[ 5.60130068e-01 -8.24522932e-01 -8.01014465e-02 1.83730767e+02] [ 8.15616500e-01 5.65823534e-01 -1.20886119e-01 1.03788374e+02] [ 1.44996660e-01 2.37988842e-03 9.89429282e-01 3.19676205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:183.76, Y:103.84, Z:31.98 [[ 5.61184438e-01 -8.23808825e-01 -8.00690103e-02 1.83761216e+02] [ 8.14892087e-01 5.66861746e-01 -1.20907599e-01 1.03836512e+02] [ 1.44992806e-01 2.60386007e-03 9.89429283e-01 3.19756516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters Centerline goodness : 0.997632 with order 1 Centerline is valid? [True, True] Translation: X:183.79, Y:103.89, Z:31.99 [[ 5.62355734e-01 -8.23013194e-01 -8.00331829e-02 1.83792307e+02] [ 8.14085053e-01 5.68015092e-01 -1.20931310e-01 1.03885087e+02] [ 1.44988119e-01 2.85259762e-03 9.89429284e-01 3.19854381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:103.94, Z:31.99 [[ 5.58649976e-01 -8.25536387e-01 -7.99992341e-02 1.83816832e+02] [ 8.16630599e-01 5.64344444e-01 -1.20953764e-01 1.03940716e+02] [ 1.44998857e-01 2.24099488e-03 9.89429285e-01 3.19859972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters Centerline goodness : 0.997557 with order 1 Centerline is valid? [True, True] Translation: X:183.86, Y:103.98, Z:32.00 [[ 5.63642099e-01 -8.22139088e-01 -7.99681394e-02 1.83855711e+02] [ 8.13196076e-01 5.69277925e-01 -1.20974319e-01 1.03982430e+02] [ 1.44981813e-01 3.15644184e-03 9.89429285e-01 3.20008624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters Centerline goodness : 0.996538 with order 1 Centerline is valid? [True, True] Translation: X:183.88, Y:104.04, Z:32.00 [[ 5.57824442e-01 -8.26100738e-01 -7.99341132e-02 1.83881948e+02] [ 8.17194547e-01 5.63518276e-01 -1.20996798e-01 1.04037397e+02] [ 1.44999877e-01 2.17324957e-03 9.89429286e-01 3.19988207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters Centerline goodness : 0.996463 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:104.08, Z:32.01 [[ 5.57718460e-01 -8.26175330e-01 -7.99027096e-02 1.83915220e+02] [ 8.17266932e-01 5.63408838e-01 -1.21017532e-01 1.04084394e+02] [ 1.44999592e-01 2.19186935e-03 9.89429287e-01 3.20075003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters Centerline goodness : 0.996991 with order 1 Centerline is valid? [True, True] Translation: X:183.95, Y:104.13, Z:32.01 [[ 5.56310175e-01 -8.27127719e-01 -7.98669248e-02 1.83947883e+02] [ 8.18225674e-01 5.62010487e-01 -1.21041144e-01 1.04130265e+02] [ 1.45002535e-01 1.98725186e-03 9.89429288e-01 3.20141735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:104.17, Z:32.03 [[ 5.58721987e-01 -8.25503564e-01 -7.98348728e-02 1.83989491e+02] [ 8.16581933e-01 5.64391594e-01 -1.21062281e-01 1.04169042e+02] [ 1.44995476e-01 2.44844360e-03 9.89429289e-01 3.20333182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters Centerline goodness : 0.996925 with order 1 Centerline is valid? [True, True] Translation: X:184.02, Y:104.22, Z:32.03 [[ 5.51751841e-01 -8.30180600e-01 -7.98127674e-02 1.84017848e+02] [ 8.21304935e-01 5.57493139e-01 -1.21076853e-01 1.04220943e+02] [ 1.45010725e-01 1.25375678e-03 9.89429289e-01 3.20324697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters Centerline goodness : 0.997607 with order 1 Centerline is valid? [True, True] Translation: X:184.06, Y:104.26, Z:32.04 [[ 5.48128199e-01 -8.32580598e-01 -7.97811119e-02 1.84055541e+02] [ 8.23727037e-01 5.53903524e-01 -1.21097708e-01 1.04264960e+02] [ 1.45014641e-01 6.59209804e-04 9.89429290e-01 3.20440283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters Centerline goodness : 0.997548 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:104.31, Z:32.05 [[ 5.46026772e-01 -8.33963599e-01 -7.97463494e-02 1.84088968e+02] [ 8.25121323e-01 5.51819358e-01 -1.21120596e-01 1.04312293e+02] [ 1.45015748e-01 3.34674847e-04 9.89429291e-01 3.20499867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:104.35, Z:32.07 [[ 5.50216665e-01 -8.31208547e-01 -7.97118060e-02 1.84128769e+02] [ 8.22333975e-01 5.55959647e-01 -1.21143326e-01 1.04352233e+02] [ 1.45011915e-01 1.10535044e-03 9.89429291e-01 3.20666090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:104.41, Z:32.07 [[ 5.43217404e-01 -8.35801462e-01 -7.96917086e-02 1.84155533e+02] [ 8.26973508e-01 5.49031792e-01 -1.21156545e-01 1.04405043e+02] [ 1.45016099e-01 -8.85880070e-05 9.89429292e-01 3.20657186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:184.19, Y:104.45, Z:32.09 [[ 5.42720982e-01 -8.36127165e-01 -7.96573908e-02 1.84194363e+02] [ 8.27299389e-01 5.48535638e-01 -1.21179104e-01 1.04445390e+02] [ 1.45016058e-01 -1.34068271e-04 9.89429292e-01 3.20881144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:104.50, Z:32.09 [[ 5.37378861e-01 -8.39572589e-01 -7.96355911e-02 1.84219713e+02] [ 8.30779966e-01 5.43246538e-01 -1.21193429e-01 1.04500046e+02] [ 1.45012440e-01 -1.03286699e-03 9.89429293e-01 3.20859043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters Centerline goodness : 0.997098 with order 1 Centerline is valid? [True, True] Translation: X:184.25, Y:104.55, Z:32.09 [[ 5.38096827e-01 -8.39115653e-01 -7.96035529e-02 1.84248470e+02] [ 8.30314935e-01 5.43952353e-01 -1.21214469e-01 1.04550111e+02] [ 1.45013498e-01 -8.70897883e-04 9.89429294e-01 3.20934693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters Centerline goodness : 0.998057 with order 1 Centerline is valid? [True, True] Translation: X:184.28, Y:104.60, Z:32.10 [[ 5.40379920e-01 -8.37650487e-01 -7.95688597e-02 1.84278620e+02] [ 8.28830538e-01 5.46206437e-01 -1.21237238e-01 1.04598029e+02] [ 1.45015455e-01 -4.34931648e-04 9.89429294e-01 3.21048805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters Centerline goodness : 0.998314 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:104.64, Z:32.12 [[ 5.47020971e-01 -8.33332061e-01 -7.95344853e-02 1.84312798e+02] [ 8.24462833e-01 5.52772197e-01 -1.21259785e-01 1.04642142e+02] [ 1.45014118e-01 7.58418045e-04 9.89429295e-01 3.21215310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:184.34, Y:104.70, Z:32.12 [[ 5.43835248e-01 -8.35416643e-01 -7.95126106e-02 1.84336463e+02] [ 8.26567364e-01 5.49617120e-01 -1.21274127e-01 1.04697113e+02] [ 1.45015916e-01 2.30615835e-04 9.89429296e-01 3.21215662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:104.74, Z:32.14 [[ 5.51835831e-01 -8.30156698e-01 -7.94800161e-02 1.84370977e+02] [ 8.21249238e-01 5.57527662e-01 -1.21295485e-01 1.04741541e+02] [ 1.45006567e-01 1.66229186e-03 9.89429296e-01 3.21380945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:104.79, Z:32.15 [[ 5.53288048e-01 -8.29192643e-01 -7.94474461e-02 1.84400486e+02] [ 8.20272205e-01 5.58959516e-01 -1.21316814e-01 1.04790971e+02] [ 1.45002916e-01 1.95461155e-03 9.89429297e-01 3.21469432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:104.84, Z:32.15 [[ 5.54907612e-01 -8.28113009e-01 -7.94127618e-02 1.84429902e+02] [ 8.19178291e-01 5.60556554e-01 -1.21339514e-01 1.04839105e+02] [ 1.44998174e-01 2.27900938e-03 9.89429298e-01 3.21549136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters Centerline goodness : 0.997621 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:104.89, Z:32.16 [[ 5.51247238e-01 -8.30557561e-01 -7.93764512e-02 1.84454757e+02] [ 8.21644478e-01 5.56930256e-01 -1.21363263e-01 1.04892705e+02] [ 1.45006323e-01 1.68194059e-03 9.89429299e-01 3.21564437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:184.48, Y:104.94, Z:32.16 [[ 5.52658183e-01 -8.29622582e-01 -7.93429509e-02 1.84483639e+02] [ 8.20696744e-01 5.58321142e-01 -1.21385160e-01 1.04942357e+02] [ 1.45002717e-01 1.96800062e-03 9.89429300e-01 3.21628773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:104.99, Z:32.18 [[ 5.57805948e-01 -8.26173610e-01 -7.93075699e-02 1.84519368e+02] [ 8.17209485e-01 5.63408102e-01 -1.21408272e-01 1.04985613e+02] [ 1.44986838e-01 2.91135809e-03 9.89429301e-01 3.21794322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters Centerline goodness : 0.997809 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:105.03, Z:32.19 [[ 5.56874394e-01 -8.26803860e-01 -7.92861050e-02 1.84549790e+02] [ 8.17844082e-01 5.62483498e-01 -1.21422289e-01 1.05033199e+02] [ 1.44989543e-01 2.77329161e-03 9.89429301e-01 3.21877165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters Centerline goodness : 0.997070 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:105.09, Z:32.19 [[ 5.49267099e-01 -8.31880492e-01 -7.92496146e-02 1.84573589e+02] [ 8.22969141e-01 5.54952825e-01 -1.21446100e-01 1.05088674e+02] [ 1.45008439e-01 1.48636008e-03 9.89429302e-01 3.21868981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters Centerline goodness : 0.996699 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:105.14, Z:32.20 [[ 5.46260149e-01 -8.33861206e-01 -7.92170352e-02 1.84603802e+02] [ 8.24967392e-01 5.51973266e-01 -1.21467348e-01 1.05137932e+02] [ 1.45012595e-01 1.00130063e-03 9.89429303e-01 3.21958355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters Centerline goodness : 0.996598 with order 1 Centerline is valid? [True, True] Translation: X:184.63, Y:105.19, Z:32.20 [[ 5.42262818e-01 -8.36469545e-01 -7.91816611e-02 1.84633435e+02] [ 8.27599845e-01 5.48013301e-01 -1.21490403e-01 1.05187819e+02] [ 1.45015626e-01 3.48997976e-04 9.89429303e-01 3.22026605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters Centerline goodness : 0.997551 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:105.23, Z:32.22 [[ 5.44242948e-01 -8.35185911e-01 -7.91461124e-02 1.84669571e+02] [ 8.26299281e-01 5.49967230e-01 -1.21513557e-01 1.05229988e+02] [ 1.45014179e-01 7.34520944e-04 9.89429304e-01 3.22209304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:184.70, Y:105.28, Z:32.23 [[ 5.40448490e-01 -8.37649677e-01 -7.91103518e-02 1.84698677e+02] [ 8.28785734e-01 5.46207840e-01 -1.21536835e-01 1.05279361e+02] [ 1.45015985e-01 1.18867850e-04 9.89429305e-01 3.22290238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters Centerline goodness : 0.997360 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:105.33, Z:32.24 [[ 5.39414812e-01 -8.38318957e-01 -7.90758383e-02 1.84728807e+02] [ 8.29458868e-01 5.45180086e-01 -1.21559286e-01 1.05328138e+02] [ 1.45016026e-01 -1.92757545e-05 9.89429306e-01 3.22376187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters Centerline goodness : 0.997805 with order 1 Centerline is valid? [True, True] Translation: X:184.76, Y:105.38, Z:32.25 [[ 5.39654193e-01 -8.38168158e-01 -7.90410762e-02 1.84757670e+02] [ 8.29303147e-01 5.45411895e-01 -1.21581886e-01 1.05378506e+02] [ 1.45016008e-01 6.31610612e-05 9.89429307e-01 3.22451378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:105.43, Z:32.25 [[ 5.39681218e-01 -8.38154005e-01 -7.90066250e-02 1.84788528e+02] [ 8.29285566e-01 5.45433637e-01 -1.21604269e-01 1.05427037e+02] [ 1.45015976e-01 1.08486224e-04 9.89429308e-01 3.22525148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters Centerline goodness : 0.996204 with order 1 Centerline is valid? [True, True] Translation: X:184.81, Y:105.48, Z:32.25 [[ 5.33977864e-01 -8.41802204e-01 -7.89727204e-02 1.84811996e+02] [ 8.32969805e-01 5.39785467e-01 -1.21626283e-01 1.05482048e+02] [ 1.45013600e-01 -8.36148490e-04 9.89429309e-01 3.22514139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters Centerline goodness : 0.997178 with order 1 Centerline is valid? [True, True] Translation: X:184.85, Y:105.52, Z:32.27 [[ 5.40010314e-01 -8.37948318e-01 -7.89397038e-02 1.84849426e+02] [ 8.29071335e-01 5.45749536e-01 -1.21647709e-01 1.05523704e+02] [ 1.45015800e-01 2.44371687e-04 9.89429309e-01 3.22715113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters Centerline goodness : 0.997204 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:105.57, Z:32.28 [[ 5.41703546e-01 -8.36856973e-01 -7.89156127e-02 1.84879816e+02] [ 8.27966151e-01 5.47421306e-01 -1.21663335e-01 1.05572780e+02] [ 1.45014898e-01 5.66004080e-04 9.89429310e-01 3.22796377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:105.63, Z:32.28 [[ 5.39732270e-01 -8.38132895e-01 -7.88817280e-02 1.84902783e+02] [ 8.29252379e-01 5.45466021e-01 -1.21685301e-01 1.05629362e+02] [ 1.45015756e-01 2.64622954e-04 9.89429311e-01 3.22756533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:105.68, Z:32.28 [[ 5.43417818e-01 -8.35751251e-01 -7.88474545e-02 1.84931825e+02] [ 8.26842384e-01 5.49107417e-01 -1.21707505e-01 1.05678068e+02] [ 1.45012922e-01 9.43609452e-04 9.89429311e-01 3.22809360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters Centerline goodness : 0.996288 with order 1 Centerline is valid? [True, True] Translation: X:184.96, Y:105.73, Z:32.29 [[ 5.44345100e-01 -8.35150559e-01 -7.88159606e-02 1.84962544e+02] [ 8.26232461e-01 5.50020218e-01 -1.21727897e-01 1.05726112e+02] [ 1.45011493e-01 1.14167905e-03 9.89429312e-01 3.22898181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters Centerline goodness : 0.997371 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:105.77, Z:32.31 [[ 5.51349110e-01 -8.30546639e-01 -7.87809646e-02 1.84999161e+02] [ 8.21577930e-01 5.56943902e-01 -1.21750542e-01 1.05767048e+02] [ 1.44996081e-01 2.40235085e-03 9.89429313e-01 3.23105351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters Centerline goodness : 0.996495 with order 1 Centerline is valid? [True, True] Translation: X:185.02, Y:105.82, Z:32.31 [[ 5.45313560e-01 -8.34525227e-01 -7.87449528e-02 1.85023631e+02] [ 8.25593986e-01 5.50967970e-01 -1.21773829e-01 1.05822437e+02] [ 1.45009279e-01 1.39356058e-03 9.89429314e-01 3.23066462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters Centerline goodness : 0.997163 with order 1 Centerline is valid? [True, True] Translation: X:185.06, Y:105.86, Z:32.33 [[ 5.49998376e-01 -8.31448123e-01 -7.87134432e-02 1.85060895e+02] [ 8.22482341e-01 5.55597853e-01 -1.21794193e-01 1.05863770e+02] [ 1.44998573e-01 2.24619127e-03 9.89429315e-01 3.23282487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters Centerline goodness : 0.997142 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:105.91, Z:32.34 [[ 5.49661025e-01 -8.31674114e-01 -7.86824361e-02 1.85090898e+02] [ 8.22707769e-01 5.55259599e-01 -1.21814221e-01 1.05912244e+02] [ 1.44998912e-01 2.22387821e-03 9.89429315e-01 3.23378265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters Centerline goodness : 0.996666 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:105.97, Z:32.34 [[ 5.45699053e-01 -8.34282387e-01 -7.86475844e-02 1.85114588e+02] [ 8.25339564e-01 5.51335123e-01 -1.21836719e-01 1.05967231e+02] [ 1.45007404e-01 1.57521887e-03 9.89429316e-01 3.23379230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters Centerline goodness : 0.996744 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:106.01, Z:32.35 [[ 5.49088757e-01 -8.32057129e-01 -7.86286924e-02 1.85150115e+02] [ 8.23089724e-01 5.54685632e-01 -1.21848910e-01 1.06012101e+02] [ 1.44999460e-01 2.18739771e-03 9.89429316e-01 3.23518056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters Centerline goodness : 0.996728 with order 1 Centerline is valid? [True, True] Translation: X:185.18, Y:106.06, Z:32.36 [[ 5.47460076e-01 -8.33132635e-01 -7.85969342e-02 1.85180271e+02] [ 8.24173287e-01 5.53069837e-01 -1.21869392e-01 1.06061077e+02] [ 1.45002961e-01 1.94113277e-03 9.89429317e-01 3.23579334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:106.11, Z:32.36 [[ 5.43771994e-01 -8.35547701e-01 -7.85624482e-02 1.85208602e+02] [ 8.26610060e-01 5.49416274e-01 -1.21891619e-01 1.06111896e+02] [ 1.45009749e-01 1.34073870e-03 9.89429318e-01 3.23620733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:106.15, Z:32.38 [[ 5.42986978e-01 -8.36061192e-01 -7.85291271e-02 1.85246533e+02] [ 8.27125785e-01 5.48634793e-01 -1.21913082e-01 1.06154848e+02] [ 1.45010608e-01 1.24375031e-03 9.89429319e-01 3.23777282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:185.28, Y:106.20, Z:32.39 [[ 5.40452034e-01 -8.37705201e-01 -7.84958290e-02 1.85281202e+02] [ 8.28783861e-01 5.46122042e-01 -1.21934518e-01 1.06200793e+02] [ 1.45013483e-01 8.43682265e-04 9.89429319e-01 3.23867485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters Centerline goodness : 0.996979 with order 1 Centerline is valid? [True, True] Translation: X:185.31, Y:106.25, Z:32.40 [[ 5.39962258e-01 -8.38024214e-01 -7.84613033e-02 1.85314764e+02] [ 8.29102996e-01 5.45632456e-01 -1.21956731e-01 1.06247168e+02] [ 1.45013727e-01 7.99530085e-04 9.89429320e-01 3.23953521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters Centerline goodness : 0.997694 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:106.29, Z:32.40 [[ 5.40021890e-01 -8.37989077e-01 -7.84261734e-02 1.85347418e+02] [ 8.29064210e-01 5.45686340e-01 -1.21979318e-01 1.06293459e+02] [ 1.45013427e-01 8.51168068e-04 9.89429321e-01 3.24019457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:106.34, Z:32.41 [[ 5.41759043e-01 -8.36870504e-01 -7.83894082e-02 1.85381157e+02] [ 8.27930523e-01 5.47399608e-01 -1.22002940e-01 1.06340084e+02] [ 1.45010993e-01 1.19521233e-03 9.89429322e-01 3.24101029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:106.39, Z:32.41 [[ 5.41982118e-01 -8.36729312e-01 -7.83545880e-02 1.85411412e+02] [ 8.27784630e-01 5.47615224e-01 -1.22025299e-01 1.06391262e+02] [ 1.45010310e-01 1.27480637e-03 9.89429323e-01 3.24098299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:185.44, Y:106.44, Z:32.43 [[ 5.46557526e-01 -8.33750943e-01 -7.83213633e-02 1.85444364e+02] [ 8.24772515e-01 5.52136687e-01 -1.22046620e-01 1.06435879e+02] [ 1.45000583e-01 2.10819116e-03 9.89429324e-01 3.24255619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:185.48, Y:106.48, Z:32.43 [[ 5.47187929e-01 -8.33339338e-01 -7.83001743e-02 1.85475284e+02] [ 8.24354770e-01 5.52757196e-01 -1.22060213e-01 1.06483906e+02] [ 1.44998562e-01 2.24275299e-03 9.89429324e-01 3.24329967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:185.51, Y:106.53, Z:32.44 [[ 5.46914181e-01 -8.33521322e-01 -7.82756990e-02 1.85506259e+02] [ 8.24536362e-01 5.52482815e-01 -1.22075907e-01 1.06531616e+02] [ 1.44998850e-01 2.22388450e-03 9.89429324e-01 3.24425971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters Centerline goodness : 0.997139 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:106.58, Z:32.45 [[ 5.43181996e-01 -8.35961436e-01 -7.82419099e-02 1.85534028e+02] [ 8.26998379e-01 5.48785812e-01 -1.22097559e-01 1.06583902e+02] [ 1.45006901e-01 1.61526337e-03 9.89429325e-01 3.24453815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters Centerline goodness : 0.997035 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:106.63, Z:32.45 [[ 5.42611034e-01 -8.36335195e-01 -7.82093871e-02 1.85564098e+02] [ 8.27372995e-01 5.48216222e-01 -1.22118388e-01 1.06632732e+02] [ 1.45007561e-01 1.55445015e-03 9.89429326e-01 3.24524933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters Centerline goodness : 0.997694 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:106.68, Z:32.47 [[ 5.46264746e-01 -8.33956295e-01 -7.81775237e-02 1.85597599e+02] [ 8.24966772e-01 5.51826007e-01 -1.22138783e-01 1.06677125e+02] [ 1.44998798e-01 2.22625212e-03 9.89429327e-01 3.24676411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters Centerline goodness : 0.997238 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:106.73, Z:32.47 [[ 5.42421930e-01 -8.36462921e-01 -7.81551692e-02 1.85623282e+02] [ 8.27497043e-01 5.48021229e-01 -1.22153086e-01 1.06730051e+02] [ 1.45007219e-01 1.58534145e-03 9.89429327e-01 3.24693331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters Centerline goodness : 0.997056 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:106.78, Z:32.48 [[ 5.42210701e-01 -8.36603009e-01 -7.81214533e-02 1.85652812e+02] [ 8.27635471e-01 5.47807341e-01 -1.22174645e-01 1.06779164e+02] [ 1.45007181e-01 1.58831414e-03 9.89429328e-01 3.24769491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:185.69, Y:106.82, Z:32.49 [[ 5.49270487e-01 -8.31988321e-01 -7.80856359e-02 1.85686299e+02] [ 8.22970530e-01 5.54785787e-01 -1.22197533e-01 1.06823463e+02] [ 1.44987721e-01 2.85732119e-03 9.89429329e-01 3.24941617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters Centerline goodness : 0.998004 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:106.87, Z:32.50 [[ 5.53245971e-01 -8.29352293e-01 -7.80619606e-02 1.85714436e+02] [ 8.20306102e-01 5.58714565e-01 -1.22212655e-01 1.06873285e+02] [ 1.44971700e-01 3.57895663e-03 9.89429329e-01 3.25024492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters Centerline goodness : 0.997809 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:106.92, Z:32.51 [[ 5.55648495e-01 -8.27747736e-01 -7.80284326e-02 1.85743294e+02] [ 8.18682759e-01 5.61085890e-01 -1.22234058e-01 1.06923009e+02] [ 1.44959617e-01 4.03863803e-03 9.89429330e-01 3.25093978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:185.77, Y:106.97, Z:32.52 [[ 5.58405839e-01 -8.25893293e-01 -7.79947960e-02 1.85771866e+02] [ 8.16807276e-01 5.63808001e-01 -1.22255517e-01 1.06972714e+02] [ 1.44944102e-01 4.56147784e-03 9.89429331e-01 3.25169784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters Centerline goodness : 0.997949 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:107.02, Z:32.52 [[ 5.58965891e-01 -8.25517574e-01 -7.79606814e-02 1.85800805e+02] [ 8.16424903e-01 5.64356844e-01 -1.22277268e-01 1.07020899e+02] [ 1.44939678e-01 4.69978028e-03 9.89429331e-01 3.25247812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:185.83, Y:107.07, Z:32.53 [[ 5.59526359e-01 -8.25140144e-01 -7.79358490e-02 1.85828599e+02] [ 8.16041641e-01 5.64907461e-01 -1.22293093e-01 1.07070777e+02] [ 1.44935483e-01 4.82731111e-03 9.89429332e-01 3.25332168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters Centerline goodness : 0.997388 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:107.12, Z:32.54 [[ 5.58813715e-01 -8.25626415e-01 -7.78990081e-02 1.85858102e+02] [ 8.16529335e-01 5.64197222e-01 -1.22316556e-01 1.07120022e+02] [ 1.44938184e-01 4.74534390e-03 9.89429333e-01 3.25415432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters Centerline goodness : 0.997510 with order 1 Centerline is valid? [True, True] Translation: X:185.89, Y:107.17, Z:32.55 [[ 5.55850299e-01 -8.27627722e-01 -7.78639736e-02 1.85888028e+02] [ 8.18546918e-01 5.61261212e-01 -1.22338855e-01 1.07169138e+02] [ 1.44953056e-01 4.26677327e-03 9.89429334e-01 3.25492751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:107.22, Z:32.56 [[ 5.52502730e-01 -8.29869489e-01 -7.78290744e-02 1.85918427e+02] [ 8.20807526e-01 5.57945138e-01 -1.22361053e-01 1.07217878e+02] [ 1.44968058e-01 3.72212568e-03 9.89429335e-01 3.25574934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:107.27, Z:32.56 [[ 5.48331193e-01 -8.32635019e-01 -7.77934891e-02 1.85948480e+02] [ 8.23597311e-01 5.53813782e-01 -1.22383673e-01 1.07266682e+02] [ 1.44984038e-01 3.03627686e-03 9.89429335e-01 3.25642547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters Centerline goodness : 0.997282 with order 1 Centerline is valid? [True, True] Translation: X:185.98, Y:107.32, Z:32.57 [[ 5.45598659e-01 -8.34431368e-01 -7.77585771e-02 1.85978472e+02] [ 8.25408556e-01 5.51105728e-01 -1.22405851e-01 1.07315271e+02] [ 1.44992479e-01 2.60187317e-03 9.89429336e-01 3.25699318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters Centerline goodness : 0.997870 with order 1 Centerline is valid? [True, True] Translation: X:186.01, Y:107.36, Z:32.58 [[ 5.44343918e-01 -8.35253830e-01 -7.77221896e-02 1.86009176e+02] [ 8.26236044e-01 5.49859211e-01 -1.22428951e-01 1.07364608e+02] [ 1.44995512e-01 2.42658041e-03 9.89429337e-01 3.25772939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:107.41, Z:32.59 [[ 5.42938115e-01 -8.36171497e-01 -7.76880350e-02 1.86039707e+02] [ 8.27159935e-01 5.48463570e-01 -1.22450620e-01 1.07413563e+02] [ 1.44998775e-01 2.22267910e-03 9.89429338e-01 3.25855418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters Centerline goodness : 0.996889 with order 1 Centerline is valid? [True, True] Translation: X:186.06, Y:107.47, Z:32.58 [[ 5.34347584e-01 -8.41690236e-01 -7.76543981e-02 1.86063222e+02] [ 8.32732658e-01 5.39960130e-01 -1.22471948e-01 1.07469171e+02] [ 1.45013722e-01 7.77236356e-04 9.89429339e-01 3.25836399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters Centerline goodness : 0.998226 with order 1 Centerline is valid? [True, True] Translation: X:186.10, Y:107.51, Z:32.60 [[ 5.39070614e-01 -8.38676072e-01 -7.76229278e-02 1.86101116e+02] [ 8.29684244e-01 5.44628122e-01 -1.22491891e-01 1.07510577e+02] [ 1.45006647e-01 1.62925874e-03 9.89429339e-01 3.26040613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:107.56, Z:32.61 [[ 5.38499577e-01 -8.39045916e-01 -7.75896742e-02 1.86130464e+02] [ 8.30054871e-01 5.44058350e-01 -1.22512951e-01 1.07559634e+02] [ 1.45007301e-01 1.56948538e-03 9.89429340e-01 3.26119802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters Centerline goodness : 0.997324 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:107.61, Z:32.62 [[ 5.38674709e-01 -8.38936673e-01 -7.75552527e-02 1.86160646e+02] [ 8.29941364e-01 5.44226579e-01 -1.22534738e-01 1.07608176e+02] [ 1.45006515e-01 1.64005193e-03 9.89429341e-01 3.26205008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters Centerline goodness : 0.997301 with order 1 Centerline is valid? [True, True] Translation: X:186.19, Y:107.66, Z:32.62 [[ 5.37492363e-01 -8.39697903e-01 -7.75202677e-02 1.86185342e+02] [ 8.30707267e-01 5.43051794e-01 -1.22556867e-01 1.07661568e+02] [ 1.45008264e-01 1.47673011e-03 9.89429342e-01 3.26229132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters Centerline goodness : 0.997385 with order 1 Centerline is valid? [True, True] Translation: X:186.22, Y:107.71, Z:32.63 [[ 5.42826623e-01 -8.36262760e-01 -7.74845364e-02 1.86219775e+02] [ 8.27233730e-01 5.48323476e-01 -1.22579453e-01 1.07706538e+02] [ 1.44995222e-01 2.44156856e-03 9.89429343e-01 3.26326676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:186.25, Y:107.76, Z:32.64 [[ 5.43075694e-01 -8.36103987e-01 -7.74526484e-02 1.86250756e+02] [ 8.27070479e-01 5.48565184e-01 -1.22599599e-01 1.07755401e+02] [ 1.44993840e-01 2.52206314e-03 9.89429343e-01 3.26408000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters Centerline goodness : 0.997607 with order 1 Centerline is valid? [True, True] Translation: X:186.28, Y:107.81, Z:32.64 [[ 5.38537369e-01 -8.39037507e-01 -7.74181108e-02 1.86275785e+02] [ 8.30030774e-01 5.44070680e-01 -1.22621404e-01 1.07808591e+02] [ 1.45004882e-01 1.77679410e-03 9.89429344e-01 3.26424503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:186.31, Y:107.86, Z:32.65 [[ 5.38010053e-01 -8.39378979e-01 -7.73828977e-02 1.86306216e+02] [ 8.30372564e-01 5.43543878e-01 -1.22643622e-01 1.07857282e+02] [ 1.45005479e-01 1.72686666e-03 9.89429345e-01 3.26494482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters Centerline goodness : 0.997550 with order 1 Centerline is valid? [True, True] Translation: X:186.34, Y:107.91, Z:32.66 [[ 5.37244366e-01 -8.39872605e-01 -7.73466095e-02 1.86336557e+02] [ 8.30867981e-01 5.42781104e-01 -1.22666504e-01 1.07905763e+02] [ 1.45006514e-01 1.63706679e-03 9.89429346e-01 3.26574449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:186.37, Y:107.95, Z:32.67 [[ 5.40508803e-01 -8.37778784e-01 -7.73106887e-02 1.86372608e+02] [ 8.28749479e-01 5.46005198e-01 -1.22689139e-01 1.07949247e+02] [ 1.44998396e-01 2.24336668e-03 9.89429347e-01 3.26722823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters Centerline goodness : 0.997869 with order 1 Centerline is valid? [True, True] Translation: X:186.40, Y:108.00, Z:32.68 [[ 5.38976924e-01 -8.38768066e-01 -7.72787639e-02 1.86404514e+02] [ 8.29745969e-01 5.44485141e-01 -1.22709245e-01 1.07997885e+02] [ 1.45001734e-01 2.01570836e-03 9.89429348e-01 3.26788898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:108.05, Z:32.69 [[ 5.40468838e-01 -8.37810657e-01 -7.72446659e-02 1.86434291e+02] [ 8.28775738e-01 5.45955997e-01 -1.22730705e-01 1.08046271e+02] [ 1.44997281e-01 2.31361684e-03 9.89429348e-01 3.26854219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters Centerline goodness : 0.997601 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:108.10, Z:32.69 [[ 5.42680473e-01 -8.36383099e-01 -7.72089111e-02 1.86465020e+02] [ 8.27330551e-01 5.48138497e-01 -1.22753194e-01 1.08095541e+02] [ 1.44989874e-01 2.73847060e-03 9.89429349e-01 3.26931429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters Centerline goodness : 0.997622 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:108.15, Z:32.69 [[ 5.40694714e-01 -8.37671419e-01 -7.71739586e-02 1.86490547e+02] [ 8.28628744e-01 5.46169079e-01 -1.22775165e-01 1.08148781e+02] [ 1.44995277e-01 2.43532237e-03 9.89429350e-01 3.26932851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters Centerline goodness : 0.997191 with order 1 Centerline is valid? [True, True] Translation: X:186.52, Y:108.20, Z:32.70 [[ 5.40181924e-01 -8.38005350e-01 -7.71396290e-02 1.86522235e+02] [ 8.28962982e-01 5.45656794e-01 -1.22796731e-01 1.08196050e+02] [ 1.44996080e-01 2.38667733e-03 9.89429351e-01 3.27021959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters Centerline goodness : 0.997429 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:108.24, Z:32.71 [[ 5.39496475e-01 -8.38449749e-01 -7.71075368e-02 1.86553814e+02] [ 8.29409013e-01 5.44974039e-01 -1.22816879e-01 1.08243736e+02] [ 1.44997387e-01 2.30558731e-03 9.89429352e-01 3.27119993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters Centerline goodness : 0.997929 with order 1 Centerline is valid? [True, True] Translation: X:186.59, Y:108.29, Z:32.73 [[ 5.41237576e-01 -8.37330111e-01 -7.70725099e-02 1.86591962e+02] [ 8.28274919e-01 5.46691206e-01 -1.22838856e-01 1.08286099e+02] [ 1.44991536e-01 2.64777779e-03 9.89429353e-01 3.27273475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:108.34, Z:32.73 [[ 5.34561453e-01 -8.41611087e-01 -7.70378509e-02 1.86621810e+02] [ 8.32596454e-01 5.40081865e-01 -1.22860589e-01 1.08337814e+02] [ 1.45007580e-01 1.53509331e-03 9.89429353e-01 3.27266064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters Centerline goodness : 0.997465 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:108.38, Z:32.73 [[ 5.32733345e-01 -8.42772333e-01 -7.70063537e-02 1.86656411e+02] [ 8.33766880e-01 5.38268720e-01 -1.22880327e-01 1.08383948e+02] [ 1.45010252e-01 1.25710050e-03 9.89429354e-01 3.27330555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters Centerline goodness : 0.997573 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:108.43, Z:32.74 [[ 5.33269940e-01 -8.42436183e-01 -7.69704383e-02 1.86689927e+02] [ 8.33423995e-01 5.38794341e-01 -1.22902820e-01 1.08430036e+02] [ 1.45009019e-01 1.39136947e-03 9.89429355e-01 3.27410514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters Centerline goodness : 0.997800 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:108.48, Z:32.75 [[ 5.36455064e-01 -8.40414953e-01 -7.69328917e-02 1.86724397e+02] [ 8.31378585e-01 5.41939821e-01 -1.22926319e-01 1.08475436e+02] [ 1.45002114e-01 1.98408770e-03 9.89429356e-01 3.27499450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:108.52, Z:32.77 [[ 5.42595879e-01 -8.36466758e-01 -7.68965235e-02 1.86761700e+02] [ 8.27387275e-01 5.48008964e-01 -1.22949065e-01 1.08519065e+02] [ 1.44982790e-01 3.08845077e-03 9.89429357e-01 3.27660846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters Centerline goodness : 0.997950 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:108.57, Z:32.77 [[ 5.42729423e-01 -8.36383108e-01 -7.68639668e-02 1.86788084e+02] [ 8.27299913e-01 5.48136275e-01 -1.22969415e-01 1.08572242e+02] [ 1.44981470e-01 3.14956657e-03 9.89429358e-01 3.27673258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:108.62, Z:32.78 [[ 5.42526424e-01 -8.36517900e-01 -7.68302135e-02 1.86819958e+02] [ 8.27433067e-01 5.47930522e-01 -1.22990500e-01 1.08619861e+02] [ 1.44981374e-01 3.15373719e-03 9.89429358e-01 3.27780468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters Centerline goodness : 0.997708 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:108.67, Z:32.78 [[ 5.41061940e-01 -8.37469186e-01 -7.67941388e-02 1.86849766e+02] [ 8.28390662e-01 5.46476630e-01 -1.23013021e-01 1.08668597e+02] [ 1.44985817e-01 2.94211638e-03 9.89429359e-01 3.27815255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:186.88, Y:108.72, Z:32.79 [[ 5.39919221e-01 -8.38209835e-01 -7.67561556e-02 1.86880723e+02] [ 8.29135375e-01 5.45340716e-01 -1.23036717e-01 1.08717012e+02] [ 1.44988843e-01 2.78864455e-03 9.89429360e-01 3.27890890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters Centerline goodness : 0.998005 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:108.77, Z:32.80 [[ 5.37917671e-01 -8.39498953e-01 -7.67208368e-02 1.86911560e+02] [ 8.30434350e-01 5.43355627e-01 -1.23058737e-01 1.08765239e+02] [ 1.44994379e-01 2.48385063e-03 9.89429361e-01 3.27971111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters Centerline goodness : 0.997807 with order 1 Centerline is valid? [True, True] Translation: X:186.94, Y:108.81, Z:32.81 [[ 5.35188444e-01 -8.41244699e-01 -7.66856248e-02 1.86943999e+02] [ 8.32194695e-01 5.40650661e-01 -1.23080676e-01 1.08813004e+02] [ 1.45001100e-01 2.05398515e-03 9.89429362e-01 3.28067410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters Centerline goodness : 0.998181 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:108.86, Z:32.82 [[ 5.33462134e-01 -8.42343662e-01 -7.66505487e-02 1.86974292e+02] [ 8.33301774e-01 5.38937773e-01 -1.23102516e-01 1.08860222e+02] [ 1.45004500e-01 1.79749266e-03 9.89429363e-01 3.28158043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters Centerline goodness : 0.998092 with order 1 Centerline is valid? [True, True] Translation: X:187.00, Y:108.91, Z:32.83 [[ 5.31344128e-01 -8.43684592e-01 -7.66141468e-02 1.87004316e+02] [ 8.34653258e-01 5.36837156e-01 -1.23125167e-01 1.08908795e+02] [ 1.45008127e-01 1.47558737e-03 9.89429364e-01 3.28259153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:108.96, Z:32.83 [[ 5.29576559e-01 -8.44798427e-01 -7.65786276e-02 1.87035348e+02] [ 8.35775453e-01 5.35083308e-01 -1.23147255e-01 1.08956721e+02] [ 1.45010552e-01 1.21336236e-03 9.89429365e-01 3.28349385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters Centerline goodness : 0.998055 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:109.01, Z:32.84 [[ 5.27939058e-01 -8.45825900e-01 -7.65434378e-02 1.87064583e+02] [ 8.36810473e-01 5.33458152e-01 -1.23169124e-01 1.09005081e+02] [ 1.45012356e-01 9.73440765e-04 9.89429365e-01 3.28403032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:187.10, Y:109.05, Z:32.85 [[ 5.26172946e-01 -8.46927985e-01 -7.65181048e-02 1.87095729e+02] [ 8.37921829e-01 5.31707155e-01 -1.23184860e-01 1.09053253e+02] [ 1.45013929e-01 7.00350096e-04 9.89429366e-01 3.28497997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:109.10, Z:32.86 [[ 5.24255517e-01 -8.48119403e-01 -7.64828787e-02 1.87126282e+02] [ 8.39122634e-01 5.29804971e-01 -1.23206727e-01 1.09101853e+02] [ 1.45015025e-01 4.13291839e-04 9.89429367e-01 3.28580831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:109.15, Z:32.88 [[ 5.26919600e-01 -8.46470009e-01 -7.64477494e-02 1.87161549e+02] [ 8.37452707e-01 5.32435625e-01 -1.23228521e-01 1.09145267e+02] [ 1.45012752e-01 9.10148141e-04 9.89429368e-01 3.28772978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:109.19, Z:32.89 [[ 5.27033357e-01 -8.46402231e-01 -7.64140252e-02 1.87191304e+02] [ 8.37381188e-01 5.32543260e-01 -1.23249430e-01 1.09194252e+02] [ 1.45012366e-01 9.68893411e-04 9.89429368e-01 3.28874962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:109.25, Z:32.89 [[ 5.25484824e-01 -8.47367627e-01 -7.63793424e-02 1.87216938e+02] [ 8.38353583e-01 5.31006168e-01 -1.23270919e-01 1.09247564e+02] [ 1.45013688e-01 7.44101938e-04 9.89429369e-01 3.28881604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters Centerline goodness : 0.998199 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:109.30, Z:32.90 [[ 5.26832545e-01 -8.46533299e-01 -7.63468580e-02 1.87246084e+02] [ 8.37507596e-01 5.32334808e-01 -1.23291035e-01 1.09297360e+02] [ 1.45012057e-01 1.01265642e-03 9.89429370e-01 3.28956004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:109.35, Z:32.90 [[ 5.29322073e-01 -8.44982074e-01 -7.63114575e-02 1.87275740e+02] [ 8.35937088e-01 5.34792579e-01 -1.23312943e-01 1.09346210e+02] [ 1.45008027e-01 1.48068481e-03 9.89429371e-01 3.29045705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:109.39, Z:32.91 [[ 5.31338749e-01 -8.43718557e-01 -7.62766728e-02 1.87306025e+02] [ 8.34657476e-01 5.36782553e-01 -1.23334456e-01 1.09394454e+02] [ 1.45003556e-01 1.86748010e-03 9.89429372e-01 3.29145764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:187.33, Y:109.45, Z:32.92 [[ 5.30953070e-01 -8.43964516e-01 -7.62412820e-02 1.87334204e+02] [ 8.34902817e-01 5.36395844e-01 -1.23356329e-01 1.09445864e+02] [ 1.45003871e-01 1.84236063e-03 9.89429372e-01 3.29172246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:109.49, Z:32.93 [[ 5.36377788e-01 -8.40530498e-01 -7.62059761e-02 1.87370102e+02] [ 8.31430869e-01 5.41756906e-01 -1.23378136e-01 1.09489180e+02] [ 1.44988200e-01 2.81729101e-03 9.89429373e-01 3.29342159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:187.40, Y:109.54, Z:32.94 [[ 5.35840959e-01 -8.40875965e-01 -7.61713749e-02 1.87399725e+02] [ 8.31776772e-01 5.41220812e-01 -1.23399495e-01 1.09537822e+02] [ 1.44989203e-01 2.76492348e-03 9.89429374e-01 3.29444250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters Centerline goodness : 0.997948 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:109.59, Z:32.95 [[ 5.30256750e-01 -8.44411714e-01 -7.61356436e-02 1.87424129e+02] [ 8.35345242e-01 5.35691564e-01 -1.23421537e-01 1.09591415e+02] [ 1.45003814e-01 1.84555549e-03 9.89429375e-01 3.29456697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:187.46, Y:109.64, Z:32.96 [[ 5.30176641e-01 -8.44463982e-01 -7.61138063e-02 1.87459553e+02] [ 8.35396114e-01 5.35609124e-01 -1.23435003e-01 1.09635036e+02] [ 1.45003663e-01 1.85717708e-03 9.89429375e-01 3.29634775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:109.69, Z:32.97 [[ 5.23111202e-01 -8.48861096e-01 -7.60888310e-02 1.87484208e+02] [ 8.39836661e-01 5.28615534e-01 -1.23450396e-01 1.09689139e+02] [ 1.45013977e-01 6.76095333e-04 9.89429376e-01 3.29650459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:187.51, Y:109.74, Z:32.97 [[ 5.19801189e-01 -8.50894994e-01 -7.60554635e-02 1.87514203e+02] [ 8.41889089e-01 5.25335785e-01 -1.23470950e-01 1.09739055e+02] [ 1.45015470e-01 1.50081793e-04 9.89429376e-01 3.29711861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:109.78, Z:32.99 [[ 5.22421076e-01 -8.49292157e-01 -7.60200770e-02 1.87549937e+02] [ 8.40266101e-01 5.27922745e-01 -1.23492734e-01 1.09784085e+02] [ 1.45014138e-01 6.38113045e-04 9.89429377e-01 3.29871701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:109.83, Z:33.00 [[ 5.18683949e-01 -8.51582447e-01 -7.59888011e-02 1.87580101e+02] [ 8.42577864e-01 5.24220693e-01 -1.23511976e-01 1.09833193e+02] [ 1.45015532e-01 3.71975222e-05 9.89429378e-01 3.29960933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:109.88, Z:33.00 [[ 5.16275134e-01 -8.53048077e-01 -7.59536967e-02 1.87610277e+02] [ 8.44056036e-01 5.21832222e-01 -1.23533559e-01 1.09882401e+02] [ 1.45015152e-01 -3.31871257e-04 9.89429379e-01 3.30048818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters Centerline goodness : 0.998388 with order 1 Centerline is valid? [True, True] Translation: X:187.64, Y:109.94, Z:33.01 [[ 5.11767903e-01 -8.55762750e-01 -7.59192257e-02 1.87635189e+02] [ 8.46797040e-01 5.17367373e-01 -1.23554741e-01 1.09935439e+02] [ 1.45011675e-01 -1.05682512e-03 9.89429380e-01 3.30096311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:109.98, Z:33.02 [[ 5.15463139e-01 -8.53544992e-01 -7.58860954e-02 1.87667996e+02] [ 8.44552192e-01 5.21018996e-01 -1.23575086e-01 1.09981129e+02] [ 1.45014993e-01 -3.91366628e-04 9.89429380e-01 3.30243197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:187.70, Y:110.03, Z:33.03 [[ 5.18359743e-01 -8.51792075e-01 -7.58514137e-02 1.87696138e+02] [ 8.42777371e-01 5.23879986e-01 -1.23596370e-01 1.10031822e+02] [ 1.45015446e-01 1.41527559e-04 9.89429381e-01 3.30328874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:110.08, Z:33.04 [[ 5.20335622e-01 -8.50589634e-01 -7.58163283e-02 1.87724295e+02] [ 8.41559036e-01 5.25829826e-01 -1.23617888e-01 1.10081719e+02] [ 1.45014581e-01 5.18874669e-04 9.89429382e-01 3.30409833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:187.75, Y:110.13, Z:33.05 [[ 5.22963374e-01 -8.48979745e-01 -7.57806184e-02 1.87752098e+02] [ 8.39929063e-01 5.28424427e-01 -1.23639776e-01 1.10131772e+02] [ 1.45011995e-01 1.00873040e-03 9.89429383e-01 3.30478477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:187.78, Y:110.18, Z:33.06 [[ 5.24554661e-01 -8.48000806e-01 -7.57432529e-02 1.87780746e+02] [ 8.38936628e-01 5.29993283e-01 -1.23662662e-01 1.10180216e+02] [ 1.45009453e-01 1.32403669e-03 9.89429384e-01 3.30555411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:110.23, Z:33.06 [[ 5.27738805e-01 -8.46026109e-01 -7.57071776e-02 1.87808906e+02] [ 8.36938417e-01 5.33138041e-01 -1.23684744e-01 1.10230085e+02] [ 1.45002899e-01 1.91099364e-03 9.89429385e-01 3.30638790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:110.28, Z:33.07 [[ 5.29647164e-01 -8.44835777e-01 -7.56729271e-02 1.87837699e+02] [ 8.35732960e-01 5.35020860e-01 -1.23705696e-01 1.10278687e+02] [ 1.44997592e-01 2.27801157e-03 9.89429386e-01 3.30724380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters Centerline goodness : 0.998505 with order 1 Centerline is valid? [True, True] Translation: X:187.87, Y:110.33, Z:33.08 [[ 5.33293347e-01 -8.42542132e-01 -7.56370456e-02 1.87867095e+02] [ 8.33413101e-01 5.38622387e-01 -1.23727631e-01 1.10327465e+02] [ 1.44985548e-01 2.94621768e-03 9.89429386e-01 3.30821137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:110.38, Z:33.09 [[ 5.34992844e-01 -8.41467101e-01 -7.56027384e-02 1.87896626e+02] [ 8.32324407e-01 5.40298406e-01 -1.23748591e-01 1.10377340e+02] [ 1.44978407e-01 3.27860613e-03 9.89429387e-01 3.30894766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:110.43, Z:33.09 [[ 5.31938756e-01 -8.43404162e-01 -7.55683808e-02 1.87920692e+02] [ 8.34277816e-01 5.37272389e-01 -1.23769568e-01 1.10432019e+02] [ 1.44988573e-01 2.79280639e-03 9.89429388e-01 3.30881102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters Centerline goodness : 0.998346 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:110.48, Z:33.11 [[ 5.36043561e-01 -8.40804135e-01 -7.55361329e-02 1.87956964e+02] [ 8.31649160e-01 5.41327902e-01 -1.23789246e-01 1.10475885e+02] [ 1.44972326e-01 3.53686668e-03 9.89429389e-01 3.31073892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:110.52, Z:33.11 [[ 5.33286029e-01 -8.42558809e-01 -7.55027465e-02 1.87985827e+02] [ 8.33418347e-01 5.38595433e-01 -1.23809606e-01 1.10524378e+02] [ 1.44982309e-01 3.10055904e-03 9.89429389e-01 3.31131018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:110.57, Z:33.12 [[ 5.29647574e-01 -8.44853009e-01 -7.54774131e-02 1.88016621e+02] [ 8.35733354e-01 5.34992635e-01 -1.23825048e-01 1.10573128e+02] [ 1.44993825e-01 2.50464473e-03 9.89429390e-01 3.31220304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters Centerline goodness : 0.998099 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:110.62, Z:33.13 [[ 5.20940999e-01 -8.50252240e-01 -7.54427152e-02 1.88047394e+02] [ 8.41184943e-01 5.26374405e-01 -1.23846185e-01 1.10621198e+02] [ 1.45011610e-01 1.05527919e-03 9.89429391e-01 3.31318881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:188.08, Y:110.67, Z:33.14 [[ 5.13844244e-01 -8.54562884e-01 -7.54080199e-02 1.88077657e+02] [ 8.45538069e-01 5.19347922e-01 -1.23867307e-01 1.10670384e+02] [ 1.45015401e-01 -1.11848823e-04 9.89429392e-01 3.31417349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters Centerline goodness : 0.998355 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:110.72, Z:33.15 [[ 5.04687981e-01 -8.60005177e-01 -7.53733186e-02 1.88107545e+02] [ 8.51036539e-01 5.10282735e-01 -1.23888419e-01 1.10718815e+02] [ 1.45006385e-01 -1.62045201e-03 9.89429392e-01 3.31511252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters Centerline goodness : 0.998069 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:110.77, Z:33.15 [[ 4.94811501e-01 -8.65728358e-01 -7.53391621e-02 1.88129845e+02] [ 8.56821220e-01 5.00503656e-01 -1.23909187e-01 1.10774795e+02] [ 1.44979223e-01 -3.24050201e-03 9.89429393e-01 3.31492942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:188.16, Y:110.82, Z:33.17 [[ 4.96902959e-01 -8.64532479e-01 -7.53063242e-02 1.88163618e+02] [ 8.55608619e-01 5.02568860e-01 -1.23929141e-01 1.10819917e+02] [ 1.44987381e-01 -2.85198303e-03 9.89429394e-01 3.31674690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:188.19, Y:110.87, Z:33.18 [[ 4.98012836e-01 -8.63896501e-01 -7.52731713e-02 1.88190644e+02] [ 8.54962365e-01 5.03662518e-01 -1.23949275e-01 1.10870924e+02] [ 1.44991620e-01 -2.62739868e-03 9.89429395e-01 3.31752474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:110.92, Z:33.18 [[ 5.06404677e-01 -8.59007258e-01 -7.52385141e-02 1.88214246e+02] [ 8.50015419e-01 5.11962060e-01 -1.23970309e-01 1.10923754e+02] [ 1.45010660e-01 -1.17475289e-03 9.89429395e-01 3.31837385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:188.24, Y:110.98, Z:33.19 [[ 5.17232883e-01 -8.52534191e-01 -7.52037126e-02 1.88237816e+02] [ 8.43469718e-01 5.22670989e-01 -1.23991417e-01 1.10977441e+02] [ 1.45013721e-01 7.00383676e-04 9.89429396e-01 3.31902459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:111.03, Z:33.20 [[ 5.23222938e-01 -8.48874178e-01 -7.51690599e-02 1.88264438e+02] [ 8.39768654e-01 5.28592023e-01 -1.24012421e-01 1.11028930e+02] [ 1.45004708e-01 1.76152316e-03 9.89429397e-01 3.31991522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:111.08, Z:33.21 [[ 5.29925631e-01 -8.44709282e-01 -7.51335752e-02 1.88290105e+02] [ 8.35558534e-01 5.35217269e-01 -1.24033916e-01 1.11080300e+02] [ 1.44985387e-01 2.95025157e-03 9.89429398e-01 3.32074660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:188.32, Y:111.13, Z:33.22 [[ 5.33862169e-01 -8.42230030e-01 -7.50983439e-02 1.88317660e+02] [ 8.33051722e-01 5.39105857e-01 -1.24055244e-01 1.11131212e+02] [ 1.44969009e-01 3.66759716e-03 9.89429399e-01 3.32154795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:188.34, Y:111.18, Z:33.22 [[ 5.37244647e-01 -8.40079591e-01 -7.50631065e-02 1.88344658e+02] [ 8.30877332e-01 5.42446187e-01 -1.24076562e-01 1.11181293e+02] [ 1.44951884e-01 4.29123518e-03 9.89429400e-01 3.32213573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:111.23, Z:33.23 [[ 5.37698856e-01 -8.39791227e-01 -7.50375539e-02 1.88373896e+02] [ 8.30584029e-01 5.42891649e-01 -1.24092014e-01 1.11231072e+02] [ 1.44948646e-01 4.39913999e-03 9.89429400e-01 3.32291720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:111.28, Z:33.24 [[ 5.36903765e-01 -8.40302961e-01 -7.50018757e-02 1.88403659e+02] [ 8.31097710e-01 5.42100006e-01 -1.24113574e-01 1.11280188e+02] [ 1.44951521e-01 4.30315809e-03 9.89429401e-01 3.32376062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:111.33, Z:33.25 [[ 5.35367998e-01 -8.41285457e-01 -7.49658981e-02 1.88434799e+02] [ 8.32086710e-01 5.40575743e-01 -1.24135301e-01 1.11328600e+02] [ 1.44957970e-01 4.07994035e-03 9.89429402e-01 3.32453860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:111.38, Z:33.25 [[ 5.34981942e-01 -8.41534222e-01 -7.49297971e-02 1.88464706e+02] [ 8.32334854e-01 5.40188586e-01 -1.24157089e-01 1.11376978e+02] [ 1.44958660e-01 4.05511866e-03 9.89429403e-01 3.32534661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:111.43, Z:33.26 [[ 5.33589693e-01 -8.42421053e-01 -7.48919801e-02 1.88496501e+02] [ 8.33227146e-01 5.38805973e-01 -1.24179896e-01 1.11425231e+02] [ 1.44964005e-01 3.85908170e-03 9.89429404e-01 3.32616415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:188.53, Y:111.47, Z:33.27 [[ 5.32859136e-01 -8.42886466e-01 -7.48568488e-02 1.88528044e+02] [ 8.33694147e-01 5.38078213e-01 -1.24201070e-01 1.11472953e+02] [ 1.44966240e-01 3.77395812e-03 9.89429404e-01 3.32703801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:188.56, Y:111.52, Z:33.28 [[ 5.32825248e-01 -8.42910996e-01 -7.48218433e-02 1.88560736e+02] [ 8.33715964e-01 5.38039542e-01 -1.24222155e-01 1.11520733e+02] [ 1.44965331e-01 3.80853528e-03 9.89429405e-01 3.32791816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:188.59, Y:111.57, Z:33.29 [[ 5.34725728e-01 -8.41709727e-01 -7.47872343e-02 1.88593171e+02] [ 8.32500078e-01 5.39914160e-01 -1.24242988e-01 1.11568280e+02] [ 1.44955218e-01 4.17554366e-03 9.89429406e-01 3.32882979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:188.62, Y:111.62, Z:33.30 [[ 5.36106252e-01 -8.40834286e-01 -7.47515211e-02 1.88623802e+02] [ 8.31613180e-01 5.41274293e-01 -1.24264471e-01 1.11615922e+02] [ 1.44946905e-01 4.45460971e-03 9.89429407e-01 3.32959580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:111.66, Z:33.30 [[ 5.37375606e-01 -8.40026934e-01 -7.47141772e-02 1.88656017e+02] [ 8.30794955e-01 5.42524197e-01 -1.24286920e-01 1.11663333e+02] [ 1.44938610e-01 4.71659768e-03 9.89429408e-01 3.33047063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:111.71, Z:33.31 [[ 5.38407742e-01 -8.39368855e-01 -7.46795045e-02 1.88687033e+02] [ 8.30127707e-01 5.43539855e-01 -1.24307751e-01 1.11711750e+02] [ 1.44931341e-01 4.93472951e-03 9.89429409e-01 3.33142097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:111.76, Z:33.32 [[ 5.40254369e-01 -8.38184697e-01 -7.46433535e-02 1.88718613e+02] [ 8.28929319e-01 5.45360771e-01 -1.24329455e-01 1.11760366e+02] [ 1.44918603e-01 5.29546684e-03 9.89429410e-01 3.33216214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:188.75, Y:111.81, Z:33.33 [[ 5.40937048e-01 -8.37747466e-01 -7.46075981e-02 1.88749194e+02] [ 8.28485017e-01 5.46030612e-01 -1.24350907e-01 1.11808570e+02] [ 1.44912690e-01 5.45473534e-03 9.89429410e-01 3.33284999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:111.86, Z:33.34 [[ 5.40315300e-01 -8.38151934e-01 -7.45701783e-02 1.88780942e+02] [ 8.28890217e-01 5.45410194e-01 -1.24373343e-01 1.11856358e+02] [ 1.44915093e-01 5.39032891e-03 9.89429411e-01 3.33380187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:188.81, Y:111.90, Z:33.35 [[ 5.38428316e-01 -8.39368539e-01 -7.45345903e-02 1.88812033e+02] [ 8.30115398e-01 5.43538768e-01 -1.24394667e-01 1.11904391e+02] [ 1.44925409e-01 5.10529972e-03 9.89429412e-01 3.33459712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:111.95, Z:33.36 [[ 5.33923740e-01 -8.42244180e-01 -7.44995303e-02 1.88845204e+02] [ 8.33015662e-01 5.39078520e-01 -1.24415661e-01 1.11951292e+02] [ 1.44949463e-01 4.36919935e-03 9.89429413e-01 3.33562141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters Centerline goodness : 0.998647 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:112.00, Z:33.36 [[ 5.29704371e-01 -8.44907386e-01 -7.44633388e-02 1.88876341e+02] [ 8.35701759e-01 5.34899920e-01 -1.24437318e-01 1.11998797e+02] [ 1.44968443e-01 3.68584801e-03 9.89429414e-01 3.33631345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:112.05, Z:33.37 [[ 5.22895446e-01 -8.49140433e-01 -7.44370644e-02 1.88909962e+02] [ 8.39974657e-01 5.28160978e-01 -1.24453033e-01 1.12046053e+02] [ 1.44992855e-01 2.55067653e-03 9.89429414e-01 3.33720123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:112.09, Z:33.38 [[ 5.17688383e-01 -8.52328051e-01 -7.44018179e-02 1.88943014e+02] [ 8.43191679e-01 5.23004770e-01 -1.24474101e-01 1.12093513e+02] [ 1.45005274e-01 1.70380226e-03 9.89429415e-01 3.33802956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters Centerline goodness : 0.998601 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:112.14, Z:33.39 [[ 5.13483455e-01 -8.54870995e-01 -7.43661486e-02 1.88974512e+02] [ 8.45757869e-01 5.18839590e-01 -1.24495408e-01 1.12140972e+02] [ 1.45011615e-01 1.03057664e-03 9.89429416e-01 3.33907406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:112.19, Z:33.40 [[ 5.12028053e-01 -8.55746561e-01 -7.43309923e-02 1.89003592e+02] [ 8.46639547e-01 5.17394573e-01 -1.24516395e-01 1.12189500e+02] [ 1.45012929e-01 8.24329498e-04 9.89429417e-01 3.33996776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:112.24, Z:33.41 [[ 5.12364391e-01 -8.55548423e-01 -7.42941933e-02 1.89032489e+02] [ 8.46436151e-01 5.17721975e-01 -1.24538348e-01 1.12239720e+02] [ 1.45012323e-01 9.23723649e-04 9.89429418e-01 3.34065491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:112.29, Z:33.41 [[ 5.14094324e-01 -8.54513082e-01 -7.42591314e-02 1.89061095e+02] [ 8.45387001e-01 5.19428350e-01 -1.24559251e-01 1.12288853e+02] [ 1.45009807e-01 1.25749937e-03 9.89429419e-01 3.34133268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:112.34, Z:33.42 [[ 5.15393093e-01 -8.53732576e-01 -7.42337429e-02 1.89091156e+02] [ 8.44596239e-01 5.20709532e-01 -1.24574380e-01 1.12337907e+02] [ 1.45007424e-01 1.50723486e-03 9.89429419e-01 3.34216906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:189.12, Y:112.39, Z:33.43 [[ 5.16338207e-01 -8.53164333e-01 -7.41989025e-02 1.89122567e+02] [ 8.44019164e-01 5.21639439e-01 -1.24595128e-01 1.12386628e+02] [ 1.45005193e-01 1.70792929e-03 9.89429420e-01 3.34291698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:189.15, Y:112.44, Z:33.44 [[ 5.15440990e-01 -8.53709655e-01 -7.41647575e-02 1.89153089e+02] [ 8.44567172e-01 5.20746850e-01 -1.24615450e-01 1.12435495e+02] [ 1.45006476e-01 1.59479114e-03 9.89429421e-01 3.34387303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:189.18, Y:112.48, Z:33.45 [[ 5.13762151e-01 -8.54724034e-01 -7.41301506e-02 1.89183809e+02] [ 8.45589058e-01 5.19080923e-01 -1.24636033e-01 1.12482914e+02] [ 1.45008960e-01 1.34963215e-03 9.89429421e-01 3.34494915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:189.21, Y:112.53, Z:33.46 [[ 5.13192499e-01 -8.55068045e-01 -7.41086883e-02 1.89212850e+02] [ 8.45934792e-01 5.18514230e-01 -1.24648793e-01 1.12532791e+02] [ 1.45009609e-01 1.27770800e-03 9.89429422e-01 3.34571209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:112.58, Z:33.46 [[ 5.12010357e-01 -8.55779473e-01 -7.40735355e-02 1.89241316e+02] [ 8.46650593e-01 5.17339584e-01 -1.24669680e-01 1.12583412e+02] [ 1.45010925e-01 1.11776443e-03 9.89429423e-01 3.34639852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:112.63, Z:33.47 [[ 5.11174802e-01 -8.56281893e-01 -7.40381151e-02 1.89270752e+02] [ 8.47155204e-01 5.16507779e-01 -1.24690712e-01 1.12632385e+02] [ 1.45011661e-01 1.01697528e-03 9.89429423e-01 3.34702712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:112.68, Z:33.48 [[ 5.10179599e-01 -8.56878356e-01 -7.40017556e-02 1.89300022e+02] [ 8.47754773e-01 5.15517885e-01 -1.24712287e-01 1.12681847e+02] [ 1.45012488e-01 8.90322825e-04 9.89429424e-01 3.34799445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:189.33, Y:112.73, Z:33.49 [[ 5.08699162e-01 -8.57761056e-01 -7.39671140e-02 1.89329188e+02] [ 8.48643749e-01 5.14048158e-01 -1.24732829e-01 1.12731172e+02] [ 1.45013622e-01 6.79756896e-04 9.89429425e-01 3.34895508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:112.78, Z:33.50 [[ 5.06170908e-01 -8.59258408e-01 -7.39324001e-02 1.89357924e+02] [ 8.50153919e-01 5.11541691e-01 -1.24753402e-01 1.12780157e+02] [ 1.45014915e-01 2.92622990e-04 9.89429426e-01 3.35001797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:189.39, Y:112.83, Z:33.51 [[ 5.03975884e-01 -8.60550691e-01 -7.38973410e-02 1.89386060e+02] [ 8.51456928e-01 5.09364808e-01 -1.24774166e-01 1.12828744e+02] [ 1.45015200e-01 -3.72323384e-05 9.89429427e-01 3.35098212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:112.88, Z:33.52 [[ 5.02848372e-01 -8.61212167e-01 -7.38723067e-02 1.89414742e+02] [ 8.52123316e-01 5.08245574e-01 -1.24788986e-01 1.12878406e+02] [ 1.45015066e-01 -1.98376615e-04 9.89429427e-01 3.35202086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:189.44, Y:112.93, Z:33.53 [[ 5.01695933e-01 -8.61887046e-01 -7.38370589e-02 1.89443782e+02] [ 8.52802385e-01 5.07100184e-01 -1.24809838e-01 1.12928060e+02] [ 1.45014769e-01 -3.51831599e-04 9.89429428e-01 3.35299391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:112.98, Z:33.54 [[ 5.00715735e-01 -8.62459855e-01 -7.38021022e-02 1.89471410e+02] [ 8.53378330e-01 5.06125252e-01 -1.24830505e-01 1.12978193e+02] [ 1.45014407e-01 -4.76516370e-04 9.89429429e-01 3.35382544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:113.03, Z:33.54 [[ 5.01017277e-01 -8.62287716e-01 -7.37670893e-02 1.89498441e+02] [ 8.53201285e-01 5.06418548e-01 -1.24851193e-01 1.13029054e+02] [ 1.45014672e-01 -3.85570910e-04 9.89429430e-01 3.35444469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:113.08, Z:33.55 [[ 5.03071951e-01 -8.61093539e-01 -7.37328221e-02 1.89525678e+02] [ 8.51991320e-01 5.08446572e-01 -1.24871427e-01 1.13080512e+02] [ 1.45015179e-01 -4.12309761e-07 9.89429430e-01 3.35512695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:189.55, Y:113.13, Z:33.56 [[ 5.05373619e-01 -8.59747666e-01 -7.36984155e-02 1.89551949e+02] [ 8.50628172e-01 5.10718875e-01 -1.24891730e-01 1.13131968e+02] [ 1.45014545e-01 4.27037119e-04 9.89429431e-01 3.35594753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:189.58, Y:113.18, Z:33.57 [[ 5.06507265e-01 -8.59083334e-01 -7.36628453e-02 1.89579855e+02] [ 8.49953779e-01 5.11835316e-01 -1.24912706e-01 1.13181443e+02] [ 1.45013670e-01 6.59179678e-04 9.89429432e-01 3.35682225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:113.23, Z:33.58 [[ 5.07468463e-01 -8.58519078e-01 -7.36257528e-02 1.89607111e+02] [ 8.49380426e-01 5.12780894e-01 -1.24934566e-01 1.13231258e+02] [ 1.45012588e-01 8.64078698e-04 9.89429433e-01 3.35764849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:189.63, Y:113.29, Z:33.58 [[ 5.03228074e-01 -8.61014538e-01 -7.35898851e-02 1.89630167e+02] [ 8.51899141e-01 5.08580308e-01 -1.24955689e-01 1.13286882e+02] [ 1.45015032e-01 1.90050937e-04 9.89429434e-01 3.35754342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:113.33, Z:33.59 [[ 5.07794746e-01 -8.58332080e-01 -7.35563479e-02 1.89663634e+02] [ 8.49185551e-01 5.13093601e-01 -1.24975428e-01 1.13332952e+02] [ 1.45011711e-01 9.98878129e-04 9.89429435e-01 3.35927462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:113.38, Z:33.60 [[ 5.08222574e-01 -8.58081725e-01 -7.35225776e-02 1.89691974e+02] [ 8.48929711e-01 5.13511949e-01 -1.24995292e-01 1.13383149e+02] [ 1.45010898e-01 1.10992852e-03 9.89429435e-01 3.36009543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:113.43, Z:33.61 [[ 5.09786745e-01 -8.57156412e-01 -7.34871471e-02 1.89720154e+02] [ 8.47991796e-01 5.15054253e-01 -1.25016119e-01 1.13433795e+02] [ 1.45008236e-01 1.41506260e-03 9.89429436e-01 3.36090642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:113.48, Z:33.62 [[ 5.10108952e-01 -8.56967711e-01 -7.34520141e-02 1.89749195e+02] [ 8.47798176e-01 5.15367890e-01 -1.25036758e-01 1.13483006e+02] [ 1.45007274e-01 1.50988596e-03 9.89429437e-01 3.36172082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:113.53, Z:33.62 [[ 5.09224967e-01 -8.57496373e-01 -7.34159665e-02 1.89779553e+02] [ 8.48329246e-01 5.14488101e-01 -1.25057920e-01 1.13530773e+02] [ 1.45008354e-01 1.40170360e-03 9.89429438e-01 3.36242420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:113.58, Z:33.63 [[ 5.07096245e-01 -8.58759169e-01 -7.33899760e-02 1.89810533e+02] [ 8.49602943e-01 5.12378318e-01 -1.25073171e-01 1.13579050e+02] [ 1.45011165e-01 1.07179564e-03 9.89429438e-01 3.36326512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:113.63, Z:33.64 [[ 5.04535000e-01 -8.60269426e-01 -7.33549456e-02 1.89842844e+02] [ 8.51126025e-01 5.09839241e-01 -1.25093713e-01 1.13626366e+02] [ 1.45013526e-01 6.79853096e-04 9.89429439e-01 3.36417326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:113.67, Z:33.65 [[ 5.04288165e-01 -8.60417148e-01 -7.33196972e-02 1.89873334e+02] [ 8.51272297e-01 5.09589904e-01 -1.25114369e-01 1.13674967e+02] [ 1.45013526e-01 6.78668501e-04 9.89429440e-01 3.36516306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:113.72, Z:33.66 [[ 5.05204079e-01 -8.59882715e-01 -7.32840724e-02 1.89902403e+02] [ 8.50729229e-01 5.10490894e-01 -1.25135233e-01 1.13724439e+02] [ 1.45012475e-01 8.73927587e-04 9.89429441e-01 3.36601174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:189.93, Y:113.77, Z:33.67 [[ 5.05540470e-01 -8.59687972e-01 -7.32490540e-02 1.89930502e+02] [ 8.50529480e-01 5.10818606e-01 -1.25155728e-01 1.13774803e+02] [ 1.45011853e-01 9.70805700e-04 9.89429442e-01 3.36695141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:113.83, Z:33.68 [[ 5.05371894e-01 -8.59790082e-01 -7.32138265e-02 1.89957914e+02] [ 8.50629670e-01 5.10646698e-01 -1.25176332e-01 1.13825324e+02] [ 1.45011767e-01 9.82746858e-04 9.89429442e-01 3.36779893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:113.88, Z:33.69 [[ 5.03781575e-01 -8.60725894e-01 -7.31782796e-02 1.89985105e+02] [ 8.51572263e-01 5.09068134e-01 -1.25197109e-01 1.13875542e+02] [ 1.45013124e-01 7.55403737e-04 9.89429443e-01 3.36856016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:113.93, Z:33.69 [[ 5.00987392e-01 -8.62358411e-01 -7.31409949e-02 1.90013173e+02] [ 8.53218827e-01 5.06298197e-01 -1.25218888e-01 1.13926145e+02] [ 1.45014715e-01 3.27810123e-04 9.89429444e-01 3.36946077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:113.98, Z:33.70 [[ 4.97597749e-01 -8.64321724e-01 -7.31056643e-02 1.90039498e+02] [ 8.55200063e-01 5.02939279e-01 -1.25239511e-01 1.13976400e+02] [ 1.45014940e-01 -2.01069707e-04 9.89429445e-01 3.37026190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:190.07, Y:114.03, Z:33.71 [[ 4.95939979e-01 -8.65277126e-01 -7.30686794e-02 1.90067006e+02] [ 8.56162576e-01 5.01293631e-01 -1.25261086e-01 1.14027292e+02] [ 1.45014416e-01 -4.36688481e-04 9.89429446e-01 3.37118980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:114.08, Z:33.72 [[ 4.95816995e-01 -8.65350567e-01 -7.30335794e-02 1.90092374e+02] [ 8.56233795e-01 5.01166861e-01 -1.25281548e-01 1.14078363e+02] [ 1.45014468e-01 -4.17098324e-04 9.89429447e-01 3.37186859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:114.13, Z:33.73 [[ 4.97584672e-01 -8.64338449e-01 -7.29968532e-02 1.90118469e+02] [ 8.55207655e-01 5.02910569e-01 -1.25302943e-01 1.14129095e+02] [ 1.45015040e-01 -7.86437032e-05 9.89429448e-01 3.37275272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:190.15, Y:114.18, Z:33.74 [[ 4.99552604e-01 -8.63205507e-01 -7.29619723e-02 1.90145697e+02] [ 8.54059667e-01 5.04852620e-01 -1.25323251e-01 1.14179522e+02] [ 1.45014763e-01 2.91678409e-04 9.89429448e-01 3.37361381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:114.23, Z:33.74 [[ 5.02284895e-01 -8.61621495e-01 -7.29265651e-02 1.90173273e+02] [ 8.52455950e-01 5.07550759e-01 -1.25343851e-01 1.14229959e+02] [ 1.45012890e-01 7.91638809e-04 9.89429449e-01 3.37446542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:190.20, Y:114.28, Z:33.75 [[ 5.06663011e-01 -8.59057336e-01 -7.28909229e-02 1.90200448e+02] [ 8.49862163e-01 5.11876965e-01 -1.25364575e-01 1.14279918e+02] [ 1.45006542e-01 1.57035555e-03 9.89429450e-01 3.37522953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:114.33, Z:33.76 [[ 5.08955507e-01 -8.57704292e-01 -7.28535482e-02 1.90228527e+02] [ 8.48492152e-01 5.14139423e-01 -1.25386291e-01 1.14329979e+02] [ 1.45001241e-01 2.00037932e-03 9.89429451e-01 3.37599662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:114.38, Z:33.77 [[ 5.10995437e-01 -8.56493519e-01 -7.28183751e-02 1.90257331e+02] [ 8.47266189e-01 5.16152265e-01 -1.25406715e-01 1.14379414e+02] [ 1.44995407e-01 2.38571168e-03 9.89429452e-01 3.37653674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:190.29, Y:114.43, Z:33.77 [[ 5.09563025e-01 -8.57349548e-01 -7.27823975e-02 1.90287353e+02] [ 8.48127902e-01 5.14730008e-01 -1.25427592e-01 1.14429295e+02] [ 1.44998573e-01 2.18448086e-03 9.89429453e-01 3.37720144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:114.48, Z:33.78 [[ 5.08794485e-01 -8.57808874e-01 -7.27468751e-02 1.90316457e+02] [ 8.48588949e-01 5.13964538e-01 -1.25448191e-01 1.14477482e+02] [ 1.44999885e-01 2.09515343e-03 9.89429454e-01 3.37796114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:190.35, Y:114.53, Z:33.79 [[ 5.04692111e-01 -8.60231076e-01 -7.27211735e-02 1.90346647e+02] [ 8.51033823e-01 5.09902388e-01 -1.25463088e-01 1.14526036e+02] [ 1.45007947e-01 1.43205256e-03 9.89429454e-01 3.37894661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:114.57, Z:33.80 [[ 4.97747302e-01 -8.64270887e-01 -7.26873872e-02 1.90378382e+02] [ 8.55113069e-01 5.03026581e-01 -1.25482660e-01 1.14573936e+02] [ 1.45014697e-01 3.02720564e-04 9.89429455e-01 3.38000405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:114.62, Z:33.81 [[ 4.92117540e-01 -8.67491619e-01 -7.26540880e-02 1.90409513e+02] [ 8.58365503e-01 4.97451432e-01 -1.25501937e-01 1.14622479e+02] [ 1.45013759e-01 -6.02058338e-04 9.89429455e-01 3.38082153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:190.44, Y:114.67, Z:33.82 [[ 4.90422402e-01 -8.68454020e-01 -7.26187420e-02 1.90439271e+02] [ 8.59335342e-01 4.95768999e-01 -1.25522386e-01 1.14671501e+02] [ 1.45012542e-01 -8.44861506e-04 9.89429456e-01 3.38160515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:190.47, Y:114.72, Z:33.82 [[ 4.90559354e-01 -8.68379636e-01 -7.25832485e-02 1.90468259e+02] [ 8.59257110e-01 4.95899382e-01 -1.25542907e-01 1.14720723e+02] [ 1.45012892e-01 -7.81425092e-04 9.89429457e-01 3.38247140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:114.77, Z:33.83 [[ 4.91912804e-01 -8.67616589e-01 -7.25482464e-02 1.90497202e+02] [ 8.58482796e-01 4.97233536e-01 -1.25563130e-01 1.14769992e+02] [ 1.45014076e-01 -5.15309825e-04 9.89429458e-01 3.38334901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:114.82, Z:33.84 [[ 4.96717542e-01 -8.64877713e-01 -7.25136121e-02 1.90526228e+02] [ 8.55711660e-01 5.01982503e-01 -1.25583129e-01 1.14819844e+02] [ 1.45014614e-01 3.28599836e-04 9.89429459e-01 3.38412406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:114.87, Z:33.85 [[ 5.02753003e-01 -8.61386272e-01 -7.24783284e-02 1.90554906e+02] [ 8.52180724e-01 5.07948597e-01 -1.25603489e-01 1.14870297e+02] [ 1.45008387e-01 1.38289694e-03 9.89429460e-01 3.38485448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:190.58, Y:114.92, Z:33.86 [[ 5.08470046e-01 -8.58026944e-01 -7.24429067e-02 1.90583479e+02] [ 8.48784172e-01 5.13599126e-01 -1.25623916e-01 1.14920149e+02] [ 1.44995318e-01 2.38760577e-03 9.89429460e-01 3.38557429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:114.97, Z:33.86 [[ 5.10989972e-01 -8.56531608e-01 -7.24075475e-02 1.90612195e+02] [ 8.47270944e-01 5.16086677e-01 -1.25644293e-01 1.14970575e+02] [ 1.44986879e-01 2.85416271e-03 9.89429461e-01 3.38626906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:115.02, Z:33.87 [[ 5.11395564e-01 -8.56292477e-01 -7.23724501e-02 1.90643195e+02] [ 8.47026574e-01 5.16482735e-01 -1.25664506e-01 1.15019788e+02] [ 1.44984692e-01 2.96288266e-03 9.89429462e-01 3.38702126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:115.07, Z:33.88 [[ 5.09740429e-01 -8.57281728e-01 -7.23376434e-02 1.90673077e+02] [ 8.48022859e-01 5.14840390e-01 -1.25684540e-01 1.15069430e+02] [ 1.44989400e-01 2.72251588e-03 9.89429463e-01 3.38789492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:115.12, Z:33.88 [[ 5.00998670e-01 -8.62422533e-01 -7.23028850e-02 1.90698406e+02] [ 8.53213136e-01 5.06187431e-01 -1.25704532e-01 1.15123620e+02] [ 1.45009233e-01 1.28803216e-03 9.89429464e-01 3.38759102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:115.17, Z:33.90 [[ 5.02386513e-01 -8.61617866e-01 -7.22664872e-02 1.90734986e+02] [ 8.52397149e-01 5.07555130e-01 -1.25725454e-01 1.15167261e+02] [ 1.45006523e-01 1.56302451e-03 9.89429464e-01 3.38958669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:115.22, Z:33.90 [[ 4.97530246e-01 -8.64434146e-01 -7.22306096e-02 1.90766067e+02] [ 8.55239699e-01 5.02745448e-01 -1.25746062e-01 1.15216363e+02] [ 1.45012800e-01 7.87984603e-04 9.89429465e-01 3.39031973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:115.26, Z:33.91 [[ 4.94510477e-01 -8.66168185e-01 -7.21946202e-02 1.90796405e+02] [ 8.56989009e-01 4.99752509e-01 -1.25766722e-01 1.15264709e+02] [ 1.45014576e-01 3.22965535e-04 9.89429466e-01 3.39102713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:115.31, Z:33.92 [[ 4.91258881e-01 -8.68019629e-01 -7.21570261e-02 1.90826751e+02] [ 8.58857039e-01 4.96529851e-01 -1.25788287e-01 1.15313389e+02] [ 1.45014820e-01 -1.77956547e-04 9.89429467e-01 3.39187814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:115.36, Z:33.93 [[ 4.89900334e-01 -8.68789992e-01 -7.21222018e-02 1.90855869e+02] [ 8.59632752e-01 4.95180589e-01 -1.25808251e-01 1.15362859e+02] [ 1.45014464e-01 -3.65102502e-04 9.89429468e-01 3.39276402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:115.41, Z:33.94 [[ 4.88683172e-01 -8.69478058e-01 -7.20878940e-02 1.90884613e+02] [ 8.60325352e-01 4.93971281e-01 -1.25827907e-01 1.15412084e+02] [ 1.45013953e-01 -5.29062357e-04 9.89429469e-01 3.39375715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:115.46, Z:33.95 [[ 4.88606440e-01 -8.69524117e-01 -7.20524648e-02 1.90912459e+02] [ 8.60368917e-01 4.93890230e-01 -1.25848191e-01 1.15462478e+02] [ 1.45014046e-01 -5.01464541e-04 9.89429470e-01 3.39459136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:190.94, Y:115.51, Z:33.95 [[ 4.90925142e-01 -8.68220050e-01 -7.20170127e-02 1.90940143e+02] [ 8.59047838e-01 4.96179342e-01 -1.25868476e-01 1.15513068e+02] [ 1.45014888e-01 -7.40598169e-05 9.89429470e-01 3.39534272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:115.56, Z:33.96 [[ 4.94383919e-01 -8.66258153e-01 -7.19816192e-02 1.90967809e+02] [ 8.57062143e-01 4.99596353e-01 -1.25888713e-01 1.15563474e+02] [ 1.45013879e-01 5.44634623e-04 9.89429471e-01 3.39608243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:115.61, Z:33.97 [[ 4.97353129e-01 -8.64559786e-01 -7.19461084e-02 1.90995992e+02] [ 8.55343041e-01 5.02528810e-01 -1.25909005e-01 1.15613867e+02] [ 1.45010854e-01 1.08263435e-03 9.89429472e-01 3.39676994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:191.02, Y:115.66, Z:33.98 [[ 5.00737581e-01 -8.62606940e-01 -7.19106477e-02 1.91023935e+02] [ 8.53367106e-01 5.05871927e-01 -1.25929254e-01 1.15664702e+02] [ 1.45005027e-01 1.69132894e-03 9.89429473e-01 3.39754840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:115.71, Z:33.98 [[ 5.02825600e-01 -8.61394462e-01 -7.18748696e-02 1.91052755e+02] [ 8.52139331e-01 5.07932319e-01 -1.25949672e-01 1.15714303e+02] [ 1.44999919e-01 2.08331604e-03 9.89429474e-01 3.39835299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:115.76, Z:33.99 [[ 5.02381728e-01 -8.61656393e-01 -7.18391209e-02 1.91081257e+02] [ 8.52401011e-01 5.07487991e-01 -1.25970059e-01 1.15763749e+02] [ 1.45000398e-01 2.04931671e-03 9.89429474e-01 3.39917894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:191.11, Y:115.81, Z:34.00 [[ 5.00540830e-01 -8.62730057e-01 -7.18033879e-02 1.91110115e+02] [ 8.53482709e-01 5.05661625e-01 -1.25990424e-01 1.15812579e+02] [ 1.45003943e-01 1.78040132e-03 9.89429475e-01 3.39989045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:191.14, Y:115.86, Z:34.00 [[ 4.96182880e-01 -8.65245947e-01 -7.17774413e-02 1.91135822e+02] [ 8.56022430e-01 5.01346475e-01 -1.26005204e-01 1.15864753e+02] [ 1.45010859e-01 1.07852520e-03 9.89429476e-01 3.40004579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:115.91, Z:34.02 [[ 4.99864132e-01 -8.63127531e-01 -7.17406033e-02 1.91168439e+02] [ 8.53879125e-01 5.04983013e-01 -1.26026174e-01 1.15909881e+02] [ 1.45004447e-01 1.73816072e-03 9.89429477e-01 3.40150629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:115.96, Z:34.02 [[ 5.00025041e-01 -8.63037476e-01 -7.17026747e-02 1.91197765e+02] [ 8.53785055e-01 5.05136660e-01 -1.26047750e-01 1.15959116e+02] [ 1.45003582e-01 1.80835945e-03 9.89429478e-01 3.40233527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:116.01, Z:34.03 [[ 4.96719615e-01 -8.64947049e-01 -7.16674771e-02 1.91228406e+02] [ 8.55711394e-01 5.01861464e-01 -1.26067760e-01 1.16008112e+02] [ 1.45009082e-01 1.29365224e-03 9.89429478e-01 3.40327285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:191.25, Y:116.06, Z:34.03 [[ 4.93357387e-01 -8.66872176e-01 -7.16318340e-02 1.91253712e+02] [ 8.57653647e-01 4.98529875e-01 -1.26088009e-01 1.16061292e+02] [ 1.45012796e-01 7.71147030e-04 9.89429479e-01 3.40349754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:116.11, Z:34.04 [[ 4.92600839e-01 -8.67305137e-01 -7.15975781e-02 1.91283162e+02] [ 8.58088327e-01 4.97776388e-01 -1.26107458e-01 1.16110755e+02] [ 1.45013230e-01 6.83593583e-04 9.89429480e-01 3.40430901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:116.16, Z:34.06 [[ 4.95980129e-01 -8.65380101e-01 -7.15611131e-02 1.91315994e+02] [ 8.56140219e-01 5.01114373e-01 -1.26128147e-01 1.16156555e+02] [ 1.45009091e-01 1.29070758e-03 9.89429481e-01 3.40572454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:116.21, Z:34.07 [[ 4.96097138e-01 -8.65315064e-01 -7.15364908e-02 1.91344979e+02] [ 8.56072496e-01 5.01226545e-01 -1.26142111e-01 1.16205960e+02] [ 1.45008657e-01 1.33831787e-03 9.89429481e-01 3.40671911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:116.26, Z:34.08 [[ 4.96868077e-01 -8.64875504e-01 -7.15015770e-02 1.91373010e+02] [ 8.55625552e-01 5.01984153e-01 -1.26161898e-01 1.16256115e+02] [ 1.45006994e-01 1.50724342e-03 9.89429482e-01 3.40758282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:116.31, Z:34.08 [[ 4.96660933e-01 -8.64997378e-01 -7.14664572e-02 1.91401281e+02] [ 8.55745819e-01 5.01774102e-01 -1.26181789e-01 1.16306081e+02] [ 1.45006934e-01 1.51244322e-03 9.89429483e-01 3.40834892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:191.43, Y:116.36, Z:34.09 [[ 4.90446621e-01 -8.68538868e-01 -7.14307209e-02 1.91429580e+02] [ 8.59321290e-01 4.95620794e-01 -1.26202016e-01 1.16356533e+02] [ 1.45013907e-01 5.13413142e-04 9.89429484e-01 3.40897404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:116.41, Z:34.10 [[ 4.87195872e-01 -8.70369415e-01 -7.13951223e-02 1.91458642e+02] [ 8.61168327e-01 4.92399310e-01 -1.26222152e-01 1.16405094e+02] [ 1.45014810e-01 1.16933943e-05 9.89429485e-01 3.41007473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:116.46, Z:34.11 [[ 4.82551218e-01 -8.72955161e-01 -7.13695219e-02 1.91485638e+02] [ 8.63779812e-01 4.87799909e-01 -1.26236626e-01 1.16455659e+02] [ 1.45012960e-01 -7.31914702e-04 9.89429485e-01 3.41089097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:116.51, Z:34.11 [[ 4.75174426e-01 -8.76995256e-01 -7.13343270e-02 1.91506316e+02] [ 8.67861531e-01 4.80495220e-01 -1.26256511e-01 1.16511986e+02] [ 1.45002164e-01 -1.91445319e-03 9.89429486e-01 3.41069995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:116.56, Z:34.12 [[ 4.74397175e-01 -8.77418716e-01 -7.13001894e-02 1.91533236e+02] [ 8.68286845e-01 4.79721148e-01 -1.26275786e-01 1.16562711e+02] [ 1.45000947e-01 -2.00414032e-03 9.89429487e-01 3.41151960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:116.61, Z:34.12 [[ 4.74888844e-01 -8.77155660e-01 -7.12638248e-02 1.91560132e+02] [ 8.68017763e-01 4.80202465e-01 -1.26296305e-01 1.16613506e+02] [ 1.45002584e-01 -1.88155921e-03 9.89429487e-01 3.41235489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:191.59, Y:116.66, Z:34.15 [[ 4.83155850e-01 -8.72632298e-01 -7.12270726e-02 1.91594822e+02] [ 8.63441577e-01 4.88377570e-01 -1.26317029e-01 1.16658679e+02] [ 1.45014024e-01 -4.69604168e-04 9.89429488e-01 3.41451483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:191.62, Y:116.71, Z:34.15 [[ 4.88140467e-01 -8.69856417e-01 -7.11947864e-02 1.91619964e+02] [ 8.60633346e-01 4.93304830e-01 -1.26335224e-01 1.16709309e+02] [ 1.45014237e-01 3.96727956e-04 9.89429489e-01 3.41509558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:116.76, Z:34.16 [[ 4.91235341e-01 -8.68114560e-01 -7.11684664e-02 1.91647592e+02] [ 8.58871029e-01 4.96362994e-01 -1.26350049e-01 1.16760366e+02] [ 1.45011710e-01 9.43075480e-04 9.89429489e-01 3.41588777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:116.81, Z:34.17 [[ 4.96798625e-01 -8.64945805e-01 -7.11328388e-02 1.91676019e+02] [ 8.55666703e-01 5.01861624e-01 -1.26370104e-01 1.16810760e+02] [ 1.45002133e-01 1.91449219e-03 9.89429490e-01 3.41683884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:191.70, Y:116.86, Z:34.18 [[ 5.00417589e-01 -8.62860014e-01 -7.10973428e-02 1.91703311e+02] [ 8.53556980e-01 5.05436476e-01 -1.26390071e-01 1.16860431e+02] [ 1.44992129e-01 2.56218151e-03 9.89429491e-01 3.41755446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:116.91, Z:34.18 [[ 5.00486948e-01 -8.62822854e-01 -7.10600976e-02 1.91731418e+02] [ 8.53516478e-01 5.05499633e-01 -1.26411008e-01 1.16910481e+02] [ 1.44991160e-01 2.61609545e-03 9.89429492e-01 3.41841289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:191.76, Y:116.96, Z:34.19 [[ 4.99858247e-01 -8.63190134e-01 -7.10248157e-02 1.91759779e+02] [ 8.53884628e-01 5.04872545e-01 -1.26430829e-01 1.16960799e+02] [ 1.44992323e-01 2.55049402e-03 9.89429493e-01 3.41915924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:117.02, Z:34.19 [[ 4.94454848e-01 -8.66299488e-01 -7.09901437e-02 1.91783150e+02] [ 8.57022731e-01 4.99522134e-01 -1.26450294e-01 1.17015564e+02] [ 1.45004973e-01 1.68379396e-03 9.89429494e-01 3.41916235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:191.82, Y:117.06, Z:34.21 [[ 4.95979266e-01 -8.65429330e-01 -7.09693144e-02 1.91816313e+02] [ 8.56142011e-01 5.01027168e-01 -1.26461983e-01 1.17060955e+02] [ 1.45001464e-01 1.96270996e-03 9.89429494e-01 3.42054030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:117.11, Z:34.22 [[ 4.92897220e-01 -8.67190449e-01 -7.09440336e-02 1.91845667e+02] [ 8.57919129e-01 4.97974445e-01 -1.26476164e-01 1.17110648e+02] [ 1.45007237e-01 1.47550599e-03 9.89429494e-01 3.42158884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:117.16, Z:34.22 [[ 4.89467540e-01 -8.69133766e-01 -7.09085636e-02 1.91873870e+02] [ 8.59879725e-01 4.94576190e-01 -1.26496047e-01 1.17160687e+02] [ 1.45011673e-01 9.42872798e-04 9.89429495e-01 3.42230035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:191.90, Y:117.21, Z:34.23 [[ 4.88354795e-01 -8.69762339e-01 -7.08736103e-02 1.91902508e+02] [ 8.60512032e-01 4.93470201e-01 -1.26515628e-01 1.17210930e+02] [ 1.45012543e-01 7.96919109e-04 9.89429496e-01 3.42308992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:117.26, Z:34.24 [[ 4.87663031e-01 -8.70153222e-01 -7.08388249e-02 1.91931003e+02] [ 8.60904186e-01 4.92780733e-01 -1.26535102e-01 1.17260912e+02] [ 1.45012935e-01 7.21050479e-04 9.89429497e-01 3.42398202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:191.96, Y:117.31, Z:34.25 [[ 4.88221112e-01 -8.69843097e-01 -7.08034748e-02 1.91958755e+02] [ 8.60587942e-01 4.93327738e-01 -1.26554880e-01 1.17311583e+02] [ 1.45012206e-01 8.54147490e-04 9.89429497e-01 3.42476864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:117.36, Z:34.26 [[ 4.89760894e-01 -8.68979927e-01 -7.07683088e-02 1.91987279e+02] [ 8.59712931e-01 4.94845999e-01 -1.26574541e-01 1.17361614e+02] [ 1.45010150e-01 1.15083022e-03 9.89429498e-01 3.42566494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:117.41, Z:34.27 [[ 4.89739384e-01 -8.68994767e-01 -7.07349385e-02 1.92015654e+02] [ 8.59725231e-01 4.94819857e-01 -1.26593187e-01 1.17411972e+02] [ 1.45009869e-01 1.18505810e-03 9.89429499e-01 3.42663108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:117.47, Z:34.27 [[ 4.84809219e-01 -8.71757567e-01 -7.07019509e-02 1.92038780e+02] [ 8.62514300e-01 4.89937326e-01 -1.26611608e-01 1.17467105e+02] [ 1.45014152e-01 4.01031175e-04 9.89429500e-01 3.42656469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:117.51, Z:34.28 [[ 4.89988588e-01 -8.68859711e-01 -7.06681377e-02 1.92073917e+02] [ 8.59583397e-01 4.95056669e-01 -1.26630478e-01 1.17512473e+02] [ 1.45008854e-01 1.30233138e-03 9.89429500e-01 3.42843068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:117.57, Z:34.28 [[ 4.86748390e-01 -8.70681652e-01 -7.06361492e-02 1.92098221e+02] [ 8.61421720e-01 4.91846341e-01 -1.26648319e-01 1.17566224e+02] [ 1.45012500e-01 7.98352462e-04 9.89429501e-01 3.42829832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:117.61, Z:34.30 [[ 4.89428079e-01 -8.69180903e-01 -7.06024979e-02 1.92130317e+02] [ 8.59902634e-01 4.94492579e-01 -1.26667076e-01 1.17612079e+02] [ 1.45009015e-01 1.28314992e-03 9.89429502e-01 3.42962547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:117.67, Z:34.29 [[ 4.84662122e-01 -8.71849020e-01 -7.05826760e-02 1.92153700e+02] [ 8.62597026e-01 4.89774463e-01 -1.26678121e-01 1.17666400e+02] [ 1.45013788e-01 5.11680427e-04 9.89429502e-01 3.42947353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:192.19, Y:117.71, Z:34.31 [[ 4.87928030e-01 -8.70027266e-01 -7.05605730e-02 1.92188373e+02] [ 8.60754405e-01 4.93002423e-01 -1.26690431e-01 1.17711706e+02] [ 1.45010663e-01 1.08048844e-03 9.89429502e-01 3.43146178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:117.76, Z:34.32 [[ 4.87038696e-01 -8.70527179e-01 -7.05389217e-02 1.92215546e+02] [ 8.61257781e-01 4.92119411e-01 -1.26702485e-01 1.17761794e+02] [ 1.45011530e-01 9.56817931e-04 9.89429503e-01 3.43226825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:192.24, Y:117.82, Z:34.32 [[ 4.83443853e-01 -8.72531228e-01 -7.05074242e-02 1.92238295e+02] [ 8.63280336e-01 4.88558185e-01 -1.26720011e-01 1.17816172e+02] [ 1.45014146e-01 3.94337190e-04 9.89429503e-01 3.43242065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:117.86, Z:34.34 [[ 4.89903484e-01 -8.68923712e-01 -7.04709818e-02 1.92269716e+02] [ 8.59632250e-01 4.94943733e-01 -1.26740274e-01 1.17862416e+02] [ 1.45006800e-01 1.51137300e-03 9.89429504e-01 3.43415659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:117.91, Z:34.35 [[ 4.93177473e-01 -8.67071409e-01 -7.04496357e-02 1.92295546e+02] [ 8.57759326e-01 4.98179520e-01 -1.26752138e-01 1.17913763e+02] [ 1.44999721e-01 2.08246706e-03 9.89429505e-01 3.43473014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:117.96, Z:34.36 [[ 4.94937735e-01 -8.66070716e-01 -7.04141571e-02 1.92322797e+02] [ 8.56745719e-01 4.99915666e-01 -1.26771844e-01 1.17964810e+02] [ 1.44994522e-01 2.41714194e-03 9.89429505e-01 3.43562916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:118.02, Z:34.37 [[ 4.97888903e-01 -8.64380426e-01 -7.03783973e-02 1.92349546e+02] [ 8.55035732e-01 5.02829756e-01 -1.26791694e-01 1.18015777e+02] [ 1.44984611e-01 2.95213288e-03 9.89429506e-01 3.43659132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:118.07, Z:34.37 [[ 4.98627731e-01 -8.63957378e-01 -7.03422773e-02 1.92375710e+02] [ 8.54605670e-01 5.03555294e-01 -1.26811730e-01 1.18065430e+02] [ 1.44981155e-01 3.11693588e-03 9.89429507e-01 3.43746347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:118.12, Z:34.38 [[ 4.98950284e-01 -8.63774193e-01 -7.03047511e-02 1.92402796e+02] [ 8.54417750e-01 5.03868849e-01 -1.26832531e-01 1.18116416e+02] [ 1.44979041e-01 3.21350001e-03 9.89429508e-01 3.43839642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:192.43, Y:118.17, Z:34.39 [[ 4.95587763e-01 -8.65710661e-01 -7.02696211e-02 1.92427235e+02] [ 8.56370688e-01 5.00537529e-01 -1.26851991e-01 1.18169516e+02] [ 1.44989704e-01 2.68945087e-03 9.89429509e-01 3.43867200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:118.22, Z:34.40 [[ 4.96590597e-01 -8.65138605e-01 -7.02351220e-02 1.92456277e+02] [ 8.55790233e-01 5.01524480e-01 -1.26871090e-01 1.18216871e+02] [ 1.44985711e-01 2.89645891e-03 9.89429509e-01 3.44007328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:192.48, Y:118.27, Z:34.41 [[ 4.92357233e-01 -8.67556845e-01 -7.02102227e-02 1.92483747e+02] [ 8.58230750e-01 4.97333097e-01 -1.26884868e-01 1.18266954e+02] [ 1.44997703e-01 2.21611032e-03 9.89429510e-01 3.44105075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:118.32, Z:34.42 [[ 4.88837135e-01 -8.69548036e-01 -7.01745568e-02 1.92511904e+02] [ 8.60239383e-01 4.93845551e-01 -1.26904590e-01 1.18317167e+02] [ 1.45005030e-01 1.66875878e-03 9.89429511e-01 3.44186071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:118.37, Z:34.43 [[ 4.83997294e-01 -8.72254049e-01 -7.01391034e-02 1.92539979e+02] [ 8.62970563e-01 4.89052205e-01 -1.26924182e-01 1.18367641e+02] [ 1.45011815e-01 9.02979004e-04 9.89429511e-01 3.44279852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:118.42, Z:34.44 [[ 4.76077468e-01 -8.76604665e-01 -7.01035377e-02 1.92569225e+02] [ 8.67364480e-01 4.81211102e-01 -1.26943823e-01 1.18417060e+02] [ 1.45014148e-01 -3.70224784e-04 9.89429512e-01 3.44377243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:118.47, Z:34.43 [[ 4.62250496e-01 -8.83976768e-01 -7.00682004e-02 1.92592373e+02] [ 8.74815433e-01 4.67523553e-01 -1.26963325e-01 1.18472415e+02] [ 1.44991164e-01 -2.60788317e-03 9.89429513e-01 3.44324212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:192.63, Y:118.52, Z:34.46 [[ 4.66550365e-01 -8.81717559e-01 -7.00350126e-02 1.92628854e+02] [ 8.72527934e-01 4.71773962e-01 -1.26981629e-01 1.18516215e+02] [ 1.45002628e-01 -1.86417932e-03 9.89429514e-01 3.44559417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:192.65, Y:118.57, Z:34.45 [[ 4.59657520e-01 -8.85333211e-01 -7.00005003e-02 1.92651974e+02] [ 8.76181755e-01 4.64947703e-01 -1.27000652e-01 1.18571157e+02] [ 1.44984467e-01 -2.95635646e-03 9.89429515e-01 3.44528921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters Centerline goodness : 0.998604 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:118.62, Z:34.47 [[ 4.66474857e-01 -8.81762940e-01 -6.99666063e-02 1.92686004e+02] [ 8.72568170e-01 4.71689390e-01 -1.27019322e-01 1.18615482e+02] [ 1.45003437e-01 -1.79931345e-03 9.89429515e-01 3.44712092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:118.68, Z:34.46 [[ 4.61213997e-01 -8.84527586e-01 -6.99471100e-02 1.92700299e+02] [ 8.75362434e-01 4.66480412e-01 -1.27030058e-01 1.18676856e+02] [ 1.44990547e-01 -2.64103182e-03 9.89429516e-01 3.44586120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters Centerline goodness : 0.991360 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:118.73, Z:34.47 [[ 4.65290833e-01 -8.82392596e-01 -6.99124298e-02 1.92728240e+02] [ 8.73200403e-01 4.70509906e-01 -1.27049141e-01 1.18727917e+02] [ 1.45001712e-01 -1.93276095e-03 9.89429516e-01 3.44656698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters Centerline goodness : 0.991064 with order 1 Centerline is valid? [True, True] Translation: X:192.76, Y:118.78, Z:34.47 [[ 4.70359938e-01 -8.79703511e-01 -6.98803310e-02 1.92756793e+02] [ 8.70478849e-01 4.75521402e-01 -1.27066794e-01 1.18778284e+02] [ 1.45010698e-01 -1.06222066e-03 9.89429517e-01 3.44718257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:118.82, Z:34.48 [[ 4.92741517e-01 -8.67368140e-01 -6.98448748e-02 1.92804395e+02] [ 8.58011550e-01 4.97659780e-01 -1.27086281e-01 1.18816093e+02] [ 1.44989576e-01 2.69297744e-03 9.89429518e-01 3.44820075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:192.81, Y:118.88, Z:34.49 [[ 4.79917731e-01 -8.74532555e-01 -6.97981553e-02 1.92807701e+02] [ 8.65245698e-01 4.84966430e-01 -1.27111935e-01 1.18878668e+02] [ 1.45013287e-01 6.10717767e-04 9.89429519e-01 3.44894966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters Centerline goodness : 0.980003 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:118.93, Z:34.50 [[ 4.82029569e-01 -8.73374063e-01 -6.97512816e-02 1.92833793e+02] [ 8.64071351e-01 4.87048990e-01 -1.27137651e-01 1.18930447e+02] [ 1.45011018e-01 1.01402315e-03 9.89429521e-01 3.44978687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters Centerline goodness : 0.981809 with order 1 Centerline is valid? [True, True] Translation: X:192.86, Y:118.98, Z:34.51 [[ 4.86556036e-01 -8.70862239e-01 -6.97293701e-02 1.92861343e+02] [ 8.61531897e-01 4.91523908e-01 -1.27149668e-01 1.18980562e+02] [ 1.45003497e-01 1.79136179e-03 9.89429521e-01 3.45078673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters Centerline goodness : 0.982603 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:119.03, Z:34.51 [[ 4.91065088e-01 -8.68330453e-01 -6.96943607e-02 1.92890081e+02] [ 8.58971785e-01 4.95979389e-01 -1.27168855e-01 1.19031758e+02] [ 1.44991556e-01 2.58269540e-03 9.89429522e-01 3.45109327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters Centerline goodness : 0.980521 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:119.08, Z:34.52 [[ 4.91282276e-01 -8.68210420e-01 -6.96591083e-02 1.92913557e+02] [ 8.58847818e-01 4.96189074e-01 -1.27188162e-01 1.19082892e+02] [ 1.44990176e-01 2.65871650e-03 9.89429523e-01 3.45215736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.436875 meters Centerline goodness : 0.981584 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:119.13, Z:34.53 [[ 4.94269477e-01 -8.66516290e-01 -6.96218628e-02 1.92942840e+02] [ 8.57134007e-01 4.99138537e-01 -1.27208547e-01 1.19131988e+02] [ 1.44979233e-01 3.20003557e-03 9.89429523e-01 3.45293212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters Centerline goodness : 0.979911 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:119.18, Z:34.54 [[ 4.93068082e-01 -8.67203283e-01 -6.95868666e-02 1.92968764e+02] [ 8.57825089e-01 4.97945010e-01 -1.27227688e-01 1.19182160e+02] [ 1.44982702e-01 3.03855206e-03 9.89429524e-01 3.45376816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters Centerline goodness : 0.982763 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:119.23, Z:34.55 [[ 4.93720884e-01 -8.66834779e-01 -6.95496580e-02 1.92999609e+02] [ 8.57450085e-01 4.98585291e-01 -1.27248025e-01 1.19230687e+02] [ 1.44979450e-01 3.18964735e-03 9.89429525e-01 3.45457829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters Centerline goodness : 0.979373 with order 1 Centerline is valid? [True, True] Translation: X:193.02, Y:119.28, Z:34.56 [[ 4.87027793e-01 -8.70615425e-01 -6.95176983e-02 1.93024673e+02] [ 8.61266023e-01 4.91959688e-01 -1.27265483e-01 1.19281322e+02] [ 1.44999198e-01 2.10859577e-03 9.89429526e-01 3.45570941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters Centerline goodness : 0.980415 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:119.33, Z:34.57 [[ 4.81588099e-01 -8.73639252e-01 -6.94792086e-02 1.93054559e+02] [ 8.64317793e-01 4.86572606e-01 -1.27286493e-01 1.19330258e+02] [ 1.45009156e-01 1.24754379e-03 9.89429527e-01 3.45672538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters Centerline goodness : 0.978909 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:119.38, Z:34.57 [[ 4.75774036e-01 -8.76821743e-01 -6.94456383e-02 1.93080428e+02] [ 8.67530956e-01 4.80815481e-01 -1.27304806e-01 1.19382079e+02] [ 1.45014160e-01 3.22080231e-04 9.89429527e-01 3.45717888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters Centerline goodness : 0.981878 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:119.43, Z:34.58 [[ 4.73024799e-01 -8.78310576e-01 -6.94123238e-02 1.93109904e+02] [ 8.69032991e-01 4.78090496e-01 -1.27322968e-01 1.19430256e+02] [ 1.45014482e-01 -9.46781112e-05 9.89429528e-01 3.45818527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.856875 meters Centerline goodness : 0.989541 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:119.47, Z:34.59 [[ 4.88284643e-01 -8.69922338e-01 -6.93774621e-02 1.93162638e+02] [ 8.60555071e-01 4.93182517e-01 -1.27341961e-01 1.19466006e+02] [ 1.44993368e-01 2.47599724e-03 9.89429529e-01 3.45938907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters Centerline goodness : 0.983438 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:119.53, Z:34.60 [[ 4.71400229e-01 -8.79190009e-01 -6.93307403e-02 1.93162030e+02] [ 8.69915337e-01 4.76471252e-01 -1.27367394e-01 1.19529519e+02] [ 1.45014245e-01 -2.70855710e-04 9.89429530e-01 3.45956052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters Centerline goodness : 0.983885 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:119.58, Z:34.61 [[ 4.72831438e-01 -8.78425688e-01 -6.92729572e-02 1.93186783e+02] [ 8.69138212e-01 4.77878970e-01 -1.27398813e-01 1.19581165e+02] [ 1.45014480e-01 3.03899771e-05 9.89429532e-01 3.46104720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03687499999998 meters Centerline goodness : 0.983667 with order 1 Centerline is valid? [True, True] Translation: X:193.21, Y:119.63, Z:34.62 [[ 4.77819334e-01 -8.75725215e-01 -6.92389510e-02 1.93213755e+02] [ 8.66406535e-01 4.82809021e-01 -1.27417293e-01 1.19631135e+02] [ 1.45011726e-01 8.93366420e-04 9.89429533e-01 3.46174800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09687499999998 meters Centerline goodness : 0.986983 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:119.68, Z:34.63 [[ 4.85552496e-01 -8.71463307e-01 -6.92132768e-02 1.93242565e+02] [ 8.62098858e-01 4.90455745e-01 -1.27431238e-01 1.19678823e+02] [ 1.44997697e-01 2.20586858e-03 9.89429534e-01 3.46295006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters Centerline goodness : 0.982065 with order 1 Centerline is valid? [True, True] Translation: X:193.26, Y:119.73, Z:34.63 [[ 4.83542480e-01 -8.72583080e-01 -6.91768599e-02 1.93261699e+02] [ 8.63227161e-01 4.88461984e-01 -1.27451004e-01 1.19734145e+02] [ 1.45001856e-01 1.91263000e-03 9.89429534e-01 3.46332808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters Centerline goodness : 0.980665 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:119.79, Z:34.63 [[ 4.87381279e-01 -8.70447571e-01 -6.91412627e-02 1.93283956e+02] [ 8.61067366e-01 4.92254315e-01 -1.27470312e-01 1.19788500e+02] [ 1.44991309e-01 2.59135889e-03 9.89429535e-01 3.46349492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters Centerline goodness : 0.982006 with order 1 Centerline is valid? [True, True] Translation: X:193.31, Y:119.84, Z:34.65 [[ 4.87173032e-01 -8.70566895e-01 -6.91065754e-02 1.93312495e+02] [ 8.61185219e-01 4.92043234e-01 -1.27489115e-01 1.19838817e+02] [ 1.44991226e-01 2.59569738e-03 9.89429536e-01 3.46459842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters Centerline goodness : 0.980159 with order 1 Centerline is valid? [True, True] Translation: X:193.34, Y:119.89, Z:34.66 [[ 4.87609780e-01 -8.70324882e-01 -6.90746049e-02 1.93338484e+02] [ 8.60938339e-01 4.92470593e-01 -1.27506434e-01 1.19888369e+02] [ 1.44989234e-01 2.70440888e-03 9.89429537e-01 3.46572531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.396875 meters Centerline goodness : 0.983487 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:119.94, Z:34.67 [[ 4.89579297e-01 -8.69220482e-01 -6.90497333e-02 1.93370243e+02] [ 8.59821079e-01 4.94415196e-01 -1.27519902e-01 1.19936284e+02] [ 1.44982148e-01 3.06068776e-03 9.89429537e-01 3.46681836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters Centerline goodness : 0.979103 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:119.99, Z:34.67 [[ 4.83835453e-01 -8.72433226e-01 -6.90182657e-02 1.93391659e+02] [ 8.63063522e-01 4.88728644e-01 -1.27536931e-01 1.19989496e+02] [ 1.44998660e-01 2.13974139e-03 9.89429538e-01 3.46709584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters Centerline goodness : 0.980196 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:120.04, Z:34.68 [[ 4.77763702e-01 -8.75775933e-01 -6.89808650e-02 1.93419949e+02] [ 8.66437555e-01 4.82716413e-01 -1.27557157e-01 1.20040413e+02] [ 1.45009684e-01 1.17456754e-03 9.89429539e-01 3.46767839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters Centerline goodness : 0.980947 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:120.09, Z:34.68 [[ 4.77216389e-01 -8.76076934e-01 -6.89472585e-02 1.93449556e+02] [ 8.66739055e-01 4.82170040e-01 -1.27575320e-01 1.20088932e+02] [ 1.45010097e-01 1.12175161e-03 9.89429539e-01 3.46817207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters Centerline goodness : 0.981720 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:120.14, Z:34.70 [[ 4.76408292e-01 -8.76519347e-01 -6.89128043e-02 1.93478798e+02] [ 8.67183377e-01 4.81365538e-01 -1.27593928e-01 1.20136198e+02] [ 1.45010796e-01 1.02676713e-03 9.89429540e-01 3.46975488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters Centerline goodness : 0.982874 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:120.19, Z:34.70 [[ 4.74670686e-01 -8.77464394e-01 -6.88765265e-02 1.93508093e+02] [ 8.68135453e-01 4.79641145e-01 -1.27613509e-01 1.20186247e+02] [ 1.45012326e-01 7.80237138e-04 9.89429541e-01 3.47023701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters Centerline goodness : 0.982208 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:120.24, Z:34.71 [[ 4.71281467e-01 -8.79292100e-01 -6.88417191e-02 1.93533869e+02] [ 8.69979692e-01 4.76282832e-01 -1.27632283e-01 1.20235867e+02] [ 1.45014187e-01 2.59831976e-04 9.89429542e-01 3.47105783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters Centerline goodness : 0.981559 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:120.29, Z:34.72 [[ 4.67478295e-01 -8.81323155e-01 -6.88007225e-02 1.93563341e+02] [ 8.72029223e-01 4.72513908e-01 -1.27654379e-01 1.20285612e+02] [ 1.45014058e-01 -3.20589310e-04 9.89429543e-01 3.47207549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters Centerline goodness : 0.983641 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:120.33, Z:34.73 [[ 4.67370575e-01 -8.81382859e-01 -6.87677349e-02 1.93594170e+02] [ 8.72086955e-01 4.72402546e-01 -1.27672147e-01 1.20334737e+02] [ 1.45014095e-01 -3.01239852e-04 9.89429544e-01 3.47298551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters Centerline goodness : 0.979842 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:120.39, Z:34.73 [[ 4.64687950e-01 -8.82802727e-01 -6.87346641e-02 1.93618850e+02] [ 8.73519565e-01 4.69743385e-01 -1.27689949e-01 1.20386990e+02] [ 1.45012689e-01 -7.05093410e-04 9.89429544e-01 3.47324531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters Centerline goodness : 0.979724 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:120.44, Z:34.74 [[ 4.63504144e-01 -8.83426750e-01 -6.87101619e-02 1.93645119e+02] [ 8.74148438e-01 4.68568477e-01 -1.27703132e-01 1.20436831e+02] [ 1.45011779e-01 -8.71949770e-04 9.89429545e-01 3.47422114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters Centerline goodness : 0.983992 with order 1 Centerline is valid? [True, True] Translation: X:193.68, Y:120.48, Z:34.75 [[ 4.66892676e-01 -8.81643387e-01 -6.86743512e-02 1.93677537e+02] [ 8.72342897e-01 4.71916160e-01 -1.27722387e-01 1.20484108e+02] [ 1.45014134e-01 -2.74935294e-04 9.89429545e-01 3.47516183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters Centerline goodness : 0.981638 with order 1 Centerline is valid? [True, True] Translation: X:193.70, Y:120.54, Z:34.75 [[ 4.66675547e-01 -8.81760843e-01 -6.86421838e-02 1.93700561e+02] [ 8.72459074e-01 4.71696661e-01 -1.27739673e-01 1.20536703e+02] [ 1.45014130e-01 -2.74514502e-04 9.89429546e-01 3.47531197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters Centerline goodness : 0.983084 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:120.59, Z:34.76 [[ 4.70613535e-01 -8.79667923e-01 -6.86093704e-02 1.93731081e+02] [ 8.70341253e-01 4.75588243e-01 -1.27757295e-01 1.20585368e+02] [ 1.45013804e-01 4.10746672e-04 9.89429547e-01 3.47638213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters Centerline goodness : 0.993196 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:120.62, Z:34.78 [[ 4.89585082e-01 -8.69254712e-01 -6.85761862e-02 1.93780193e+02] [ 8.59819860e-01 4.94351425e-01 -1.27775104e-01 1.20621344e+02] [ 1.44969847e-01 3.59361822e-03 9.89429547e-01 3.47820379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters Centerline goodness : 0.986968 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:120.68, Z:34.79 [[ 4.79950344e-01 -8.74614997e-01 -6.85293675e-02 1.93787127e+02] [ 8.65229841e-01 4.84813808e-01 -1.27800210e-01 1.20682013e+02] [ 1.44999964e-01 2.04410104e-03 9.89429549e-01 3.47851729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters Centerline goodness : 0.986758 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:120.73, Z:34.80 [[ 4.81343142e-01 -8.73853351e-01 -6.84770093e-02 1.93815105e+02] [ 8.64456513e-01 4.86183992e-01 -1.27828258e-01 1.20732225e+02] [ 1.44995578e-01 2.33385881e-03 9.89429551e-01 3.47951692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters Centerline goodness : 0.987854 with order 1 Centerline is valid? [True, True] Translation: X:193.84, Y:120.78, Z:34.80 [[ 4.83365699e-01 -8.72738943e-01 -6.84422204e-02 1.93843692e+02] [ 8.63328312e-01 4.88179680e-01 -1.27846882e-01 1.20782413e+02] [ 1.44989054e-01 2.70869109e-03 9.89429551e-01 3.48039806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters Centerline goodness : 0.988029 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:120.83, Z:34.81 [[ 4.82796151e-01 -8.73056923e-01 -6.84067633e-02 1.93870781e+02] [ 8.63646779e-01 4.87611081e-01 -1.27865852e-01 1.20833645e+02] [ 1.44990063e-01 2.65386038e-03 9.89429552e-01 3.48118619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters Centerline goodness : 0.987573 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:120.88, Z:34.82 [[ 4.81830785e-01 -8.73592869e-01 -6.83709985e-02 1.93897300e+02] [ 8.64185370e-01 4.86650880e-01 -1.27884973e-01 1.20884710e+02] [ 1.44992207e-01 2.53370017e-03 9.89429553e-01 3.48202323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters Centerline goodness : 0.987725 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:120.93, Z:34.83 [[ 4.80855073e-01 -8.74133098e-01 -6.83353999e-02 1.93925159e+02] [ 8.64728314e-01 4.85680462e-01 -1.27903992e-01 1.20933378e+02] [ 1.44994282e-01 2.41172831e-03 9.89429554e-01 3.48302526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters Centerline goodness : 0.988101 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:120.98, Z:34.84 [[ 4.77743120e-01 -8.75840682e-01 -6.82979635e-02 1.93953710e+02] [ 8.66450294e-01 4.82596461e-01 -1.27923979e-01 1.20983856e+02] [ 1.45001381e-01 1.93801047e-03 9.89429555e-01 3.48390329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters Centerline goodness : 0.989088 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:121.03, Z:34.85 [[ 4.76053405e-01 -8.76762894e-01 -6.82640676e-02 1.93982412e+02] [ 8.67379317e-01 4.80919899e-01 -1.27942065e-01 1.21033192e+02] [ 1.45004404e-01 1.69641530e-03 9.89429555e-01 3.48465601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters Centerline goodness : 0.988881 with order 1 Centerline is valid? [True, True] Translation: X:194.01, Y:121.08, Z:34.85 [[ 4.73391121e-01 -8.78206114e-01 -6.82266015e-02 1.94011615e+02] [ 8.68834495e-01 4.78280604e-01 -1.27962041e-01 1.21082688e+02] [ 1.45008507e-01 1.29846918e-03 9.89429556e-01 3.48542635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters Centerline goodness : 0.989284 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:121.13, Z:34.86 [[ 4.71319271e-01 -8.79322669e-01 -6.81893649e-02 1.94040514e+02] [ 8.69959764e-01 4.76225417e-01 -1.27981881e-01 1.21131643e+02] [ 1.45010878e-01 9.98323137e-04 9.89429557e-01 3.48635585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters Centerline goodness : 0.987029 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:121.18, Z:34.87 [[ 4.65175266e-01 -8.82590438e-01 -6.81622343e-02 1.94064782e+02] [ 8.73259882e-01 4.70142657e-01 -1.27996329e-01 1.21184100e+02] [ 1.45014310e-01 1.73817470e-05 9.89429558e-01 3.48718840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters Centerline goodness : 0.990358 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:121.23, Z:34.88 [[ 4.69979799e-01 -8.80044185e-01 -6.81265021e-02 1.94098147e+02] [ 8.70683960e-01 4.74891054e-01 -1.28015345e-01 1.21229862e+02] [ 1.45011826e-01 8.47973534e-04 9.89429558e-01 3.48835961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters Centerline goodness : 0.989924 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:121.28, Z:34.89 [[ 4.70324100e-01 -8.79862916e-01 -6.80917800e-02 1.94124877e+02] [ 8.70498124e-01 4.75226639e-01 -1.28033811e-01 1.21279832e+02] [ 1.45011230e-01 9.43620253e-04 9.89429559e-01 3.48908846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:121.33, Z:34.89 [[ 4.73514776e-01 -8.78152937e-01 -6.80527403e-02 1.94154472e+02] [ 8.68767462e-01 4.78377599e-01 -1.28054559e-01 1.21331161e+02] [ 1.45006393e-01 1.51371922e-03 9.89429560e-01 3.48896531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters Centerline goodness : 0.989279 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:121.38, Z:34.91 [[ 4.70520053e-01 -8.79763898e-01 -6.80173815e-02 1.94176268e+02] [ 8.70392359e-01 4.75409678e-01 -1.28073337e-01 1.21382467e+02] [ 1.45010420e-01 1.05926417e-03 9.89429561e-01 3.49094912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:194.21, Y:121.42, Z:34.92 [[ 4.80635083e-01 -8.74281606e-01 -6.79822844e-02 1.94213962e+02] [ 8.64851694e-01 4.85411162e-01 -1.28091964e-01 1.21424362e+02] [ 1.44987808e-01 2.77089814e-03 9.89429562e-01 3.49193477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters Centerline goodness : 0.988566 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:121.48, Z:34.92 [[ 4.73675500e-01 -8.78075755e-01 -6.79300305e-02 1.94224384e+02] [ 8.68680146e-01 4.78518708e-01 -1.28119670e-01 1.21484188e+02] [ 1.45004566e-01 1.67767991e-03 9.89429564e-01 3.49229446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters Centerline goodness : 0.984270 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:121.54, Z:34.92 [[ 4.67912024e-01 -8.81164373e-01 -6.78799302e-02 1.94239995e+02] [ 8.71796889e-01 4.72809405e-01 -1.28146209e-01 1.21541595e+02] [ 1.45012143e-01 7.83639952e-04 9.89429565e-01 3.49180587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters Centerline goodness : 0.989424 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:121.59, Z:34.94 [[ 4.74003219e-01 -8.77905351e-01 -6.78464646e-02 1.94275687e+02] [ 8.68501667e-01 4.78830725e-01 -1.28163925e-01 1.21585484e+02] [ 1.45002767e-01 1.82534532e-03 9.89429566e-01 3.49392633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters Centerline goodness : 0.989578 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:121.64, Z:34.95 [[ 4.71861801e-01 -8.79060726e-01 -6.78135745e-02 1.94302109e+02] [ 8.69666363e-01 4.76707420e-01 -1.28181325e-01 1.21635943e+02] [ 1.45006403e-01 1.50868625e-03 9.89429566e-01 3.49482755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters Centerline goodness : 0.987639 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:121.69, Z:34.95 [[ 4.62180577e-01 -8.84191851e-01 -6.77782015e-02 1.94324635e+02] [ 8.74848549e-01 4.67123933e-01 -1.28200027e-01 1.21689462e+02] [ 1.45014239e-01 -4.40989531e-05 9.89429567e-01 3.49513692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters Centerline goodness : 0.992473 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:121.73, Z:34.97 [[ 4.66990868e-01 -8.81663421e-01 -6.77432056e-02 1.94364263e+02] [ 8.72290672e-01 4.71878158e-01 -1.28218517e-01 1.21730842e+02] [ 1.45012115e-01 7.85110010e-04 9.89429568e-01 3.49670295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters Centerline goodness : 0.985441 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:121.79, Z:34.97 [[ 4.51480800e-01 -8.89709034e-01 -6.76972893e-02 1.94374372e+02] [ 8.80419707e-01 4.56524847e-01 -1.28242755e-01 1.21791695e+02] [ 1.45004232e-01 -1.70288585e-03 9.89429569e-01 3.49663242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters Centerline goodness : 0.985524 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:121.84, Z:34.98 [[ 4.49415725e-01 -8.90756590e-01 -6.76624178e-02 1.94399602e+02] [ 8.81476251e-01 4.54476287e-01 -1.28261151e-01 1.21844135e+02] [ 1.45000430e-01 -2.00023613e-03 9.89429570e-01 3.49755881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters Centerline goodness : 0.987936 with order 1 Centerline is valid? [True, True] Translation: X:194.43, Y:121.89, Z:34.99 [[ 4.54997511e-01 -8.87920940e-01 -6.76289085e-02 1.94431634e+02] [ 8.78606424e-01 4.59994887e-01 -1.28278818e-01 1.21892076e+02] [ 1.45010400e-01 -1.05265076e-03 9.89429571e-01 3.49877586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters Centerline goodness : 0.987135 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:121.95, Z:34.99 [[ 4.52891209e-01 -8.88999675e-01 -6.75953455e-02 1.94453075e+02] [ 8.79694422e-01 4.57905811e-01 -1.28296501e-01 1.21945985e+02] [ 1.45007849e-01 -1.35889094e-03 9.89429572e-01 3.49926368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters Centerline goodness : 0.991307 with order 1 Centerline is valid? [True, True] Translation: X:194.49, Y:121.99, Z:35.01 [[ 4.65401453e-01 -8.82517559e-01 -6.75592046e-02 1.94492639e+02] [ 8.73139679e-01 4.70278882e-01 -1.28315530e-01 1.21987639e+02] [ 1.45012375e-01 7.29611719e-04 9.89429572e-01 3.50090513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters Centerline goodness : 0.986693 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:122.05, Z:35.01 [[ 4.57079688e-01 -8.86859936e-01 -6.75100934e-02 1.94502954e+02] [ 8.77524573e-01 4.62038005e-01 -1.28341363e-01 1.22047486e+02] [ 1.45013042e-01 -5.79535605e-04 9.89429574e-01 3.50127839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters Centerline goodness : 0.986721 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:122.10, Z:35.02 [[ 4.60104686e-01 -8.85298165e-01 -6.74598903e-02 1.94526575e+02] [ 8.75942100e-01 4.65023826e-01 -1.28367746e-01 1.22100264e+02] [ 1.45014187e-01 -2.83562949e-05 9.89429576e-01 3.50193924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters Centerline goodness : 0.987225 with order 1 Centerline is valid? [True, True] Translation: X:194.55, Y:122.15, Z:35.03 [[ 4.65245001e-01 -8.82610406e-01 -6.74237422e-02 1.94550405e+02] [ 8.73223172e-01 4.70104393e-01 -1.28386730e-01 1.22151604e+02] [ 1.45011661e-01 8.55310342e-04 9.89429576e-01 3.50291320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters Centerline goodness : 0.986513 with order 1 Centerline is valid? [True, True] Translation: X:194.58, Y:122.20, Z:35.04 [[ 4.67483502e-01 -8.81428797e-01 -6.73977029e-02 1.94575765e+02] [ 8.72027311e-01 4.72315262e-01 -1.28400398e-01 1.22202504e+02] [ 1.45008772e-01 1.25243022e-03 9.89429577e-01 3.50390081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters Centerline goodness : 0.986705 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:122.25, Z:35.05 [[ 4.67982145e-01 -8.81167052e-01 -6.73597760e-02 1.94601636e+02] [ 8.71760000e-01 4.72803058e-01 -1.28420292e-01 1.22254116e+02] [ 1.45007638e-01 1.37684539e-03 9.89429578e-01 3.50480649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters Centerline goodness : 0.990374 with order 1 Centerline is valid? [True, True] Translation: X:194.63, Y:122.30, Z:35.05 [[ 4.71189148e-01 -8.79459072e-01 -6.73240451e-02 1.94631503e+02] [ 8.70031873e-01 4.75970543e-01 -1.28439021e-01 1.22304990e+02] [ 1.45001125e-01 1.94500797e-03 9.89429578e-01 3.50457191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters Centerline goodness : 0.985495 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:122.36, Z:35.06 [[ 4.67871721e-01 -8.81231135e-01 -6.72884790e-02 1.94652592e+02] [ 8.71819370e-01 4.72683422e-01 -1.28457652e-01 1.22356881e+02] [ 1.45007031e-01 1.43830311e-03 9.89429579e-01 3.50612184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters Centerline goodness : 0.986917 with order 1 Centerline is valid? [True, True] Translation: X:194.68, Y:122.41, Z:35.07 [[ 4.69070320e-01 -8.80596586e-01 -6.72509295e-02 1.94681001e+02] [ 8.71175495e-01 4.73863734e-01 -1.28477307e-01 1.22406645e+02] [ 1.45004454e-01 1.67752964e-03 9.89429580e-01 3.50707583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters Centerline goodness : 0.986170 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:122.46, Z:35.08 [[ 4.68001151e-01 -8.81167920e-01 -6.72162161e-02 1.94707724e+02] [ 8.71750074e-01 4.72800935e-01 -1.28495466e-01 1.22457102e+02] [ 1.45005972e-01 1.54028438e-03 9.89429581e-01 3.50789448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters Centerline goodness : 0.985124 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:122.51, Z:35.09 [[ 4.66265882e-01 -8.82090115e-01 -6.71800276e-02 1.94733629e+02] [ 8.72679037e-01 4.71078923e-01 -1.28514383e-01 1.22508989e+02] [ 1.45008362e-01 1.29527044e-03 9.89429582e-01 3.50862412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters Centerline goodness : 0.988179 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:122.56, Z:35.09 [[ 4.71673403e-01 -8.79213379e-01 -6.71419025e-02 1.94764655e+02] [ 8.69770122e-01 4.76422994e-01 -1.28534298e-01 1.22558037e+02] [ 1.44997021e-01 2.22818928e-03 9.89429583e-01 3.50850076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters Centerline goodness : 0.991941 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:122.60, Z:35.10 [[ 4.82335449e-01 -8.73412453e-01 -6.71058944e-02 1.94804099e+02] [ 8.63909529e-01 4.86964503e-01 -1.28553095e-01 1.22599992e+02] [ 1.44958063e-01 4.03229331e-03 9.89429583e-01 3.51033381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters Centerline goodness : 0.981303 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:122.66, Z:35.10 [[ 4.65534133e-01 -8.82485848e-01 -6.70574392e-02 1.94809526e+02] [ 8.73069640e-01 4.70337122e-01 -1.28578366e-01 1.22662933e+02] [ 1.45008191e-01 1.31180391e-03 9.89429585e-01 3.51041663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters Centerline goodness : 0.990696 with order 1 Centerline is valid? [True, True] Translation: X:194.86, Y:122.70, Z:35.12 [[ 4.85380142e-01 -8.71731373e-01 -6.70114229e-02 1.94862722e+02] [ 8.62205651e-01 4.89962092e-01 -1.28602344e-01 1.22698722e+02] [ 1.44939755e-01 4.64339661e-03 9.89429586e-01 3.51171680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters Centerline goodness : 0.992537 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:122.75, Z:35.13 [[ 4.76849992e-01 -8.76430268e-01 -6.69632015e-02 1.94886546e+02] [ 8.66946232e-01 4.81517612e-01 -1.28627449e-01 1.22748566e+02] [ 1.44976950e-01 3.28250273e-03 9.89429588e-01 3.51344571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters Centerline goodness : 0.983605 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:122.81, Z:35.14 [[ 4.63449606e-01 -8.83593370e-01 -6.69120294e-02 1.94894242e+02] [ 8.74177703e-01 4.68253645e-01 -1.28654063e-01 1.22808786e+02] [ 1.45009679e-01 1.13167078e-03 9.89429589e-01 3.51389406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters Centerline goodness : 0.991437 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:122.85, Z:35.15 [[ 4.75239669e-01 -8.77312242e-01 -6.68617040e-02 1.94937325e+02] [ 8.67829457e-01 4.79909822e-01 -1.28680212e-01 1.22850540e+02] [ 1.44980314e-01 3.12938515e-03 9.89429591e-01 3.51489932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters Centerline goodness : 0.979661 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:122.92, Z:35.15 [[ 4.57087960e-01 -8.86908212e-01 -6.68163147e-02 1.94940609e+02] [ 8.77520116e-01 4.61945651e-01 -1.28703776e-01 1.22915523e+02] [ 1.45013942e-01 1.96286298e-04 9.89429592e-01 3.51483363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters Centerline goodness : 0.982589 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:122.97, Z:35.16 [[ 4.56674953e-01 -8.87124074e-01 -6.67747297e-02 1.94966029e+02] [ 8.77735119e-01 4.61530981e-01 -1.28725348e-01 1.22966544e+02] [ 1.45013962e-01 1.75117008e-04 9.89429593e-01 3.51571601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters Centerline goodness : 0.982160 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:123.02, Z:35.16 [[ 4.54552963e-01 -8.88215925e-01 -6.67388496e-02 1.94992028e+02] [ 8.78835902e-01 4.59426221e-01 -1.28743948e-01 1.23018810e+02] [ 1.45014002e-01 -1.31554077e-04 9.89429594e-01 3.51620615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters Centerline goodness : 0.990312 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:123.06, Z:35.18 [[ 4.71210355e-01 -8.79495004e-01 -6.67033632e-02 1.95040089e+02] [ 8.70022240e-01 4.75900792e-01 -1.28762331e-01 1.23055215e+02] [ 1.44990010e-01 2.64073442e-03 9.89429595e-01 3.51844721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters Centerline goodness : 0.990828 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:123.11, Z:35.19 [[ 4.70105290e-01 -8.80089992e-01 -6.66529985e-02 1.95064727e+02] [ 8.70619473e-01 4.74800255e-01 -1.28788397e-01 1.23106652e+02] [ 1.44992240e-01 2.51470830e-03 9.89429597e-01 3.51938932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters Centerline goodness : 0.982245 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:123.17, Z:35.19 [[ 4.53520861e-01 -8.88753618e-01 -6.66020693e-02 1.95066849e+02] [ 8.79368967e-01 4.58385193e-01 -1.28814730e-01 1.23171863e+02] [ 1.45013960e-01 -1.47625784e-04 9.89429598e-01 3.51919043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters Centerline goodness : 0.981337 with order 1 Centerline is valid? [True, True] Translation: X:195.09, Y:123.22, Z:35.20 [[ 4.56211809e-01 -8.87378863e-01 -6.65547836e-02 1.95090342e+02] [ 8.77975989e-01 4.61040817e-01 -1.28839157e-01 1.23223539e+02] [ 1.45013616e-01 3.44442649e-04 9.89429600e-01 3.51994566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters Centerline goodness : 0.991251 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:123.26, Z:35.21 [[ 4.73347336e-01 -8.78360624e-01 -6.65200212e-02 1.95135633e+02] [ 8.68863313e-01 4.77987856e-01 -1.28857102e-01 1.23264404e+02] [ 1.44978767e-01 3.19735999e-03 9.89429600e-01 3.52130947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters Centerline goodness : 0.982102 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:123.33, Z:35.22 [[ 4.65095751e-01 -8.82760800e-01 -6.64779145e-02 1.95143784e+02] [ 8.73304319e-01 4.69818918e-01 -1.28878822e-01 1.23325309e+02] [ 1.45001753e-01 1.88554255e-03 9.89429601e-01 3.52206211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters Centerline goodness : 0.990772 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:123.37, Z:35.23 [[ 4.77918215e-01 -8.75888456e-01 -6.64348703e-02 1.95185464e+02] [ 8.66361069e-01 4.82496662e-01 -1.28901007e-01 1.23367658e+02] [ 1.44957507e-01 4.04755371e-03 9.89429603e-01 3.52270233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters Centerline goodness : 0.991246 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:123.42, Z:35.23 [[ 4.82065976e-01 -8.73616287e-01 -6.63850707e-02 1.95213904e+02] [ 8.64063819e-01 4.86591858e-01 -1.28926649e-01 1.23417913e+02] [ 1.44934855e-01 4.79021319e-03 9.89429604e-01 3.52267232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters Centerline goodness : 0.981314 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:123.48, Z:35.24 [[ 4.59245887e-01 -8.85829344e-01 -6.63293891e-02 1.95214430e+02] [ 8.76393377e-01 4.64009894e-01 -1.28955290e-01 1.23480136e+02] [ 1.45009872e-01 1.09154906e-03 9.89429606e-01 3.52381385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters Centerline goodness : 0.991876 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:123.52, Z:35.25 [[ 4.73772231e-01 -8.78148870e-01 -6.62905331e-02 1.95262371e+02] [ 8.68632966e-01 4.78374489e-01 -1.28975261e-01 1.23518457e+02] [ 1.44971180e-01 3.52275468e-03 9.89429607e-01 3.52545407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters Centerline goodness : 0.983193 with order 1 Centerline is valid? [True, True] Translation: X:195.27, Y:123.58, Z:35.26 [[ 4.59097896e-01 -8.85912337e-01 -6.62453939e-02 1.95269878e+02] [ 8.76471003e-01 4.63851251e-01 -1.28998442e-01 1.23580160e+02] [ 1.45009320e-01 1.16074647e-03 9.89429608e-01 3.52550162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters Centerline goodness : 0.984665 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:123.63, Z:35.26 [[ 4.57759467e-01 -8.86607185e-01 -6.62115602e-02 1.95298569e+02] [ 8.77170554e-01 4.62522152e-01 -1.29015805e-01 1.23630563e+02] [ 1.45010653e-01 9.79375393e-04 9.89429609e-01 3.52610864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters Centerline goodness : 0.990198 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:123.67, Z:35.28 [[ 4.71238112e-01 -8.79520150e-01 -6.61736093e-02 1.95344405e+02] [ 8.70009229e-01 4.75850651e-01 -1.29035268e-01 1.23668925e+02] [ 1.44977873e-01 3.23468540e-03 9.89429610e-01 3.52753744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters Centerline goodness : 0.980897 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:123.73, Z:35.27 [[ 4.53138815e-01 -8.88984541e-01 -6.61188346e-02 1.95348416e+02] [ 8.79565960e-01 4.57937091e-01 -1.29063329e-01 1.23732377e+02] [ 1.45013571e-01 3.27727991e-04 9.89429612e-01 3.52748528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters Centerline goodness : 0.987939 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:123.77, Z:35.29 [[ 4.68798444e-01 -8.80830892e-01 -6.60678301e-02 1.95396102e+02] [ 8.71325245e-01 4.73421836e-01 -1.29089434e-01 1.23771451e+02] [ 1.44983914e-01 2.95035743e-03 9.89429613e-01 3.52859433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters Centerline goodness : 0.990365 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:123.82, Z:35.30 [[ 4.66101307e-01 -8.82264710e-01 -6.60193453e-02 1.95423008e+02] [ 8.72769781e-01 4.70746668e-01 -1.29114225e-01 1.23820390e+02] [ 1.44991311e-01 2.56061962e-03 9.89429615e-01 3.52965720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters Centerline goodness : 0.981699 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:123.88, Z:35.30 [[ 4.47601574e-01 -8.91796990e-01 -6.59618110e-02 1.95430117e+02] [ 8.82396712e-01 4.52435597e-01 -1.29143612e-01 1.23880857e+02] [ 1.45013356e-01 -3.99601096e-04 9.89429617e-01 3.53022640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters Centerline goodness : 0.981406 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:123.93, Z:35.31 [[ 4.46192744e-01 -8.92506345e-01 -6.59125092e-02 1.95456969e+02] [ 8.83110035e-01 4.51034471e-01 -1.29168770e-01 1.23930836e+02] [ 1.45012761e-01 -5.73830293e-04 9.89429618e-01 3.53141879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters Centerline goodness : 0.983988 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:123.98, Z:35.32 [[ 4.47632308e-01 -8.91787871e-01 -6.58764755e-02 1.95485859e+02] [ 8.82381085e-01 4.52453647e-01 -1.29187145e-01 1.23980311e+02] [ 1.45013581e-01 -2.99816032e-04 9.89429619e-01 3.53215422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters Centerline goodness : 0.988726 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:124.02, Z:35.33 [[ 4.62398625e-01 -8.84223247e-01 -6.58540942e-02 1.95529206e+02] [ 8.74735987e-01 4.67059617e-01 -1.29198553e-01 1.24021102e+02] [ 1.44998152e-01 2.13628720e-03 9.89429620e-01 3.53265396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters Centerline goodness : 0.985412 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:124.08, Z:35.33 [[ 4.49521951e-01 -8.90842432e-01 -6.58010422e-02 1.95537457e+02] [ 8.81419877e-01 4.54312396e-01 -1.29225567e-01 1.24080627e+02] [ 1.45013848e-01 9.13827106e-05 9.89429621e-01 3.53344165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters Centerline goodness : 0.985549 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:124.13, Z:35.35 [[ 4.53350098e-01 -8.88904172e-01 -6.57499903e-02 1.95564454e+02] [ 8.79457368e-01 4.58092542e-01 -1.29251538e-01 1.24130828e+02] [ 1.45011811e-01 7.71883833e-04 9.89429623e-01 3.53496471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters Centerline goodness : 0.988968 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:124.18, Z:35.35 [[ 4.66449948e-01 -8.82103260e-01 -6.57136590e-02 1.95603021e+02] [ 8.72584765e-01 4.71046806e-01 -1.29270006e-01 1.24175269e+02] [ 1.44983703e-01 2.95725002e-03 9.89429624e-01 3.53529161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters Centerline goodness : 0.986444 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:124.23, Z:35.36 [[ 4.58915110e-01 -8.86050295e-01 -6.56642819e-02 1.95615148e+02] [ 8.76567773e-01 4.63585721e-01 -1.29295084e-01 1.24233642e+02] [ 1.45002970e-01 1.77627409e-03 9.89429625e-01 3.53586573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters Centerline goodness : 0.990949 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:124.28, Z:35.37 [[ 4.72985223e-01 -8.78624057e-01 -6.56105656e-02 1.95658580e+02] [ 8.69064537e-01 4.77496140e-01 -1.29322336e-01 1.24275040e+02] [ 1.44954508e-01 4.14773829e-03 9.89429627e-01 3.53675191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters Centerline goodness : 0.984103 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:124.32, Z:35.38 [[ 4.73332509e-01 -8.78440869e-01 -6.55589448e-02 1.95688548e+02] [ 8.68875994e-01 4.77832055e-01 -1.29348500e-01 1.24322033e+02] [ 1.44951174e-01 4.26225679e-03 9.89429629e-01 3.53774554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters Centerline goodness : 0.987989 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:124.38, Z:35.39 [[ 4.57005913e-01 -8.87048690e-01 -6.54997532e-02 1.95695769e+02] [ 8.77564414e-01 4.61672948e-01 -1.29378467e-01 1.24381491e+02] [ 1.45004464e-01 1.64647184e-03 9.89429631e-01 3.53851762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters Centerline goodness : 0.987274 with order 1 Centerline is valid? [True, True] Translation: X:195.72, Y:124.43, Z:35.39 [[ 4.53449738e-01 -8.88875255e-01 -6.54531578e-02 1.95721423e+02] [ 8.79406380e-01 4.58147937e-01 -1.29402036e-01 1.24433858e+02] [ 1.45009497e-01 1.11739461e-03 9.89429632e-01 3.53903701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters Centerline goodness : 0.988108 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:124.48, Z:35.40 [[ 4.52138493e-01 -8.89545491e-01 -6.54186696e-02 1.95751064e+02] [ 8.80081058e-01 4.56845633e-01 -1.29419469e-01 1.24483068e+02] [ 1.45010739e-01 9.41791741e-04 9.89429633e-01 3.54000980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters Centerline goodness : 0.988090 with order 1 Centerline is valid? [True, True] Translation: X:195.78, Y:124.53, Z:35.41 [[ 4.48478245e-01 -8.91399001e-01 -6.53841305e-02 1.95776317e+02] [ 8.81951479e-01 4.53219233e-01 -1.29436916e-01 1.24534421e+02] [ 1.45013283e-01 3.84010464e-04 9.89429634e-01 3.54076190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters Centerline goodness : 0.994383 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:124.57, Z:35.42 [[ 4.59823950e-01 -8.85602344e-01 -6.53484747e-02 1.95823664e+02] [ 8.76092525e-01 4.64438706e-01 -1.29454915e-01 1.24573968e+02] [ 1.44995938e-01 2.27516028e-03 9.89429635e-01 3.54164346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters Centerline goodness : 0.993259 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:124.62, Z:35.43 [[ 4.55225959e-01 -8.87978283e-01 -6.52985092e-02 1.95852144e+02] [ 8.78488943e-01 4.59882677e-01 -1.29480114e-01 1.24622104e+02] [ 1.45005182e-01 1.57869061e-03 9.89429636e-01 3.54273435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters Centerline goodness : 0.994078 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:124.67, Z:35.44 [[ 4.52904922e-01 -8.89168458e-01 -6.52425097e-02 1.95876241e+02] [ 8.79687293e-01 4.57578256e-01 -1.29508325e-01 1.24672522e+02] [ 1.45008272e-01 1.26195117e-03 9.89429638e-01 3.54375391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters Centerline goodness : 0.989183 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:124.73, Z:35.44 [[ 4.39302004e-01 -8.95971280e-01 -6.51860013e-02 1.95881248e+02] [ 8.86558259e-01 4.44111114e-01 -1.29536762e-01 1.24733842e+02] [ 1.45011046e-01 -8.85428695e-04 9.89429640e-01 3.54397337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters Centerline goodness : 0.989852 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:124.78, Z:35.45 [[ 4.43368181e-01 -8.93970220e-01 -6.51298855e-02 1.95908474e+02] [ 8.84531345e-01 4.48126342e-01 -1.29564970e-01 1.24784416e+02] [ 1.45013643e-01 -1.64439967e-04 9.89429642e-01 3.54483008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters Centerline goodness : 0.989525 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:124.84, Z:35.46 [[ 4.46784723e-01 -8.92270086e-01 -6.50961198e-02 1.95932356e+02] [ 8.82810632e-01 4.51501839e-01 -1.29581933e-01 1.24836659e+02] [ 1.45013100e-01 4.27681241e-04 9.89429643e-01 3.54562114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters Centerline goodness : 0.985336 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:124.90, Z:35.45 [[ 4.62364472e-01 -8.84299916e-01 -6.50596166e-02 1.95939505e+02] [ 8.74756642e-01 4.66909618e-01 -1.29600258e-01 1.24899961e+02] [ 1.44982458e-01 3.01122300e-03 9.89429644e-01 3.54478900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters Centerline goodness : 0.981282 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:124.97, Z:35.45 [[ 4.89840316e-01 -8.69383913e-01 -6.50236648e-02 1.95936260e+02] [ 8.59700596e-01 4.94078924e-01 -1.29618293e-01 1.24966582e+02] [ 1.44814881e-01 7.59138225e-03 9.89429644e-01 3.54490430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters Centerline goodness : 0.974375 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:125.03, Z:35.46 [[ 5.30074090e-01 -8.45457359e-01 -6.49870229e-02 1.95926378e+02] [ 8.35583791e-01 5.33848352e-01 -1.29636662e-01 1.25034415e+02] [ 1.44295485e-01 1.44149326e-02 9.89429645e-01 3.54571962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters Centerline goodness : 0.972134 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:125.10, Z:35.47 [[ 5.61739112e-01 -8.24760921e-01 -6.49506888e-02 1.95922908e+02] [ 8.14749500e-01 5.65130842e-01 -1.29654864e-01 1.25099092e+02] [ 1.43639902e-01 1.99136668e-02 9.89429646e-01 3.54679168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters Centerline goodness : 0.972157 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:125.18, Z:35.48 [[ 6.11897473e-01 -7.88268737e-01 -6.49144153e-02 1.95894534e+02] [ 7.78064391e-01 6.14654953e-01 -1.29673022e-01 1.25176559e+02] [ 1.42117156e-01 2.88389998e-02 9.89429647e-01 3.54823790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters Centerline goodness : 0.971829 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:125.25, Z:35.50 [[ 6.47401043e-01 -7.59383254e-01 -6.48765248e-02 1.95878039e+02] [ 7.49061870e-01 6.49681696e-01 -1.29691977e-01 1.25248865e+02] [ 1.40635006e-01 3.53661900e-02 9.89429648e-01 3.54953502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters Centerline goodness : 0.982828 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:125.33, Z:35.51 [[ 7.02988567e-01 -7.08239605e-01 -6.48362380e-02 1.95835742e+02] [ 6.97774358e-01 7.04475488e-01 -1.29712114e-01 1.25332675e+02] [ 1.37542797e-01 4.59450689e-02 9.89429649e-01 3.55115438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters Centerline goodness : 0.988259 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:125.40, Z:35.52 [[ 7.22961729e-01 -6.87843000e-01 -6.47946405e-02 1.95824471e+02] [ 6.77338748e-01 7.24141974e-01 -1.29732890e-01 1.25402200e+02] [ 1.36156379e-01 4.99039938e-02 9.89429650e-01 3.55209821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:195.81, Y:125.47, Z:35.54 [[ 7.01841415e-01 -7.09381925e-01 -6.47758614e-02 1.95812509e+02] [ 6.98917715e-01 7.03335604e-01 -1.29742266e-01 1.25471981e+02] [ 1.37595988e-01 4.57854985e-02 9.89429650e-01 3.55368224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters Centerline goodness : 0.993438 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:125.54, Z:35.55 [[ 6.65412183e-01 -7.43663422e-01 -6.47405739e-02 1.95816024e+02] [ 7.33286145e-01 6.67423257e-01 -1.29759872e-01 1.25535031e+02] [ 1.39707035e-01 3.88704337e-02 9.89429651e-01 3.55462026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters Centerline goodness : 0.993981 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:125.59, Z:35.56 [[ 5.98273158e-01 -7.98675496e-01 -6.47045590e-02 1.95838575e+02] [ 7.88510630e-01 6.01172772e-01 -1.29777828e-01 1.25587403e+02] [ 1.42548991e-01 2.66223585e-02 9.89429652e-01 3.55558386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:125.64, Z:35.56 [[ 5.42826789e-01 -8.37349399e-01 -6.46920522e-02 1.95868074e+02] [ 8.27403486e-01 5.46406047e-01 -1.29784062e-01 1.25637239e+02] [ 1.44022735e-01 1.69238365e-02 9.89429652e-01 3.55647703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters Centerline goodness : 0.993294 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:125.68, Z:35.58 [[ 4.66243810e-01 -8.82290624e-01 -6.46526513e-02 1.95900739e+02] [ 8.72699570e-01 4.70687224e-01 -1.29803687e-01 1.25684689e+02] [ 1.44955753e-01 4.09782471e-03 9.89429653e-01 3.55756550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters Centerline goodness : 0.992323 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:125.74, Z:35.59 [[ 4.19974209e-01 -9.05231415e-01 -6.46355045e-02 1.95926814e+02] [ 8.95881789e-01 4.24905409e-01 -1.29812225e-01 1.25735492e+02] [ 1.44974080e-01 -3.38798479e-03 9.89429653e-01 3.55865647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters Centerline goodness : 0.992538 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:125.79, Z:35.60 [[ 4.01221263e-01 -9.13700546e-01 -6.45972909e-02 1.95951488e+02] [ 9.04451579e-01 4.06338764e-01 -1.29831238e-01 1.25787319e+02] [ 1.44875257e-01 -6.33406832e-03 9.89429654e-01 3.55950998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters Centerline goodness : 0.992078 with order 1 Centerline is valid? [True, True] Translation: X:195.98, Y:125.84, Z:35.60 [[ 3.99932974e-01 -9.14266563e-01 -6.45776175e-02 1.95976825e+02] [ 9.05023271e-01 4.05060720e-01 -1.29841023e-01 1.25839050e+02] [ 1.44867162e-01 -6.51654013e-03 9.89429654e-01 3.56027523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters Centerline goodness : 0.992788 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:125.89, Z:35.61 [[ 4.05797038e-01 -9.11681521e-01 -6.45412179e-02 1.95997160e+02] [ 9.02402660e-01 4.10860134e-01 -1.29859114e-01 1.25893804e+02] [ 1.44907568e-01 -5.54572284e-03 9.89429655e-01 3.56078324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters Centerline goodness : 0.993412 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:125.95, Z:35.61 [[ 4.14875152e-01 -9.07588993e-01 -6.45044815e-02 1.96020709e+02] [ 8.98257271e-01 4.19840144e-01 -1.29877360e-01 1.25946271e+02] [ 1.44956833e-01 -4.05873026e-03 9.89429656e-01 3.56130982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters Centerline goodness : 0.993544 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:126.00, Z:35.62 [[ 4.32016949e-01 -8.99558108e-01 -6.44714410e-02 1.96047095e+02] [ 8.90131461e-01 4.36799260e-01 -1.29893759e-01 1.25998163e+02] [ 1.45008062e-01 -1.27175250e-03 9.89429656e-01 3.56174760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters Centerline goodness : 0.993451 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:126.05, Z:35.62 [[ 4.42582983e-01 -8.94409611e-01 -6.44340773e-02 1.96073390e+02] [ 8.84924617e-01 4.47248498e-01 -1.29912291e-01 1.26050005e+02] [ 1.45012846e-01 4.77668079e-04 9.89429657e-01 3.56243616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:126.10, Z:35.63 [[ 4.53605503e-01 -8.88872950e-01 -6.43966345e-02 1.96101892e+02] [ 8.79328402e-01 4.58147941e-01 -1.29930849e-01 1.26099698e+02] [ 1.44995202e-01 2.31155831e-03 9.89429658e-01 3.56309445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters Centerline goodness : 0.992418 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:126.15, Z:35.64 [[ 4.58131249e-01 -8.86551559e-01 -6.43590840e-02 1.96133554e+02] [ 8.76981397e-01 4.62619467e-01 -1.29949446e-01 1.26147797e+02] [ 1.44980649e-01 3.09218263e-03 9.89429659e-01 3.56398770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters Centerline goodness : 0.991474 with order 1 Centerline is valid? [True, True] Translation: X:196.17, Y:126.20, Z:35.65 [[ 4.61026362e-01 -8.85052226e-01 -6.43214674e-02 1.96167214e+02] [ 8.75464882e-01 4.65477758e-01 -1.29968063e-01 1.26195140e+02] [ 1.44968736e-01 3.60751732e-03 9.89429660e-01 3.56480047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters Centerline goodness : 0.990250 with order 1 Centerline is valid? [True, True] Translation: X:196.21, Y:126.24, Z:35.65 [[ 4.61125485e-01 -8.85003326e-01 -6.42837517e-02 1.96206783e+02] [ 8.75412917e-01 4.65570273e-01 -1.29986715e-01 1.26241238e+02] [ 1.44967279e-01 3.66536033e-03 9.89429661e-01 3.56534455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters Centerline goodness : 0.988144 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:126.29, Z:35.66 [[ 4.57186470e-01 -8.87047017e-01 -6.42504589e-02 1.96246518e+02] [ 8.77474179e-01 4.61668973e-01 -1.30003169e-01 1.26285625e+02] [ 1.44981367e-01 3.05757124e-03 9.89429661e-01 3.56592945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters Centerline goodness : 0.976068 with order 1 Centerline is valid? [True, True] Translation: X:196.27, Y:126.34, Z:35.68 [[ 4.41452199e-01 -8.94984072e-01 -6.42142277e-02 1.96269024e+02] [ 8.85489300e-01 4.46097773e-01 -1.30021063e-01 1.26337440e+02] [ 1.45012604e-01 5.37072559e-04 9.89429662e-01 3.56786300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters Centerline goodness : 0.973851 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:126.38, Z:35.69 [[ 4.39020689e-01 -8.96181676e-01 -6.41812987e-02 1.96303648e+02] [ 8.86697200e-01 4.43687246e-01 -1.30037315e-01 1.26383775e+02] [ 1.45013483e-01 1.79693995e-04 9.89429663e-01 3.56896910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters Centerline goodness : 0.976514 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:126.42, Z:35.70 [[ 4.49679970e-01 -8.90883513e-01 -6.41442960e-02 1.96352864e+02] [ 8.81341470e-01 4.54227655e-01 -1.30055566e-01 1.26423283e+02] [ 1.45000472e-01 1.95035476e-03 9.89429664e-01 3.56950832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters Centerline goodness : 0.974493 with order 1 Centerline is valid? [True, True] Translation: X:196.39, Y:126.47, Z:35.70 [[ 4.51983519e-01 -8.89721090e-01 -6.40880730e-02 1.96386597e+02] [ 8.80163429e-01 4.56498283e-01 -1.30083265e-01 1.26469445e+02] [ 1.44993920e-01 2.38751393e-03 9.89429666e-01 3.57022541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters Centerline goodness : 0.971661 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:126.52, Z:35.71 [[ 4.53879418e-01 -8.88759695e-01 -6.40287320e-02 1.96418435e+02] [ 8.79188359e-01 4.58365111e-01 -1.30112468e-01 1.26516454e+02] [ 1.44987254e-01 2.76205519e-03 9.89429668e-01 3.57105283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters Centerline goodness : 0.970088 with order 1 Centerline is valid? [True, True] Translation: X:196.45, Y:126.56, Z:35.72 [[ 4.55238760e-01 -8.88068534e-01 -6.39683562e-02 1.96454072e+02] [ 8.78486226e-01 4.59700961e-01 -1.30142144e-01 1.26562171e+02] [ 1.44981458e-01 3.05042844e-03 9.89429670e-01 3.57164018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters Centerline goodness : 0.970668 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:126.61, Z:35.72 [[ 4.55028779e-01 -8.88180476e-01 -6.39081533e-02 1.96485649e+02] [ 8.78595122e-01 4.59484428e-01 -1.30171701e-01 1.26610054e+02] [ 1.44980765e-01 3.08247856e-03 9.89429672e-01 3.57240586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters Centerline goodness : 0.969918 with order 1 Centerline is valid? [True, True] Translation: X:196.52, Y:126.66, Z:35.73 [[ 4.54780442e-01 -8.88311896e-01 -6.38492425e-02 1.96522151e+02] [ 8.78723781e-01 4.59230142e-01 -1.30200591e-01 1.26656407e+02] [ 1.44980231e-01 3.10683462e-03 9.89429674e-01 3.57288535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters Centerline goodness : 0.970489 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:126.70, Z:35.74 [[ 4.54413052e-01 -8.88503672e-01 -6.37965692e-02 1.96557943e+02] [ 8.78913819e-01 4.58859002e-01 -1.30226395e-01 1.26702137e+02] [ 1.44980261e-01 3.10488749e-03 9.89429676e-01 3.57387387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters Centerline goodness : 0.969687 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:126.75, Z:35.75 [[ 4.55406729e-01 -8.87998931e-01 -6.37386017e-02 1.96588836e+02] [ 8.78400190e-01 4.59833452e-01 -1.30254761e-01 1.26749432e+02] [ 1.44975230e-01 3.33089506e-03 9.89429678e-01 3.57479343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters Centerline goodness : 0.971273 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:126.79, Z:35.76 [[ 4.57230148e-01 -8.87065473e-01 -6.36823271e-02 1.96623682e+02] [ 8.77453876e-01 4.61628884e-01 -1.30282269e-01 1.26793965e+02] [ 1.44966504e-01 3.69067641e-03 9.89429680e-01 3.57583806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters Centerline goodness : 0.969667 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:126.84, Z:35.77 [[ 4.56981221e-01 -8.87197758e-01 -6.36262641e-02 1.96650979e+02] [ 8.77583634e-01 4.61374427e-01 -1.30309643e-01 1.26844226e+02] [ 1.44965954e-01 3.71169181e-03 9.89429682e-01 3.57685501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters Centerline goodness : 0.973327 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:126.89, Z:35.77 [[ 4.62383664e-01 -8.84397893e-01 -6.35744738e-02 1.96684623e+02] [ 8.74753733e-01 4.66710530e-01 -1.30334906e-01 1.26890508e+02] [ 1.44938792e-01 4.65272290e-03 9.89429684e-01 3.57702350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters Centerline goodness : 0.974531 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:126.94, Z:35.78 [[ 4.68047485e-01 -8.81416142e-01 -6.35384591e-02 1.96718228e+02] [ 8.71742083e-01 4.72307080e-01 -1.30352461e-01 1.26937530e+02] [ 1.44904427e-01 5.62199267e-03 9.89429684e-01 3.57778586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters Centerline goodness : 0.973467 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:126.98, Z:35.78 [[ 4.70414932e-01 -8.80158242e-01 -6.34922114e-02 1.96753246e+02] [ 8.70469785e-01 4.74641673e-01 -1.30374983e-01 1.26983335e+02] [ 1.44886665e-01 6.06228731e-03 9.89429686e-01 3.57842955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters Centerline goodness : 0.976125 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:127.03, Z:35.79 [[ 4.75269878e-01 -8.77549567e-01 -6.34452560e-02 1.96794180e+02] [ 8.67834923e-01 4.79436077e-01 -1.30397830e-01 1.27026690e+02] [ 1.44848504e-01 6.91415178e-03 9.89429687e-01 3.57916676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters Centerline goodness : 0.975233 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:127.07, Z:35.80 [[ 4.74185659e-01 -8.78139721e-01 -6.33923597e-02 1.96833168e+02] [ 8.68426865e-01 4.78356019e-01 -1.30423540e-01 1.27069959e+02] [ 1.44854208e-01 6.79334412e-03 9.89429689e-01 3.58020072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters Centerline goodness : 0.972210 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:127.12, Z:35.82 [[ 4.66331063e-01 -8.82340093e-01 -6.33348212e-02 1.96861947e+02] [ 8.72661107e-01 4.70579435e-01 -1.30451476e-01 1.27118650e+02] [ 1.44906632e-01 5.56374027e-03 9.89429691e-01 3.58152334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters Centerline goodness : 0.976675 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:127.16, Z:35.82 [[ 4.72281886e-01 -8.79173307e-01 -6.32780905e-02 1.96905077e+02] [ 8.69462226e-01 4.76456369e-01 -1.30478989e-01 1.27160538e+02] [ 1.44862893e-01 6.60495346e-03 9.89429693e-01 3.58224685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters Centerline goodness : 0.975294 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:127.21, Z:35.83 [[ 4.74395338e-01 -8.78038128e-01 -6.32306091e-02 1.96938016e+02] [ 8.68314033e-01 4.78539413e-01 -1.30501994e-01 1.27206501e+02] [ 1.44844065e-01 7.00551254e-03 9.89429694e-01 3.58303609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters Centerline goodness : 0.975606 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:127.25, Z:35.84 [[ 4.79024445e-01 -8.75524828e-01 -6.31811436e-02 1.96975975e+02] [ 8.65775909e-01 4.83109774e-01 -1.30525938e-01 1.27250499e+02] [ 1.44802128e-01 7.82440307e-03 9.89429696e-01 3.58357240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters Centerline goodness : 0.976085 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:127.30, Z:35.84 [[ 4.77990038e-01 -8.76094090e-01 -6.31242441e-02 1.97009276e+02] [ 8.66346457e-01 4.82078430e-01 -1.30553450e-01 1.27297703e+02] [ 1.44807943e-01 7.71578340e-03 9.89429698e-01 3.58427018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters Centerline goodness : 0.976882 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:127.34, Z:35.85 [[ 4.72756487e-01 -8.78933331e-01 -6.30674487e-02 1.97045469e+02] [ 8.69206674e-01 4.76894529e-01 -1.30580882e-01 1.27342201e+02] [ 1.44848410e-01 6.91431155e-03 9.89429700e-01 3.58507958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters Centerline goodness : 0.980364 with order 1 Centerline is valid? [True, True] Translation: X:197.07, Y:127.39, Z:35.86 [[ 4.70323202e-01 -8.80242000e-01 -6.30087896e-02 1.97071015e+02] [ 8.70523113e-01 4.74479454e-01 -1.30609180e-01 1.27391135e+02] [ 1.44864062e-01 6.57792022e-03 9.89429702e-01 3.58596945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters Centerline goodness : 0.978526 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:127.44, Z:35.87 [[ 4.71749306e-01 -8.79482267e-01 -6.29566108e-02 1.97108139e+02] [ 8.69753371e-01 4.75882073e-01 -1.30634327e-01 1.27436632e+02] [ 1.44850497e-01 6.86992881e-03 9.89429703e-01 3.58674736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters Centerline goodness : 0.980131 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:127.49, Z:35.88 [[ 4.66919332e-01 -8.82059722e-01 -6.29045576e-02 1.97134473e+02] [ 8.72350323e-01 4.71097694e-01 -1.30659388e-01 1.27486415e+02] [ 1.44883575e-01 6.13258301e-03 9.89429705e-01 3.58753869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters Centerline goodness : 0.982174 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:127.53, Z:35.89 [[ 4.62866845e-01 -8.84197504e-01 -6.28415215e-02 1.97162419e+02] [ 8.74503337e-01 4.67080418e-01 -1.30689699e-01 1.27533946e+02] [ 1.44907550e-01 5.53680842e-03 9.89429707e-01 3.58887484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters Centerline goodness : 0.982151 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:127.58, Z:35.90 [[ 4.64068854e-01 -8.83570926e-01 -6.27894733e-02 1.97194019e+02] [ 8.73867714e-01 4.68261556e-01 -1.30714701e-01 1.27581330e+02] [ 1.44897606e-01 5.79092792e-03 9.89429709e-01 3.58991777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters Centerline goodness : 0.972021 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:127.64, Z:35.91 [[ 4.50793557e-01 -8.90420527e-01 -6.27411681e-02 1.97205000e+02] [ 8.80777966e-01 4.55123919e-01 -1.30737883e-01 1.27639014e+02] [ 1.44966701e-01 3.67475682e-03 9.89429710e-01 3.59097379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters Centerline goodness : 0.968875 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:127.69, Z:35.92 [[ 4.52429821e-01 -8.89593780e-01 -6.26910098e-02 1.97229478e+02] [ 8.79939988e-01 4.56735083e-01 -1.30761930e-01 1.27690453e+02] [ 1.44958183e-01 3.99627033e-03 9.89429712e-01 3.59151237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters Centerline goodness : 0.972663 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:127.74, Z:35.91 [[ 4.54234076e-01 -8.88675696e-01 -6.26650758e-02 1.97258964e+02] [ 8.79011498e-01 4.58515926e-01 -1.30774358e-01 1.27741933e+02] [ 1.44948928e-01 4.31884732e-03 9.89429712e-01 3.59133019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters Centerline goodness : 0.973050 with order 1 Centerline is valid? [True, True] Translation: X:197.29, Y:127.79, Z:35.92 [[ 4.59663485e-01 -8.85882222e-01 -6.26272217e-02 1.97287652e+02] [ 8.76189575e-01 4.63880540e-01 -1.30792483e-01 1.27791328e+02] [ 1.44918285e-01 5.24720987e-03 9.89429713e-01 3.59207161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters Centerline goodness : 0.973073 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:127.84, Z:35.93 [[ 4.62849025e-01 -8.84224457e-01 -6.25930436e-02 1.97316870e+02] [ 8.74514523e-01 4.67026120e-01 -1.30808838e-01 1.27841475e+02] [ 1.44896960e-01 5.80621739e-03 9.89429714e-01 3.59283819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters Centerline goodness : 0.975260 with order 1 Centerline is valid? [True, True] Translation: X:197.34, Y:127.89, Z:35.94 [[ 4.63570394e-01 -8.83849100e-01 -6.25560479e-02 1.97344955e+02] [ 8.74133417e-01 4.67734100e-01 -1.30826528e-01 1.27891577e+02] [ 1.44890506e-01 5.96497320e-03 9.89429715e-01 3.59358915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters Centerline goodness : 0.977615 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:127.94, Z:35.95 [[ 4.63862809e-01 -8.83698276e-01 -6.25192032e-02 1.97377497e+02] [ 8.73978889e-01 4.68017857e-01 -1.30844133e-01 1.27939640e+02] [ 1.44886838e-01 6.05326327e-03 9.89429716e-01 3.59450610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters Centerline goodness : 0.979774 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:127.99, Z:35.96 [[ 4.64779172e-01 -8.83219188e-01 -6.24834894e-02 1.97410159e+02] [ 8.73493249e-01 4.68918857e-01 -1.30861186e-01 1.27987190e+02] [ 1.44878797e-01 6.24264741e-03 9.89429716e-01 3.59574787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters Centerline goodness : 0.979382 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:128.04, Z:35.96 [[ 4.53569336e-01 -8.89030582e-01 -6.24458240e-02 1.97435720e+02] [ 8.79355350e-01 4.57826184e-01 -1.30879157e-01 1.28039941e+02] [ 1.44944906e-01 4.45070285e-03 9.89429717e-01 3.59606826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters Centerline goodness : 0.978897 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:128.09, Z:35.97 [[ 4.43394158e-01 -8.94151464e-01 -6.24081699e-02 1.97462997e+02] [ 8.84522945e-01 4.47755633e-01 -1.30897110e-01 1.28089657e+02] [ 1.44985452e-01 2.83755538e-03 9.89429718e-01 3.59713960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters Centerline goodness : 0.979809 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:128.14, Z:35.98 [[ 4.37564953e-01 -8.97020469e-01 -6.23794096e-02 1.97491051e+02] [ 8.87418609e-01 4.41984809e-01 -1.30910814e-01 1.28140460e+02] [ 1.45000431e-01 1.92533532e-03 9.89429719e-01 3.59777558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters Centerline goodness : 0.984135 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:128.19, Z:35.99 [[ 4.38683989e-01 -8.96476121e-01 -6.23451815e-02 1.97525099e+02] [ 8.86866463e-01 4.43086863e-01 -1.30927113e-01 1.28187943e+02] [ 1.44997361e-01 2.14377771e-03 9.89429719e-01 3.59906758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters Centerline goodness : 0.982910 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:128.24, Z:36.00 [[ 4.37502203e-01 -8.97055701e-01 -6.23128597e-02 1.97548055e+02] [ 8.87449686e-01 4.41913020e-01 -1.30942494e-01 1.28241206e+02] [ 1.44999575e-01 1.98810191e-03 9.89429720e-01 3.59952866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters Centerline goodness : 0.981207 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:128.30, Z:36.00 [[ 4.36785431e-01 -8.97407532e-01 -6.22752643e-02 1.97570337e+02] [ 8.87802524e-01 4.41198436e-01 -1.30960372e-01 1.28295263e+02] [ 1.45000574e-01 1.91344577e-03 9.89429721e-01 3.59984970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters Centerline goodness : 0.986136 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:128.34, Z:36.01 [[ 4.42745367e-01 -8.94484713e-01 -6.22385690e-02 1.97601648e+02] [ 8.84848139e-01 4.47089011e-01 -1.30977809e-01 1.28343849e+02] [ 1.44983828e-01 2.91813625e-03 9.89429722e-01 3.60086954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters Centerline goodness : 0.986432 with order 1 Centerline is valid? [True, True] Translation: X:197.63, Y:128.39, Z:36.02 [[ 4.43156450e-01 -8.94283463e-01 -6.22048872e-02 1.97627737e+02] [ 8.84642677e-01 4.47490734e-01 -1.30993804e-01 1.28392798e+02] [ 1.44981703e-01 3.02165116e-03 9.89429722e-01 3.60241460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters Centerline goodness : 0.983652 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:128.45, Z:36.03 [[ 4.39204284e-01 -8.96233903e-01 -6.21641968e-02 1.97648279e+02] [ 8.86609644e-01 4.43575139e-01 -1.31013111e-01 1.28447325e+02] [ 1.44992884e-01 2.42614322e-03 9.89429723e-01 3.60303918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters Centerline goodness : 0.986514 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:128.50, Z:36.04 [[ 4.40443032e-01 -8.95628389e-01 -6.21266830e-02 1.97679273e+02] [ 8.85995616e-01 4.44795091e-01 -1.31030898e-01 1.28495688e+02] [ 1.44988636e-01 2.66767727e-03 9.89429724e-01 3.60428482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters Centerline goodness : 0.986034 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:128.55, Z:36.05 [[ 4.36370462e-01 -8.97622189e-01 -6.20904557e-02 1.97704103e+02] [ 8.88006868e-01 4.40760942e-01 -1.31048063e-01 1.28547883e+02] [ 1.44998697e-01 2.04875256e-03 9.89429725e-01 3.60523386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters Centerline goodness : 0.988782 with order 1 Centerline is valid? [True, True] Translation: X:197.74, Y:128.60, Z:36.07 [[ 4.35871271e-01 -8.97867198e-01 -6.20542536e-02 1.97736022e+02] [ 8.88251906e-01 4.40261813e-01 -1.31065203e-01 1.28595180e+02] [ 1.44999265e-01 2.00774757e-03 9.89429726e-01 3.60656506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:128.65, Z:36.07 [[ 4.34710720e-01 -8.98432215e-01 -6.20172926e-02 1.97761763e+02] [ 8.88820137e-01 4.39108292e-01 -1.31082690e-01 1.28646492e+02] [ 1.45001219e-01 1.86083192e-03 9.89429727e-01 3.60720603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters Centerline goodness : 0.985829 with order 1 Centerline is valid? [True, True] Translation: X:197.78, Y:128.70, Z:36.07 [[ 4.28799640e-01 -9.01270971e-01 -6.19798781e-02 1.97779553e+02] [ 8.91685458e-01 4.33254816e-01 -1.31100378e-01 1.28702135e+02] [ 1.45010046e-01 9.49239106e-04 9.89429727e-01 3.60745464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters Centerline goodness : 0.986262 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:128.75, Z:36.08 [[ 4.30179558e-01 -9.00615694e-01 -6.19428807e-02 1.97806381e+02] [ 8.91020877e-01 4.34614661e-01 -1.31117857e-01 1.28752873e+02] [ 1.45008084e-01 1.21182181e-03 9.89429728e-01 3.60841856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters Centerline goodness : 0.984969 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:128.80, Z:36.10 [[ 4.31361409e-01 -9.00052761e-01 -6.19060830e-02 1.97831005e+02] [ 8.90449664e-01 4.35778553e-01 -1.31135228e-01 1.28803520e+02] [ 1.45005968e-01 1.44242603e-03 9.89429729e-01 3.60989589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters Centerline goodness : 0.986377 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:128.86, Z:36.10 [[ 4.31060955e-01 -9.00199121e-01 -6.18708025e-02 1.97854388e+02] [ 8.90595136e-01 4.35476165e-01 -1.31151872e-01 1.28856966e+02] [ 1.45006060e-01 1.43261547e-03 9.89429730e-01 3.61024863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters Centerline goodness : 0.986279 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:128.91, Z:36.11 [[ 4.32694039e-01 -8.99417758e-01 -6.18349854e-02 1.97878784e+02] [ 8.89803389e-01 4.37086590e-01 -1.31168757e-01 1.28908332e+02] [ 1.45002752e-01 1.73495971e-03 9.89429731e-01 3.61118739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters Centerline goodness : 0.987546 with order 1 Centerline is valid? [True, True] Translation: X:197.90, Y:128.96, Z:36.13 [[ 4.34850972e-01 -8.98379683e-01 -6.17946415e-02 1.97904851e+02] [ 8.88752131e-01 4.39214551e-01 -1.31187761e-01 1.28958310e+02] [ 1.44997525e-01 2.12700603e-03 9.89429732e-01 3.61253621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters Centerline goodness : 0.988277 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:129.01, Z:36.14 [[ 4.35424302e-01 -8.98104506e-01 -6.17573796e-02 1.97926662e+02] [ 8.88471711e-01 4.39776293e-01 -1.31205300e-01 1.29010397e+02] [ 1.44995502e-01 2.26029141e-03 9.89429732e-01 3.61350448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters Centerline goodness : 0.985900 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:129.07, Z:36.14 [[ 4.35970388e-01 -8.97841419e-01 -6.17301121e-02 1.97947617e+02] [ 8.88204184e-01 4.40312536e-01 -1.31218128e-01 1.29065061e+02] [ 1.44993612e-01 2.37827413e-03 9.89429733e-01 3.61408748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters Centerline goodness : 0.985694 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:129.12, Z:36.15 [[ 4.37298075e-01 -8.97197997e-01 -6.16939832e-02 1.97971337e+02] [ 8.87551981e-01 4.41620681e-01 -1.31235112e-01 1.29117686e+02] [ 1.44989218e-01 2.63224479e-03 9.89429734e-01 3.61489841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters Centerline goodness : 0.989140 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:129.16, Z:36.16 [[ 4.50580819e-01 -8.90603893e-01 -6.16573781e-02 1.98011920e+02] [ 8.80892399e-01 4.54754234e-01 -1.31252308e-01 1.29161211e+02] [ 1.44932770e-01 4.82625659e-03 9.89429734e-01 3.61552463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters Centerline goodness : 0.987070 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:129.22, Z:36.16 [[ 4.40991611e-01 -8.95394275e-01 -6.16075508e-02 1.98019683e+02] [ 8.85724930e-01 4.45261767e-01 -1.31275692e-01 1.29219104e+02] [ 1.44974990e-01 3.32413526e-03 9.89429736e-01 3.61645745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters Centerline goodness : 0.988417 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:129.27, Z:36.17 [[ 4.44583939e-01 -8.93619882e-01 -6.15518261e-02 1.98047553e+02] [ 8.83929899e-01 4.48807049e-01 -1.31301815e-01 1.29270512e+02] [ 1.44958806e-01 3.96717869e-03 9.89429738e-01 3.61686930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters Centerline goodness : 0.985639 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:129.32, Z:36.18 [[ 4.43057945e-01 -8.94379933e-01 -6.15157891e-02 1.98068528e+02] [ 8.84694860e-01 4.47292303e-01 -1.31318696e-01 1.29324512e+02] [ 1.44964346e-01 3.75908931e-03 9.89429739e-01 3.61771199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters Centerline goodness : 0.987402 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:129.37, Z:36.19 [[ 4.49337093e-01 -8.91244421e-01 -6.14781133e-02 1.98099492e+02] [ 8.81527433e-01 4.53497688e-01 -1.31336332e-01 1.29372287e+02] [ 1.44932956e-01 4.81964245e-03 9.89429739e-01 3.61943086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters Centerline goodness : 0.989636 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:129.42, Z:36.20 [[ 4.51203905e-01 -8.90303375e-01 -6.14405070e-02 1.98126398e+02] [ 8.80575334e-01 4.55338587e-01 -1.31353923e-01 1.29423450e+02] [ 1.44921075e-01 5.16440801e-03 9.89429740e-01 3.62034319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters Centerline goodness : 0.986052 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:129.48, Z:36.21 [[ 4.44374116e-01 -8.93734492e-01 -6.14027931e-02 1.98147575e+02] [ 8.84035991e-01 4.48577621e-01 -1.31371550e-01 1.29477036e+02] [ 1.44955205e-01 4.09583760e-03 9.89429741e-01 3.62089687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters Centerline goodness : 0.988807 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:129.52, Z:36.22 [[ 4.39480920e-01 -8.96153385e-01 -6.13647411e-02 1.98178751e+02] [ 8.86475563e-01 4.43731814e-01 -1.31389323e-01 1.29524777e+02] [ 1.44974474e-01 3.34475693e-03 9.89429742e-01 3.62246477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters Centerline goodness : 0.988129 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:129.58, Z:36.23 [[ 4.34223083e-01 -8.98715421e-01 -6.13262238e-02 1.98202059e+02] [ 8.89060160e-01 4.38524975e-01 -1.31407298e-01 1.29576731e+02] [ 1.44990846e-01 2.53737991e-03 9.89429743e-01 3.62289023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters Centerline goodness : 0.990188 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:129.63, Z:36.23 [[ 4.28606168e-01 -9.01410470e-01 -6.12855389e-02 1.98228546e+02] [ 8.91779560e-01 4.32962299e-01 -1.31426270e-01 1.29627066e+02] [ 1.45003344e-01 1.67691921e-03 9.89429744e-01 3.62348154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters Centerline goodness : 0.989784 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:129.68, Z:36.24 [[ 4.24763938e-01 -9.03230034e-01 -6.12462443e-02 1.98254437e+02] [ 8.93615148e-01 4.29155322e-01 -1.31444580e-01 1.29677986e+02] [ 1.45008844e-01 1.10234559e-03 9.89429745e-01 3.62445014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters Centerline goodness : 0.989073 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:129.73, Z:36.25 [[ 4.19613326e-01 -9.05636841e-01 -6.12092168e-02 1.98277665e+02] [ 8.96044630e-01 4.24054019e-01 -1.31461820e-01 1.29731047e+02] [ 1.45012682e-01 3.16941561e-04 9.89429746e-01 3.62518925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters Centerline goodness : 0.988258 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:129.79, Z:36.26 [[ 4.13699749e-01 -9.08355913e-01 -6.11723142e-02 1.98298270e+02] [ 8.98790346e-01 4.18197547e-01 -1.31478989e-01 1.29785285e+02] [ 1.45011829e-01 -5.88260477e-04 9.89429747e-01 3.62564492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters Centerline goodness : 0.990145 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:129.83, Z:36.27 [[ 4.19734426e-01 -9.05585733e-01 -6.11350202e-02 1.98328054e+02] [ 8.95987952e-01 4.24163065e-01 -1.31496328e-01 1.29832896e+02] [ 1.45012416e-01 4.17294331e-04 9.89429747e-01 3.62730833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters Centerline goodness : 0.990709 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:129.89, Z:36.28 [[ 4.24533515e-01 -9.03348348e-01 -6.10987504e-02 1.98351455e+02] [ 8.93724804e-01 4.28905886e-01 -1.31513179e-01 1.29885883e+02] [ 1.45007826e-01 1.22628337e-03 9.89429748e-01 3.62805403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters Centerline goodness : 0.990158 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:129.94, Z:36.29 [[ 4.27950949e-01 -9.01736956e-01 -6.10610189e-02 1.98375156e+02] [ 8.92094453e-01 4.32281347e-01 -1.31530695e-01 1.29938884e+02] [ 1.45001628e-01 1.81648946e-03 9.89429749e-01 3.62886750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters Centerline goodness : 0.990228 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:129.99, Z:36.30 [[ 4.35185547e-01 -8.98270374e-01 -6.10235684e-02 1.98398522e+02] [ 8.88590967e-01 4.39432815e-01 -1.31548068e-01 1.29992220e+02] [ 1.44981491e-01 3.02282633e-03 9.89429750e-01 3.62956402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters Centerline goodness : 0.990197 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:130.04, Z:36.30 [[ 4.41473939e-01 -8.95199131e-01 -6.09858779e-02 1.98421367e+02] [ 8.85487800e-01 4.45647693e-01 -1.31565539e-01 1.30043649e+02] [ 1.44955572e-01 4.08050605e-03 9.89429751e-01 3.63024987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters Centerline goodness : 0.990490 with order 1 Centerline is valid? [True, True] Translation: X:198.45, Y:130.10, Z:36.31 [[ 4.42226267e-01 -8.94830741e-01 -6.09415571e-02 1.98445679e+02] [ 8.85113117e-01 4.46385346e-01 -1.31586066e-01 1.30096295e+02] [ 1.44950675e-01 4.25064314e-03 9.89429752e-01 3.63110597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters Centerline goodness : 0.989937 with order 1 Centerline is valid? [True, True] Translation: X:198.47, Y:130.15, Z:36.32 [[ 4.42531094e-01 -8.94682777e-01 -6.09012253e-02 1.98468383e+02] [ 8.84961207e-01 4.46680935e-01 -1.31604730e-01 1.30147572e+02] [ 1.44947901e-01 4.34396325e-03 9.89429753e-01 3.63205329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters Centerline goodness : 0.991049 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:130.20, Z:36.33 [[ 4.41793619e-01 -8.95050034e-01 -6.08591356e-02 1.98492951e+02] [ 8.85329245e-01 4.45945288e-01 -1.31624191e-01 1.30199460e+02] [ 1.44950081e-01 4.27035519e-03 9.89429754e-01 3.63293407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters Centerline goodness : 0.990625 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:130.25, Z:36.34 [[ 4.39673160e-01 -8.96096187e-01 -6.08205253e-02 1.98517775e+02] [ 8.86382822e-01 4.43842167e-01 -1.31642030e-01 1.30251043e+02] [ 1.44958635e-01 3.96919838e-03 9.89429755e-01 3.63386033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters Centerline goodness : 0.991197 with order 1 Centerline is valid? [True, True] Translation: X:198.54, Y:130.30, Z:36.35 [[ 4.37193022e-01 -8.97311419e-01 -6.07822186e-02 1.98543034e+02] [ 8.87607196e-01 4.41383263e-01 -1.31659715e-01 1.30302948e+02] [ 1.44968019e-01 3.60997393e-03 9.89429756e-01 3.63482688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters Centerline goodness : 0.990144 with order 1 Centerline is valid? [True, True] Translation: X:198.57, Y:130.36, Z:36.36 [[ 4.33357814e-01 -8.99172501e-01 -6.07438733e-02 1.98565471e+02] [ 8.89483809e-01 4.37583838e-01 -1.31677404e-01 1.30356200e+02] [ 1.44981238e-01 3.03273994e-03 9.89429757e-01 3.63560816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters Centerline goodness : 0.991576 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:130.41, Z:36.36 [[ 4.33311038e-01 -8.99197625e-01 -6.07056518e-02 1.98592123e+02] [ 8.89506714e-01 4.37531972e-01 -1.31695022e-01 1.30407737e+02] [ 1.44980515e-01 3.06682192e-03 9.89429757e-01 3.63649453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters Centerline goodness : 0.990948 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:130.46, Z:36.37 [[ 4.31654628e-01 -8.99996649e-01 -6.06655873e-02 1.98614513e+02] [ 8.90310965e-01 4.35887539e-01 -1.31713476e-01 1.30459531e+02] [ 1.44985060e-01 2.84349381e-03 9.89429758e-01 3.63734782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:130.51, Z:36.38 [[ 4.32334360e-01 -8.99673177e-01 -6.06232219e-02 1.98638082e+02] [ 8.89981598e-01 4.36553753e-01 -1.31732972e-01 1.30510283e+02] [ 1.44981917e-01 2.99913844e-03 9.89429760e-01 3.63832845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters Centerline goodness : 0.991198 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:130.56, Z:36.39 [[ 4.32308311e-01 -8.99687576e-01 -6.05952965e-02 1.98661841e+02] [ 8.89994341e-01 4.36523897e-01 -1.31745816e-01 1.30562149e+02] [ 1.44981369e-01 3.02534031e-03 9.89429760e-01 3.63933505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters Centerline goodness : 0.990865 with order 1 Centerline is valid? [True, True] Translation: X:198.69, Y:130.61, Z:36.40 [[ 4.32081006e-01 -8.99799282e-01 -6.05578768e-02 1.98686552e+02] [ 8.90104732e-01 4.36293564e-01 -1.31763015e-01 1.30614308e+02] [ 1.44981278e-01 3.02944316e-03 9.89429761e-01 3.64036365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters Centerline goodness : 0.991684 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:130.67, Z:36.41 [[ 4.31182007e-01 -9.00232939e-01 -6.05205109e-02 1.98708978e+02] [ 8.90540222e-01 4.35398781e-01 -1.31780175e-01 1.30667237e+02] [ 1.44983411e-01 2.92529115e-03 9.89429762e-01 3.64132525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters Centerline goodness : 0.990622 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:130.72, Z:36.42 [[ 4.32331807e-01 -8.99683860e-01 -6.04827359e-02 1.98731620e+02] [ 8.89983369e-01 4.36530663e-01 -1.31797510e-01 1.30719161e+02] [ 1.44978662e-01 3.15162684e-03 9.89429763e-01 3.64205258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters Centerline goodness : 0.990665 with order 1 Centerline is valid? [True, True] Translation: X:198.76, Y:130.77, Z:36.43 [[ 4.30809486e-01 -9.00416449e-01 -6.04434026e-02 1.98755204e+02] [ 8.90720574e-01 4.35018988e-01 -1.31815547e-01 1.30771370e+02] [ 1.44982914e-01 2.94920557e-03 9.89429763e-01 3.64281698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters Centerline goodness : 0.987882 with order 1 Centerline is valid? [True, True] Translation: X:198.77, Y:130.83, Z:36.43 [[ 4.21876257e-01 -9.04638965e-01 -6.04050262e-02 1.98773160e+02] [ 8.94982739e-01 4.26175930e-01 -1.31833131e-01 1.30827655e+02] [ 1.45004555e-01 1.55581201e-03 9.89429764e-01 3.64271348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters Centerline goodness : 0.987928 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:130.88, Z:36.43 [[ 4.11534622e-01 -9.09392586e-01 -6.03687047e-02 1.98797048e+02] [ 8.99783595e-01 4.15938844e-01 -1.31849761e-01 1.30879904e+02] [ 1.45012884e-01 -5.80287143e-05 9.89429765e-01 3.64348874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:198.82, Y:130.93, Z:36.45 [[ 4.06507338e-01 -9.11653377e-01 -6.03316215e-02 1.98824419e+02] [ 9.02066359e-01 4.10959183e-01 -1.31866727e-01 1.30928959e+02] [ 1.45010581e-01 -8.18333841e-04 9.89429766e-01 3.64485975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters Centerline goodness : 0.988910 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:130.98, Z:36.46 [[ 3.94719081e-01 -9.16821449e-01 -6.02932567e-02 1.98847483e+02] [ 9.07289983e-01 3.99288652e-01 -1.31884267e-01 1.30981647e+02] [ 1.44988738e-01 -2.64623128e-03 9.89429767e-01 3.64604752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters Centerline goodness : 0.988093 with order 1 Centerline is valid? [True, True] Translation: X:198.87, Y:131.03, Z:36.47 [[ 3.89292058e-01 -9.19141220e-01 -6.02586975e-02 1.98868737e+02] [ 9.09634525e-01 3.93912942e-01 -1.31900055e-01 1.31034366e+02] [ 1.44971458e-01 -3.46574774e-03 9.89429768e-01 3.64685816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters Centerline goodness : 0.986646 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:131.09, Z:36.47 [[ 3.84795988e-01 -9.21034847e-01 -6.02234020e-02 1.98886968e+02] [ 9.11548363e-01 3.89458222e-01 -1.31916169e-01 1.31090031e+02] [ 1.44953887e-01 -4.13573109e-03 9.89429768e-01 3.64733511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters Centerline goodness : 0.986717 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:131.14, Z:36.48 [[ 3.85939786e-01 -9.20558523e-01 -6.01871025e-02 1.98909131e+02] [ 9.11063711e-01 3.90585034e-01 -1.31932728e-01 1.31143192e+02] [ 1.44959979e-01 -3.91619596e-03 9.89429769e-01 3.64801436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters Centerline goodness : 0.985236 with order 1 Centerline is valid? [True, True] Translation: X:198.93, Y:131.20, Z:36.49 [[ 3.87834403e-01 -9.19764260e-01 -6.01513269e-02 1.98927275e+02] [ 9.10257410e-01 3.92454964e-01 -1.31949037e-01 1.31199101e+02] [ 1.44968696e-01 -3.57881490e-03 9.89429770e-01 3.64864051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters Centerline goodness : 0.984435 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:131.25, Z:36.50 [[ 3.91212119e-01 -9.18334961e-01 -6.01163696e-02 1.98945608e+02] [ 9.08808779e-01 3.95792689e-01 -1.31964962e-01 1.31253954e+02] [ 1.44981658e-01 -3.00799181e-03 9.89429771e-01 3.64960997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters Centerline goodness : 0.982632 with order 1 Centerline is valid? [True, True] Translation: X:198.96, Y:131.31, Z:36.50 [[ 3.92524082e-01 -9.17777465e-01 -6.00780313e-02 1.98962465e+02] [ 9.08242110e-01 3.97085522e-01 -1.31982414e-01 1.31308961e+02] [ 1.44986602e-01 -2.75912214e-03 9.89429771e-01 3.65013016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters Centerline goodness : 0.988873 with order 1 Centerline is valid? [True, True] Translation: X:199.00, Y:131.35, Z:36.52 [[ 4.16232511e-01 -9.07272856e-01 -6.00538121e-02 1.99003830e+02] [ 8.97620655e-01 4.20541192e-01 -1.31993433e-01 1.31351454e+02] [ 1.45009161e-01 1.03441608e-03 9.89429772e-01 3.65185574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters Centerline goodness : 0.988606 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:131.40, Z:36.53 [[ 4.23534693e-01 -9.03890272e-01 -6.00061626e-02 1.99021840e+02] [ 8.94200608e-01 4.27758447e-01 -1.32015092e-01 1.31404614e+02] [ 1.44995300e-01 2.25542435e-03 9.89429773e-01 3.65289148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters Centerline goodness : 0.980934 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:131.47, Z:36.53 [[ 4.08088184e-01 -9.10972122e-01 -5.99485419e-02 1.99016076e+02] [ 9.01351949e-01 4.12467903e-01 -1.32041253e-01 1.31470700e+02] [ 1.45012750e-01 -1.50260074e-04 9.89429775e-01 3.65277381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters Centerline goodness : 0.978536 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:131.52, Z:36.54 [[ 4.11700087e-01 -9.09348978e-01 -5.98955355e-02 1.99033919e+02] [ 8.99708039e-01 4.16033897e-01 -1.32065293e-01 1.31523757e+02] [ 1.45012012e-01 4.82797931e-04 9.89429777e-01 3.65418133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters Centerline goodness : 0.977918 with order 1 Centerline is valid? [True, True] Translation: X:199.05, Y:131.58, Z:36.55 [[ 4.12221805e-01 -9.09113953e-01 -5.98749094e-02 1.99053991e+02] [ 8.99469184e-01 4.16547086e-01 -1.32074644e-01 1.31577928e+02] [ 1.45011621e-01 5.88412122e-04 9.89429777e-01 3.65502679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters Centerline goodness : 0.985443 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:131.62, Z:36.56 [[ 4.26477639e-01 -9.02516551e-01 -5.98389408e-02 1.99094614e+02] [ 8.92802651e-01 4.30645342e-01 -1.32090938e-01 1.31621179e+02] [ 1.44983619e-01 2.90946646e-03 9.89429778e-01 3.65620679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters Centerline goodness : 0.985428 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:131.67, Z:36.57 [[ 4.24599978e-01 -9.03404879e-01 -5.97869828e-02 1.99114047e+02] [ 8.93696395e-01 4.28780277e-01 -1.32114452e-01 1.31673756e+02] [ 1.44988319e-01 2.66438224e-03 9.89429779e-01 3.65690251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters Centerline goodness : 0.976672 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:131.74, Z:36.57 [[ 4.11320711e-01 -9.09531388e-01 -5.97321256e-02 1.99117347e+02] [ 8.99881617e-01 4.15634809e-01 -1.32139249e-01 1.31735604e+02] [ 1.45011546e-01 5.99768253e-04 9.89429781e-01 3.65730713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters Centerline goodness : 0.981198 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:131.78, Z:36.58 [[ 4.26383298e-01 -9.02571422e-01 -5.96834307e-02 1.99161117e+02] [ 8.92848229e-01 4.30529263e-01 -1.32161240e-01 1.31777738e+02] [ 1.44980422e-01 3.06310002e-03 9.89429783e-01 3.65835312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters Centerline goodness : 0.980705 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:131.83, Z:36.59 [[ 4.25946165e-01 -9.02781320e-01 -5.96301265e-02 1.99182842e+02] [ 8.93056812e-01 4.30089038e-01 -1.32185286e-01 1.31829110e+02] [ 1.44980671e-01 3.05072519e-03 9.89429784e-01 3.65918169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters Centerline goodness : 0.981187 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:131.88, Z:36.60 [[ 4.26695521e-01 -9.02431666e-01 -5.95652625e-02 1.99204784e+02] [ 8.92699694e-01 4.30820822e-01 -1.32214509e-01 1.31881282e+02] [ 1.44976515e-01 3.24144735e-03 9.89429787e-01 3.65975845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters Centerline goodness : 0.979559 with order 1 Centerline is valid? [True, True] Translation: X:199.21, Y:131.94, Z:36.61 [[ 4.20666731e-01 -9.05261909e-01 -5.95010736e-02 1.99211755e+02] [ 8.95553630e-01 4.24847481e-01 -1.32243391e-01 1.31939071e+02] [ 1.44993785e-01 2.34399238e-03 9.89429789e-01 3.66075218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters Centerline goodness : 0.980546 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:131.99, Z:36.61 [[ 4.30000047e-01 -9.00869945e-01 -5.94415838e-02 1.99246644e+02] [ 8.91115332e-01 4.34071513e-01 -1.32270125e-01 1.31986322e+02] [ 1.44960079e-01 3.90685342e-03 9.89429791e-01 3.66145119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters Centerline goodness : 0.980925 with order 1 Centerline is valid? [True, True] Translation: X:199.27, Y:132.04, Z:36.62 [[ 4.31138352e-01 -9.00328398e-01 -5.94011475e-02 1.99270990e+02] [ 8.90566182e-01 4.35191551e-01 -1.32288283e-01 1.32036729e+02] [ 1.44953775e-01 4.13389897e-03 9.89429792e-01 3.66231307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters Centerline goodness : 0.982110 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:132.09, Z:36.63 [[ 4.29351333e-01 -9.01186191e-01 -5.93370162e-02 1.99293481e+02] [ 8.91428115e-01 4.33414485e-01 -1.32317042e-01 1.32088258e+02] [ 1.44959814e-01 3.91581404e-03 9.89429795e-01 3.66320535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters Centerline goodness : 0.982103 with order 1 Centerline is valid? [True, True] Translation: X:199.32, Y:132.14, Z:36.64 [[ 4.24919145e-01 -9.03288432e-01 -5.92767223e-02 1.99316169e+02] [ 8.93546714e-01 4.29021355e-01 -1.32344048e-01 1.32137544e+02] [ 1.44975828e-01 3.26899934e-03 9.89429797e-01 3.66436986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters Centerline goodness : 0.977131 with order 1 Centerline is valid? [True, True] Translation: X:199.32, Y:132.20, Z:36.66 [[ 4.15056540e-01 -9.07865941e-01 -5.92241595e-02 1.99324001e+02] [ 8.98166157e-01 4.19256939e-01 -1.32367566e-01 1.32195440e+02] [ 1.45002145e-01 1.74688834e-03 9.89429799e-01 3.66552223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters Centerline goodness : 0.981621 with order 1 Centerline is valid? [True, True] Translation: X:199.35, Y:132.25, Z:36.66 [[ 4.19075500e-01 -9.06021438e-01 -5.91682307e-02 1.99352941e+02] [ 8.96299647e-01 4.23224706e-01 -1.32392562e-01 1.32245159e+02] [ 1.44991956e-01 2.45001480e-03 9.89429800e-01 3.66611451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters Centerline goodness : 0.977953 with order 1 Centerline is valid? [True, True] Translation: X:199.37, Y:132.30, Z:36.67 [[ 4.14089324e-01 -9.08314473e-01 -5.91172490e-02 1.99370349e+02] [ 8.98612421e-01 4.18284472e-01 -1.32415323e-01 1.32298369e+02] [ 1.45002582e-01 1.70827745e-03 9.89429802e-01 3.66704902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters Centerline goodness : 0.978853 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:132.35, Z:36.68 [[ 4.12528703e-01 -9.09026865e-01 -5.90781516e-02 1.99396285e+02] [ 8.99329561e-01 4.16734812e-01 -1.32432765e-01 1.32349432e+02] [ 1.45004863e-01 1.50158846e-03 9.89429803e-01 3.66765398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters Centerline goodness : 0.981812 with order 1 Centerline is valid? [True, True] Translation: X:199.42, Y:132.40, Z:36.69 [[ 4.11007411e-01 -9.09718948e-01 -5.90283299e-02 1.99424289e+02] [ 9.00025538e-01 4.15222485e-01 -1.32454968e-01 1.32398272e+02] [ 1.45006684e-01 1.31296903e-03 9.89429804e-01 3.66850012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters Centerline goodness : 0.984618 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:132.45, Z:36.69 [[ 4.11094231e-01 -9.09683069e-01 -5.89766603e-02 1.99451813e+02] [ 8.99985992e-01 4.15300856e-01 -1.32477970e-01 1.32445781e+02] [ 1.45006024e-01 1.38276120e-03 9.89429806e-01 3.66941129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters Centerline goodness : 0.982681 with order 1 Centerline is valid? [True, True] Translation: X:199.48, Y:132.49, Z:36.70 [[ 4.13962142e-01 -9.08384251e-01 -5.89355405e-02 1.99482010e+02] [ 8.98671375e-01 4.18132157e-01 -1.32496261e-01 1.32494840e+02] [ 1.45000362e-01 1.88475282e-03 9.89429807e-01 3.66993515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters Centerline goodness : 0.982554 with order 1 Centerline is valid? [True, True] Translation: X:199.50, Y:132.55, Z:36.71 [[ 4.15017925e-01 -9.07905698e-01 -5.88843401e-02 1.99504590e+02] [ 8.98184789e-01 4.19169174e-01 -1.32519012e-01 1.32546643e+02] [ 1.44997266e-01 2.10874682e-03 9.89429809e-01 3.67072101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters Centerline goodness : 0.986428 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:132.60, Z:36.72 [[ 4.14698054e-01 -9.08055941e-01 -5.88211836e-02 1.99524560e+02] [ 8.98332564e-01 4.18843512e-01 -1.32547040e-01 1.32598769e+02] [ 1.44996998e-01 2.12601477e-03 9.89429811e-01 3.67166936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters Centerline goodness : 0.981890 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:132.65, Z:36.72 [[ 4.19912874e-01 -9.05660251e-01 -5.87595788e-02 1.99550230e+02] [ 8.95909422e-01 4.23993338e-01 -1.32574345e-01 1.32647713e+02] [ 1.44980984e-01 3.02641375e-03 9.89429813e-01 3.67230880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters Centerline goodness : 0.977446 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:132.71, Z:36.73 [[ 4.07996965e-01 -9.11094358e-01 -5.86987852e-02 1.99549488e+02] [ 9.01394060e-01 4.12196136e-01 -1.32601257e-01 1.32710318e+02] [ 1.45007669e-01 1.19017394e-03 9.89429815e-01 3.67254677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters Centerline goodness : 0.985609 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:132.75, Z:36.74 [[ 4.30567256e-01 -9.00651766e-01 -5.86364671e-02 1.99596196e+02] [ 8.90846179e-01 4.34514309e-01 -1.32628808e-01 1.32750544e+02] [ 1.44930754e-01 4.86954936e-03 9.89429818e-01 3.67387148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters Centerline goodness : 0.978414 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:132.81, Z:36.74 [[ 4.17092578e-01 -9.06973863e-01 -5.85849272e-02 1.99598277e+02] [ 8.97225049e-01 4.21177839e-01 -1.32651571e-01 1.32810273e+02] [ 1.44986181e-01 2.76412151e-03 9.89429819e-01 3.67426892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters Centerline goodness : 0.981811 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:132.86, Z:36.76 [[ 4.16987838e-01 -9.07025908e-01 -5.85247496e-02 1.99626269e+02] [ 8.97273885e-01 4.21065426e-01 -1.32678116e-01 1.32859510e+02] [ 1.44985237e-01 2.81243118e-03 9.89429821e-01 3.67553026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters Centerline goodness : 0.989329 with order 1 Centerline is valid? [True, True] Translation: X:199.67, Y:132.90, Z:36.77 [[ 4.31378202e-01 -9.00272718e-01 -5.84968475e-02 1.99672271e+02] [ 8.90455362e-01 4.35295879e-01 -1.32690417e-01 1.32899311e+02] [ 1.44920999e-01 5.15092175e-03 9.89429822e-01 3.67661408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters Centerline goodness : 0.980491 with order 1 Centerline is valid? [True, True] Translation: X:199.67, Y:132.96, Z:36.77 [[ 4.14516203e-01 -9.08163293e-01 -5.84444282e-02 1.99674866e+02] [ 8.98417478e-01 4.18608602e-01 -1.32713501e-01 1.32960803e+02] [ 1.44990871e-01 2.50440085e-03 9.89429823e-01 3.67665643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters Centerline goodness : 0.989886 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:133.00, Z:36.78 [[ 4.30602338e-01 -9.00650754e-01 -5.83938791e-02 1.99724019e+02] [ 8.90830734e-01 4.34513323e-01 -1.32735739e-01 1.33000925e+02] [ 1.44921462e-01 5.13725756e-03 9.89429825e-01 3.67761939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters Centerline goodness : 0.984999 with order 1 Centerline is valid? [True, True] Translation: X:199.73, Y:133.06, Z:36.78 [[ 4.12815828e-01 -9.08944103e-01 -5.83413205e-02 1.99730635e+02] [ 8.99199628e-01 4.16911406e-01 -1.32758837e-01 1.33060141e+02] [ 1.44993524e-01 2.34445540e-03 9.89429827e-01 3.67846378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters Centerline goodness : 0.984198 with order 1 Centerline is valid? [True, True] Translation: X:199.75, Y:133.11, Z:36.79 [[ 4.07182489e-01 -9.11485078e-01 -5.82869810e-02 1.99751643e+02] [ 9.01762759e-01 4.11330384e-01 -1.32782690e-01 1.33113040e+02] [ 1.45004647e-01 1.50575747e-03 9.89429828e-01 3.67906145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters Centerline goodness : 0.986454 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:133.16, Z:36.80 [[ 4.04862140e-01 -9.12520556e-01 -5.82484584e-02 1.99781435e+02] [ 9.02806415e-01 4.09029152e-01 -1.32799587e-01 1.33161540e+02] [ 1.45007670e-01 1.17844309e-03 9.89429829e-01 3.67971838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters Centerline goodness : 0.988415 with order 1 Centerline is valid? [True, True] Translation: X:199.81, Y:133.21, Z:36.82 [[ 4.01694007e-01 -9.13922003e-01 -5.82107969e-02 1.99811884e+02] [ 9.04220010e-01 4.05889221e-01 -1.32816093e-01 1.33209322e+02] [ 1.45010685e-01 7.16061421e-04 9.89429830e-01 3.68173451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters Centerline goodness : 0.988862 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:133.26, Z:36.82 [[ 3.95157622e-01 -9.16769519e-01 -5.81730407e-02 1.99836611e+02] [ 9.07095321e-01 3.99416538e-01 -1.32832629e-01 1.33260980e+02] [ 1.45012180e-01 -2.78667439e-04 9.89429831e-01 3.68214596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:199.87, Y:133.31, Z:36.84 [[ 3.88933901e-01 -9.19429512e-01 -5.81359814e-02 1.99865711e+02] [ 9.09782009e-01 3.93252946e-01 -1.32848846e-01 1.33310593e+02] [ 1.45007296e-01 -1.22164988e-03 9.89429832e-01 3.68350643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters Centerline goodness : 0.989854 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:133.36, Z:36.84 [[ 3.83806325e-01 -9.21584099e-01 -5.80986488e-02 1.99890370e+02] [ 9.11958362e-01 3.88173662e-01 -1.32865171e-01 1.33362821e+02] [ 1.44998794e-01 -1.98905567e-03 9.89429832e-01 3.68430394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters Centerline goodness : 0.991573 with order 1 Centerline is valid? [True, True] Translation: X:199.92, Y:133.41, Z:36.85 [[ 3.79555069e-01 -9.23345404e-01 -5.80621576e-02 1.99915816e+02] [ 9.13737488e-01 3.83961471e-01 -1.32881116e-01 1.33414278e+02] [ 1.44988799e-01 -2.61786891e-03 9.89429833e-01 3.68547662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters Centerline goodness : 0.990963 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:133.47, Z:36.86 [[ 3.77039740e-01 -9.24377688e-01 -5.80252000e-02 1.99939932e+02] [ 9.14779355e-01 3.81466975e-01 -1.32897252e-01 1.33465249e+02] [ 1.44981952e-01 -2.97270950e-03 9.89429834e-01 3.68644185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters Centerline goodness : 0.990107 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:133.52, Z:36.87 [[ 3.75505519e-01 -9.25004419e-01 -5.79864641e-02 1.99963632e+02] [ 9.15410870e-01 3.79943110e-01 -1.32914152e-01 1.33518132e+02] [ 1.44977735e-01 -3.17144192e-03 9.89429835e-01 3.68708248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters Centerline goodness : 0.991170 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:133.57, Z:36.88 [[ 3.76496685e-01 -9.24603737e-01 -5.79497777e-02 1.99987239e+02] [ 9.15003009e-01 3.80918720e-01 -1.32930145e-01 1.33569921e+02] [ 1.44981864e-01 -2.97646207e-03 9.89429836e-01 3.68808052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters Centerline goodness : 0.990879 with order 1 Centerline is valid? [True, True] Translation: X:200.01, Y:133.62, Z:36.89 [[ 3.77018827e-01 -9.24393100e-01 -5.79154651e-02 2.00008727e+02] [ 9.14787610e-01 3.81430507e-01 -1.32945093e-01 1.33623069e+02] [ 1.44984252e-01 -2.85754687e-03 9.89429836e-01 3.68882840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters Centerline goodness : 0.991078 with order 1 Centerline is valid? [True, True] Translation: X:200.03, Y:133.68, Z:36.90 [[ 3.78942620e-01 -9.23608466e-01 -5.78782537e-02 2.00029047e+02] [ 9.13991368e-01 3.83328937e-01 -1.32961291e-01 1.33675748e+02] [ 1.44990584e-01 -2.51552423e-03 9.89429837e-01 3.68962391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters Centerline goodness : 0.990494 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:133.73, Z:36.90 [[ 3.81561080e-01 -9.22532393e-01 -5.78370695e-02 2.00047335e+02] [ 9.12900208e-01 3.85914164e-01 -1.32979204e-01 1.33729226e+02] [ 1.44997767e-01 -2.05978419e-03 9.89429838e-01 3.69002195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters Centerline goodness : 0.990269 with order 1 Centerline is valid? [True, True] Translation: X:200.07, Y:133.78, Z:36.91 [[ 3.84340696e-01 -9.21379804e-01 -5.78055856e-02 2.00069357e+02] [ 9.11732504e-01 3.88660176e-01 -1.32992888e-01 1.33781169e+02] [ 1.45003691e-01 -1.58865199e-03 9.89429839e-01 3.69126665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters Centerline goodness : 0.990015 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:133.84, Z:36.92 [[ 3.88116389e-01 -9.19797896e-01 -5.77711004e-02 2.00087277e+02] [ 9.10130755e-01 3.92391279e-01 -1.33007867e-01 1.33836788e+02] [ 1.45009232e-01 -9.56722189e-04 9.89429840e-01 3.69196875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters Centerline goodness : 0.988061 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:133.89, Z:36.93 [[ 3.93574424e-01 -9.17477203e-01 -5.77473418e-02 2.00107270e+02] [ 9.07783336e-01 3.97788358e-01 -1.33018181e-01 1.33889627e+02] [ 1.45012369e-01 -6.95206166e-05 9.89429840e-01 3.69284159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters Centerline goodness : 0.987472 with order 1 Centerline is valid? [True, True] Translation: X:200.13, Y:133.94, Z:36.93 [[ 3.96760595e-01 -9.16106313e-01 -5.77083590e-02 2.00128233e+02] [ 9.06395426e-01 4.00935153e-01 -1.33035092e-01 1.33943352e+02] [ 1.45011597e-01 4.76489426e-04 9.89429841e-01 3.69337709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters Centerline goodness : 0.988729 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:134.00, Z:36.94 [[ 4.00928074e-01 -9.14292502e-01 -5.76706239e-02 2.00151521e+02] [ 9.04560378e-01 4.05052879e-01 -1.33051448e-01 1.33995147e+02] [ 1.45007593e-01 1.17749935e-03 9.89429842e-01 3.69443313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters Centerline goodness : 0.986354 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:134.05, Z:36.95 [[ 4.03158097e-01 -9.13313715e-01 -5.76333904e-02 2.00169851e+02] [ 9.03569273e-01 4.07253716e-01 -1.33067574e-01 1.34049726e+02] [ 1.45003853e-01 1.57150927e-03 9.89429842e-01 3.69493207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters Centerline goodness : 0.986648 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:134.10, Z:36.96 [[ 4.05279571e-01 -9.12376954e-01 -5.75913427e-02 2.00193834e+02] [ 9.02620464e-01 4.09346401e-01 -1.33085770e-01 1.34101192e+02] [ 1.44999198e-01 1.95381934e-03 9.89429843e-01 3.69571277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters Centerline goodness : 0.984593 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:134.16, Z:36.96 [[ 3.98785016e-01 -9.15236570e-01 -5.75546045e-02 2.00211765e+02] [ 9.05506960e-01 4.02915741e-01 -1.33101656e-01 1.34156661e+02] [ 1.45009159e-01 9.62851225e-04 9.89429844e-01 3.69623870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters Centerline goodness : 0.987787 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:134.21, Z:36.98 [[ 4.00351482e-01 -9.14554778e-01 -5.75173900e-02 2.00241130e+02] [ 9.04815824e-01 4.04460126e-01 -1.33117736e-01 1.34206137e+02] [ 1.45006952e-01 1.25123818e-03 9.89429845e-01 3.69782038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters Centerline goodness : 0.985232 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:134.26, Z:36.98 [[ 3.92471147e-01 -9.17966456e-01 -5.74803016e-02 2.00260518e+02] [ 9.08260877e-01 3.96658019e-01 -1.33133749e-01 1.34260156e+02] [ 1.45012338e-01 4.40460402e-05 9.89429846e-01 3.69792017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters Centerline goodness : 0.987907 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:134.31, Z:36.99 [[ 3.87533778e-01 -9.20062951e-01 -5.74607394e-02 2.00286099e+02] [ 9.10378768e-01 3.91769902e-01 -1.33142192e-01 1.34309376e+02] [ 1.45010586e-01 -7.13940693e-04 9.89429846e-01 3.69939053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:134.35, Z:37.01 [[ 3.99079702e-01 -9.15115044e-01 -5.74442907e-02 2.00331114e+02] [ 9.05377316e-01 4.03191248e-01 -1.33149288e-01 1.34350472e+02] [ 1.45007952e-01 1.12842052e-03 9.89429846e-01 3.70090196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters Centerline goodness : 0.988987 with order 1 Centerline is valid? [True, True] Translation: X:200.34, Y:134.41, Z:37.01 [[ 3.82208557e-01 -9.22291210e-01 -5.74068201e-02 2.00337814e+02] [ 9.12628223e-01 3.86492810e-01 -1.33165441e-01 1.34408132e+02] [ 1.45004639e-01 -1.49411289e-03 9.89429847e-01 3.70144681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters Centerline goodness : 0.989412 with order 1 Centerline is valid? [True, True] Translation: X:200.36, Y:134.46, Z:37.02 [[ 3.79991976e-01 -9.23209571e-01 -5.73601489e-02 2.00361050e+02] [ 9.13553903e-01 3.84292697e-01 -1.33185542e-01 1.34460342e+02] [ 1.45001253e-01 -1.79215062e-03 9.89429848e-01 3.70244142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters Centerline goodness : 0.990815 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:134.50, Z:37.04 [[ 3.90146608e-01 -9.18966630e-01 -5.73232699e-02 2.00399063e+02] [ 9.09261829e-01 3.94335275e-01 -1.33201413e-01 1.34504932e+02] [ 1.45012241e-01 -1.53781783e-04 9.89429849e-01 3.70372907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters Centerline goodness : 0.986818 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:134.57, Z:37.04 [[ 3.71852832e-01 -9.26522417e-01 -5.72859711e-02 2.00398565e+02] [ 9.16900120e-01 3.76227699e-01 -1.33217452e-01 1.34566636e+02] [ 1.44981525e-01 -2.98822691e-03 9.89429850e-01 3.70375450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:134.61, Z:37.05 [[ 3.82589660e-01 -9.22143248e-01 -5.72449362e-02 2.00434696e+02] [ 9.12468174e-01 3.86846537e-01 -1.33235083e-01 1.34611947e+02] [ 1.45006838e-01 -1.25981728e-03 9.89429851e-01 3.70535676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters Centerline goodness : 0.987977 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:134.67, Z:37.05 [[ 3.71702319e-01 -9.26587590e-01 -5.72086046e-02 2.00442348e+02] [ 9.16960955e-01 3.76067630e-01 -1.33250682e-01 1.34673390e+02] [ 1.44982732e-01 -2.92846939e-03 9.89429852e-01 3.70515615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters Centerline goodness : 0.987633 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:134.73, Z:37.06 [[ 3.74000203e-01 -9.25664775e-01 -5.71714241e-02 2.00460092e+02] [ 9.16024932e-01 3.78336265e-01 -1.33266632e-01 1.34728559e+02] [ 1.44990250e-01 -2.52870232e-03 9.89429853e-01 3.70573913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters Centerline goodness : 0.987193 with order 1 Centerline is valid? [True, True] Translation: X:200.48, Y:134.78, Z:37.07 [[ 3.78484439e-01 -9.23842630e-01 -5.71342706e-02 2.00480034e+02] [ 9.14179497e-01 3.82768346e-01 -1.33282559e-01 1.34782144e+02] [ 1.45001300e-01 -1.78560433e-03 9.89429853e-01 3.70693385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters Centerline goodness : 0.983820 with order 1 Centerline is valid? [True, True] Translation: X:200.52, Y:134.83, Z:37.08 [[ 3.92232210e-01 -9.18092454e-01 -5.70976215e-02 2.00516237e+02] [ 9.08364192e-01 3.96366081e-01 -1.33298257e-01 1.34826986e+02] [ 1.45011685e-01 4.18435367e-04 9.89429854e-01 3.70832676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters Centerline goodness : 0.983478 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:134.89, Z:37.09 [[ 3.78020128e-01 -9.24038767e-01 -5.70362962e-02 2.00513866e+02] [ 9.14371531e-01 3.82294760e-01 -1.33324493e-01 1.34890820e+02] [ 1.45001677e-01 -1.75302357e-03 9.89429856e-01 3.70863226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters Centerline goodness : 0.983960 with order 1 Centerline is valid? [True, True] Translation: X:200.54, Y:134.94, Z:37.09 [[ 3.82352578e-01 -9.22258157e-01 -5.69771723e-02 2.00536350e+02] [ 9.12567241e-01 3.86573245e-01 -1.33349755e-01 1.34944074e+02] [ 1.45008750e-01 -1.00887821e-03 9.89429858e-01 3.70949914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters Centerline goodness : 0.983584 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:135.00, Z:37.10 [[ 3.82004357e-01 -9.22404625e-01 -5.69418971e-02 2.00556402e+02] [ 9.12713082e-01 3.86223584e-01 -1.33364817e-01 1.34997687e+02] [ 1.45008627e-01 -1.02567328e-03 9.89429859e-01 3.71037511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters Centerline goodness : 0.984281 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:135.05, Z:37.11 [[ 3.83113397e-01 -9.21946835e-01 -5.69048224e-02 2.00577985e+02] [ 9.12247900e-01 3.87315602e-01 -1.33380634e-01 1.35051315e+02] [ 1.45009979e-01 -8.11396903e-04 9.89429860e-01 3.71134167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters Centerline goodness : 0.983235 with order 1 Centerline is valid? [True, True] Translation: X:200.62, Y:135.10, Z:37.12 [[ 4.00083566e-01 -9.14712504e-01 -5.68698005e-02 2.00617443e+02] [ 9.04935479e-01 4.04100732e-01 -1.33395565e-01 1.35095955e+02] [ 1.44999719e-01 1.90587327e-03 9.89429861e-01 3.71237816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters Centerline goodness : 0.982585 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:135.15, Z:37.13 [[ 4.01387873e-01 -9.14144489e-01 -5.68122174e-02 2.00637488e+02] [ 9.04358312e-01 4.05382688e-01 -1.33420085e-01 1.35149256e+02] [ 1.44995925e-01 2.17460318e-03 9.89429863e-01 3.71311592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters Centerline goodness : 0.987918 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:135.20, Z:37.14 [[ 3.99020175e-01 -9.15184327e-01 -5.67498705e-02 2.00650118e+02] [ 9.05404794e-01 4.03031221e-01 -1.33446599e-01 1.35204238e+02] [ 1.45000206e-01 1.86628057e-03 9.89429865e-01 3.71379303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters Centerline goodness : 0.987114 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:135.25, Z:37.14 [[ 4.04481330e-01 -9.12787630e-01 -5.66885858e-02 2.00675233e+02] [ 9.02980701e-01 4.08424914e-01 -1.33472628e-01 1.35254068e+02] [ 1.44985195e-01 2.79848736e-03 9.89429867e-01 3.71437135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters Centerline goodness : 0.986638 with order 1 Centerline is valid? [True, True] Translation: X:200.70, Y:135.31, Z:37.15 [[ 4.10466579e-01 -9.10115482e-01 -5.66303528e-02 2.00695536e+02] [ 9.00279508e-01 4.14337146e-01 -1.33497332e-01 1.35306995e+02] [ 1.44962047e-01 3.81304689e-03 9.89429869e-01 3.71489249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters Centerline goodness : 0.974101 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:135.37, Z:37.15 [[ 3.94582052e-01 -9.17117491e-01 -5.65730701e-02 2.00692062e+02] [ 9.07346850e-01 3.98614695e-01 -1.33521603e-01 1.35371655e+02] [ 1.45005854e-01 1.35383089e-03 9.89429871e-01 3.71508928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters Centerline goodness : 0.976092 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:135.42, Z:37.16 [[ 4.05611242e-01 -9.12296300e-01 -5.65241630e-02 2.00717269e+02] [ 9.02474899e-01 4.09518631e-01 -1.33542304e-01 1.35422748e+02] [ 1.44977847e-01 3.15462131e-03 9.89429872e-01 3.71571473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters Centerline goodness : 0.975579 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:135.48, Z:37.17 [[ 4.02720787e-01 -9.13578084e-01 -5.64893907e-02 2.00738752e+02] [ 9.03767066e-01 4.06654171e-01 -1.33557011e-01 1.35475777e+02] [ 1.44986405e-01 2.73293371e-03 9.89429873e-01 3.71660147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters Centerline goodness : 0.977814 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:135.53, Z:37.18 [[ 4.07026982e-01 -9.11670017e-01 -5.64518803e-02 2.00765199e+02] [ 9.01838380e-01 4.10908538e-01 -1.33572864e-01 1.35525988e+02] [ 1.44970935e-01 3.45728759e-03 9.89429874e-01 3.71793964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters Centerline goodness : 0.978094 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:135.58, Z:37.19 [[ 4.05153118e-01 -9.12505738e-01 -5.64289704e-02 2.00788341e+02] [ 9.02680766e-01 4.09051512e-01 -1.33582542e-01 1.35579310e+02] [ 1.44977192e-01 3.18403714e-03 9.89429874e-01 3.71860563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters Centerline goodness : 0.978372 with order 1 Centerline is valid? [True, True] Translation: X:200.81, Y:135.63, Z:37.19 [[ 4.00135823e-01 -9.14719213e-01 -5.63922347e-02 2.00811327e+02] [ 9.04913638e-01 4.04082751e-01 -1.33598048e-01 1.35632401e+02] [ 1.44991831e-01 2.42726281e-03 9.89429875e-01 3.71941101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters Centerline goodness : 0.978449 with order 1 Centerline is valid? [True, True] Translation: X:200.84, Y:135.68, Z:37.20 [[ 3.98520524e-01 -9.15426441e-01 -5.63544343e-02 2.00835105e+02] [ 9.05625620e-01 4.02479239e-01 -1.33613992e-01 1.35683837e+02] [ 1.44995271e-01 2.21189851e-03 9.89429876e-01 3.72038871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters Centerline goodness : 0.980644 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:135.73, Z:37.21 [[ 4.00304837e-01 -9.14650129e-01 -5.63132154e-02 2.00862217e+02] [ 9.04839192e-01 4.04238414e-01 -1.33631362e-01 1.35734528e+02] [ 1.44989907e-01 2.53887618e-03 9.89429877e-01 3.72140726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters Centerline goodness : 0.980483 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:135.79, Z:37.22 [[ 3.95909276e-01 -9.16563623e-01 -5.62758392e-02 2.00884148e+02] [ 9.06769471e-01 3.99884458e-01 -1.33647100e-01 1.35787476e+02] [ 1.44999904e-01 1.88291371e-03 9.89429878e-01 3.72198951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters Centerline goodness : 0.982769 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:135.84, Z:37.23 [[ 3.92828818e-01 -9.17889483e-01 -5.62531445e-02 2.00910259e+02] [ 9.08107384e-01 3.96833566e-01 -1.33656652e-01 1.35839510e+02] [ 1.45005171e-01 1.42028865e-03 9.89429878e-01 3.72288444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters Centerline goodness : 0.989287 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:135.88, Z:37.25 [[ 4.08550125e-01 -9.11002961e-01 -5.62174452e-02 2.00957664e+02] [ 9.01151425e-01 4.12380885e-01 -1.33671666e-01 1.35879583e+02] [ 1.44958283e-01 3.95114494e-03 9.89429879e-01 3.72488616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters Centerline goodness : 0.984285 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:135.94, Z:37.25 [[ 3.91425878e-01 -9.18494132e-01 -5.61632566e-02 2.00961218e+02] [ 9.08712797e-01 3.95432487e-01 -1.33694430e-01 1.35940435e+02] [ 1.45006326e-01 1.29518965e-03 9.89429880e-01 3.72452285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters Centerline goodness : 0.984480 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:135.99, Z:37.25 [[ 3.90514815e-01 -9.18884433e-01 -5.61210932e-02 2.00984673e+02] [ 9.09104560e-01 3.94524988e-01 -1.33712127e-01 1.35993333e+02] [ 1.45007166e-01 1.19662481e-03 9.89429881e-01 3.72542123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters Centerline goodness : 0.986374 with order 1 Centerline is valid? [True, True] Translation: X:201.01, Y:136.04, Z:37.27 [[ 3.95269817e-01 -9.16851416e-01 -5.60825554e-02 2.01011660e+02] [ 9.07048632e-01 3.99223653e-01 -1.33728289e-01 1.36043992e+02] [ 1.44998454e-01 1.98915115e-03 9.89429882e-01 3.72655039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters Centerline goodness : 0.986174 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:136.09, Z:37.27 [[ 3.98215435e-01 -9.15578073e-01 -5.60469432e-02 2.01035475e+02] [ 9.05760552e-01 4.02132534e-01 -1.33743213e-01 1.36094860e+02] [ 1.44990652e-01 2.49350145e-03 9.89429883e-01 3.72728728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters Centerline goodness : 0.986863 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:136.15, Z:37.28 [[ 4.00810752e-01 -9.14446420e-01 -5.60221931e-02 2.01060736e+02] [ 9.04616398e-01 4.04696371e-01 -1.33753579e-01 1.36145675e+02] [ 1.44982460e-01 2.93127809e-03 9.89429883e-01 3.72839543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters Centerline goodness : 0.987391 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:136.20, Z:37.29 [[ 4.01941394e-01 -9.13952458e-01 -5.59823295e-02 2.01086196e+02] [ 9.04115344e-01 4.05809021e-01 -1.33770262e-01 1.36197450e+02] [ 1.44977794e-01 3.15332250e-03 9.89429884e-01 3.72923557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters Centerline goodness : 0.986625 with order 1 Centerline is valid? [True, True] Translation: X:201.11, Y:136.25, Z:37.30 [[ 3.97803868e-01 -9.15763222e-01 -5.59446386e-02 2.01108657e+02] [ 9.05941511e-01 4.01710441e-01 -1.33786023e-01 1.36251008e+02] [ 1.44989865e-01 2.53802716e-03 9.89429885e-01 3.72990954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters Centerline goodness : 0.987398 with order 1 Centerline is valid? [True, True] Translation: X:201.13, Y:136.30, Z:37.31 [[ 3.88289579e-01 -9.19839961e-01 -5.59074957e-02 2.01133820e+02] [ 9.10057062e-01 3.92292353e-01 -1.33801543e-01 1.36302473e+02] [ 1.45008089e-01 1.07473358e-03 9.89429886e-01 3.73089021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters Centerline goodness : 0.987090 with order 1 Centerline is valid? [True, True] Translation: X:201.15, Y:136.35, Z:37.32 [[ 3.83358118e-01 -9.21908273e-01 -5.58720746e-02 2.01154509e+02] [ 9.12144817e-01 3.87408083e-01 -1.33816333e-01 1.36354722e+02] [ 1.45011677e-01 3.36154197e-04 9.89429887e-01 3.73158614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters Centerline goodness : 0.989043 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:136.41, Z:37.32 [[ 3.80802620e-01 -9.22968557e-01 -5.58427037e-02 2.01179823e+02] [ 9.13214579e-01 3.84875358e-01 -1.33828588e-01 1.36407609e+02] [ 1.45012060e-01 -3.40941708e-05 9.89429887e-01 3.73204526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters Centerline goodness : 0.987361 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:136.46, Z:37.33 [[ 3.82573165e-01 -9.22238211e-01 -5.58073149e-02 2.01202321e+02] [ 9.12474304e-01 3.86622042e-01 -1.33843344e-01 1.36459696e+02] [ 1.45011784e-01 2.82130908e-04 9.89429888e-01 3.73314932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters Centerline goodness : 0.988926 with order 1 Centerline is valid? [True, True] Translation: X:201.23, Y:136.51, Z:37.34 [[ 3.83923448e-01 -9.21679149e-01 -5.57703588e-02 2.01229983e+02] [ 9.11907109e-01 3.87952653e-01 -1.33858741e-01 1.36510461e+02] [ 1.45011070e-01 5.34122800e-04 9.89429889e-01 3.73399039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:136.56, Z:37.35 [[ 3.96463216e-01 -9.16357180e-01 -5.57354208e-02 2.01266996e+02] [ 9.06529055e-01 4.00353614e-01 -1.33873287e-01 1.36555690e+02] [ 1.44989625e-01 2.55005571e-03 9.89429889e-01 3.73549622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters Centerline goodness : 0.989351 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:136.62, Z:37.36 [[ 3.82990127e-01 -9.22072401e-01 -5.56870619e-02 2.01271620e+02] [ 9.12299456e-01 3.87017131e-01 -1.33893400e-01 1.36616522e+02] [ 1.45011256e-01 4.76574166e-04 9.89429891e-01 3.73577708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters Centerline goodness : 0.988277 with order 1 Centerline is valid? [True, True] Translation: X:201.29, Y:136.67, Z:37.37 [[ 3.81110120e-01 -9.22854049e-01 -5.56370397e-02 2.01291655e+02] [ 9.13086328e-01 3.85149774e-01 -1.33914183e-01 1.36670917e+02] [ 1.45011839e-01 2.34630052e-04 9.89429892e-01 3.73659816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters Centerline goodness : 0.987720 with order 1 Centerline is valid? [True, True] Translation: X:201.31, Y:136.72, Z:37.38 [[ 3.84614924e-01 -9.21401145e-01 -5.55993677e-02 2.01313299e+02] [ 9.11615904e-01 3.88611949e-01 -1.33929822e-01 1.36722540e+02] [ 1.45009670e-01 8.26140654e-04 9.89429893e-01 3.73773752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters Centerline goodness : 0.989015 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:136.78, Z:37.38 [[ 3.87101352e-01 -9.20360935e-01 -5.55724114e-02 2.01333876e+02] [ 9.10563348e-01 3.91068019e-01 -1.33941007e-01 1.36776094e+02] [ 1.45006663e-01 1.24654372e-03 9.89429893e-01 3.73837115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters Centerline goodness : 0.988512 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:136.83, Z:37.39 [[ 3.88040544e-01 -9.19967625e-01 -5.55347129e-02 2.01354377e+02] [ 9.10163782e-01 3.91991721e-01 -1.33956636e-01 1.36829513e+02] [ 1.45004916e-01 1.43492141e-03 9.89429894e-01 3.73910357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters Centerline goodness : 0.989279 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:136.88, Z:37.40 [[ 3.92298384e-01 -9.18162372e-01 -5.54962763e-02 2.01378242e+02] [ 9.08338102e-01 3.96198493e-01 -1.33972557e-01 1.36881798e+02] [ 1.44996102e-01 2.14783551e-03 9.89429895e-01 3.74009520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters Centerline goodness : 0.988394 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:136.94, Z:37.41 [[ 3.93209699e-01 -9.17774775e-01 -5.54580470e-02 2.01398304e+02] [ 9.07944433e-01 3.97094474e-01 -1.33988381e-01 1.36936014e+02] [ 1.44993240e-01 2.33270586e-03 9.89429896e-01 3.74084481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters Centerline goodness : 0.988323 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:136.99, Z:37.41 [[ 3.87894683e-01 -9.20036056e-01 -5.54199485e-02 2.01418721e+02] [ 9.10226121e-01 3.91830703e-01 -1.34004137e-01 1.36988992e+02] [ 1.45003875e-01 1.53480763e-03 9.89429897e-01 3.74149599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters Centerline goodness : 0.990849 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:137.04, Z:37.43 [[ 3.88356728e-01 -9.19842802e-01 -5.53919899e-02 2.01449326e+02] [ 9.10029261e-01 3.92283748e-01 -1.34015693e-01 1.37038277e+02] [ 1.45002748e-01 1.63756454e-03 9.89429897e-01 3.74293715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:201.47, Y:137.09, Z:37.43 [[ 3.81551060e-01 -9.22688582e-01 -5.53585504e-02 2.01466650e+02] [ 9.12902336e-01 3.85545610e-01 -1.34029505e-01 1.37094502e+02] [ 1.45010740e-01 6.02149734e-04 9.89429898e-01 3.74310651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:137.15, Z:37.44 [[ 3.73730473e-01 -9.25886249e-01 -5.53189608e-02 2.01487649e+02] [ 9.16131757e-01 3.77801952e-01 -1.34045843e-01 1.37148566e+02] [ 1.45010814e-01 -5.82440283e-04 9.89429899e-01 3.74380720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters Centerline goodness : 0.987112 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:137.20, Z:37.45 [[ 3.68620046e-01 -9.27935002e-01 -5.52801399e-02 2.01506408e+02] [ 9.18200732e-01 3.72739636e-01 -1.34061851e-01 1.37201446e+02] [ 1.45005783e-01 -1.34037908e-03 9.89429900e-01 3.74477642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters Centerline goodness : 0.988544 with order 1 Centerline is valid? [True, True] Translation: X:201.53, Y:137.25, Z:37.46 [[ 3.73204006e-01 -9.26102703e-01 -5.52499216e-02 2.01529443e+02] [ 9.16346357e-01 3.77271036e-01 -1.34074304e-01 1.37252601e+02] [ 1.45010770e-01 -5.90997184e-04 9.89429900e-01 3.74600122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters Centerline goodness : 0.987343 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:137.31, Z:37.46 [[ 3.73966534e-01 -9.25797234e-01 -5.52133324e-02 2.01547150e+02] [ 9.16035342e-01 3.78020230e-01 -1.34089370e-01 1.37308392e+02] [ 1.45011325e-01 -4.32426805e-04 9.89429901e-01 3.74646824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters Centerline goodness : 0.986495 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:137.36, Z:37.47 [[ 3.78544021e-01 -9.23937286e-01 -5.51753260e-02 2.01568533e+02] [ 9.14153193e-01 3.82543836e-01 -1.34105007e-01 1.37360899e+02] [ 1.45011597e-01 3.25948221e-04 9.89429902e-01 3.74727666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters Centerline goodness : 0.987287 with order 1 Centerline is valid? [True, True] Translation: X:201.59, Y:137.42, Z:37.48 [[ 3.80919234e-01 -9.22962555e-01 -5.51421833e-02 2.01588481e+02] [ 9.13166255e-01 3.84889054e-01 -1.34118634e-01 1.37416139e+02] [ 1.45010100e-01 7.34386282e-04 9.89429902e-01 3.74777398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters Centerline goodness : 0.987816 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:137.47, Z:37.49 [[ 3.83264543e-01 -9.21993303e-01 -5.51057120e-02 2.01608223e+02] [ 9.12184810e-01 3.87204139e-01 -1.34133617e-01 1.37468815e+02] [ 1.45007457e-01 1.14206609e-03 9.89429903e-01 3.74896633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters Centerline goodness : 0.986535 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:137.52, Z:37.50 [[ 3.83324337e-01 -9.21970076e-01 -5.50784075e-02 2.01628176e+02] [ 9.12159734e-01 3.87259325e-01 -1.34144828e-01 1.37523419e+02] [ 1.45007145e-01 1.18067184e-03 9.89429904e-01 3.74985013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters Centerline goodness : 0.986735 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:137.58, Z:37.51 [[ 3.83666520e-01 -9.21829927e-01 -5.50416831e-02 2.01649804e+02] [ 9.12015986e-01 3.87592522e-01 -1.34159895e-01 1.37576100e+02] [ 1.45006351e-01 1.27376533e-03 9.89429904e-01 3.75081573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:201.68, Y:137.63, Z:37.52 [[ 3.90790398e-01 -9.18833953e-01 -5.50184749e-02 2.01676815e+02] [ 9.08988593e-01 3.94636930e-01 -1.34169412e-01 1.37625807e+02] [ 1.44991733e-01 2.42095192e-03 9.89429905e-01 3.75222260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters Centerline goodness : 0.989278 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:137.68, Z:37.53 [[ 3.90543364e-01 -9.18941060e-01 -5.49837143e-02 2.01699036e+02] [ 9.09094753e-01 3.94387469e-01 -1.34183656e-01 1.37678285e+02] [ 1.44991759e-01 2.41913022e-03 9.89429905e-01 3.75308626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters Centerline goodness : 0.989102 with order 1 Centerline is valid? [True, True] Translation: X:201.72, Y:137.73, Z:37.53 [[ 3.85205758e-01 -9.21193491e-01 -5.49461159e-02 2.01718288e+02] [ 9.11367479e-01 3.89101444e-01 -1.34199050e-01 1.37733099e+02] [ 1.45002905e-01 1.61814382e-03 9.89429906e-01 3.75343296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters Centerline goodness : 0.988827 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:137.78, Z:37.55 [[ 3.87312093e-01 -9.20312104e-01 -5.49087741e-02 2.01744807e+02] [ 9.10475064e-01 3.91179846e-01 -1.34214328e-01 1.37783598e+02] [ 1.44998276e-01 1.98976254e-03 9.89429907e-01 3.75498974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters Centerline goodness : 0.990160 with order 1 Centerline is valid? [True, True] Translation: X:201.77, Y:137.84, Z:37.56 [[ 3.86972925e-01 -9.20456729e-01 -5.48759121e-02 2.01768219e+02] [ 9.10619231e-01 3.90839512e-01 -1.34227763e-01 1.37835682e+02] [ 1.44998522e-01 1.97144896e-03 9.89429908e-01 3.75580807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters Centerline goodness : 0.989081 with order 1 Centerline is valid? [True, True] Translation: X:201.79, Y:137.89, Z:37.56 [[ 3.88384111e-01 -9.19864419e-01 -5.48382521e-02 2.01789936e+02] [ 9.10018855e-01 3.92230112e-01 -1.34243147e-01 1.37887992e+02] [ 1.44994708e-01 2.23406182e-03 9.89429908e-01 3.75624719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters Centerline goodness : 0.990247 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:137.94, Z:37.57 [[ 3.89525883e-01 -9.19383172e-01 -5.48103122e-02 2.01811500e+02] [ 9.09531255e-01 3.93355578e-01 -1.34254553e-01 1.37941235e+02] [ 1.44991319e-01 2.44393137e-03 9.89429909e-01 3.75709918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters Centerline goodness : 0.989488 with order 1 Centerline is valid? [True, True] Translation: X:201.83, Y:137.99, Z:37.58 [[ 3.97484104e-01 -9.15972989e-01 -5.47710820e-02 2.01833677e+02] [ 9.06086058e-01 4.01222473e-01 -1.34270556e-01 1.37994182e+02] [ 1.44963592e-01 3.74309787e-03 9.89429910e-01 3.75766505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters Centerline goodness : 0.990727 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:138.05, Z:37.59 [[ 3.97540155e-01 -9.15950868e-01 -5.47342011e-02 2.01855634e+02] [ 9.06061669e-01 4.01272518e-01 -1.34285589e-01 1.38045272e+02] [ 1.44962332e-01 3.79135227e-03 9.89429911e-01 3.75894803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:138.10, Z:37.60 [[ 3.99050360e-01 -9.15296303e-01 -5.46944991e-02 2.01879458e+02] [ 9.05398779e-01 4.02760586e-01 -1.34301758e-01 1.38097780e+02] [ 1.44954691e-01 4.07283201e-03 9.89429911e-01 3.75984762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters Centerline goodness : 0.990995 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:138.15, Z:37.60 [[ 3.96329703e-01 -9.16480093e-01 -5.46535137e-02 2.01902503e+02] [ 9.06591366e-01 4.00063312e-01 -1.34318435e-01 1.38150193e+02] [ 1.44965037e-01 3.68598170e-03 9.89429912e-01 3.76001720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters Centerline goodness : 0.992221 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:138.20, Z:37.62 [[ 3.86320343e-01 -9.20745802e-01 -5.46238171e-02 2.01928924e+02] [ 9.10896655e-01 3.90157145e-01 -1.34330510e-01 1.38200782e+02] [ 1.44996126e-01 2.13795663e-03 9.89429913e-01 3.76153928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:201.95, Y:138.25, Z:37.62 [[ 3.78079702e-01 -9.24162377e-01 -5.45860776e-02 2.01954085e+02] [ 9.14345707e-01 3.81998850e-01 -1.34345844e-01 1.38252728e+02] [ 1.45009194e-01 8.82891087e-04 9.89429914e-01 3.76226654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:138.31, Z:37.63 [[ 3.74224343e-01 -9.25732528e-01 -5.45474771e-02 2.01976990e+02] [ 9.15930019e-01 3.78178773e-01 -1.34361515e-01 1.38305109e+02] [ 1.45011523e-01 3.19678196e-04 9.89429915e-01 3.76307145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters Centerline goodness : 0.992987 with order 1 Centerline is valid? [True, True] Translation: X:202.00, Y:138.36, Z:37.64 [[ 3.71707549e-01 -9.26748214e-01 -5.45091323e-02 2.02000538e+02] [ 9.16954228e-01 3.75683040e-01 -1.34377070e-01 1.38357555e+02] [ 1.45011866e-01 -3.34080870e-05 9.89429915e-01 3.76393393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters Centerline goodness : 0.992559 with order 1 Centerline is valid? [True, True] Translation: X:202.02, Y:138.41, Z:37.65 [[ 3.70101942e-01 -9.27392911e-01 -5.44696410e-02 2.02022500e+02] [ 9.17603493e-01 3.74088667e-01 -1.34393076e-01 1.38410798e+02] [ 1.45011661e-01 -2.42394420e-04 9.89429916e-01 3.76471133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:138.47, Z:37.65 [[ 3.70146107e-01 -9.27377576e-01 -5.44306077e-02 2.02043066e+02] [ 9.17585668e-01 3.74126709e-01 -1.34408883e-01 1.38465261e+02] [ 1.45011728e-01 -1.93820644e-04 9.89429917e-01 3.76530207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters Centerline goodness : 0.991687 with order 1 Centerline is valid? [True, True] Translation: X:202.06, Y:138.52, Z:37.66 [[ 3.75671019e-01 -9.25155599e-01 -5.43912061e-02 2.02061256e+02] [ 9.15337838e-01 3.79587419e-01 -1.34424826e-01 1.38519798e+02] [ 1.45010098e-01 7.13182316e-04 9.89429918e-01 3.76565738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters Centerline goodness : 0.990908 with order 1 Centerline is valid? [True, True] Translation: X:202.08, Y:138.57, Z:37.66 [[ 3.75096103e-01 -9.25391220e-01 -5.43507497e-02 2.02080469e+02] [ 9.15573548e-01 3.79012726e-01 -1.34441181e-01 1.38572180e+02] [ 1.45010315e-01 6.66254499e-04 9.89429919e-01 3.76643124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters Centerline goodness : 0.991320 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:138.63, Z:37.68 [[ 3.75640556e-01 -9.25172968e-01 -5.43060839e-02 2.02100518e+02] [ 9.15350413e-01 3.79544911e-01 -1.34459221e-01 1.38625144e+02] [ 1.45009635e-01 7.99240449e-04 9.89429920e-01 3.76780242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters Centerline goodness : 0.990239 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:138.68, Z:37.68 [[ 3.79701462e-01 -9.23516138e-01 -5.42654872e-02 2.02120543e+02] [ 9.13674208e-01 3.83556715e-01 -1.34475604e-01 1.38678571e+02] [ 1.45004282e-01 1.47960732e-03 9.89429921e-01 3.76820584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:202.14, Y:138.73, Z:37.69 [[ 3.77579281e-01 -9.24387541e-01 -5.42361638e-02 2.02141625e+02] [ 9.14552811e-01 3.81452864e-01 -1.34487429e-01 1.38731602e+02] [ 1.45007044e-01 1.17783080e-03 9.89429922e-01 3.76874518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters Centerline goodness : 0.990375 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:138.78, Z:37.69 [[ 3.75935480e-01 -9.25059697e-01 -5.41947649e-02 2.02162195e+02] [ 9.15229488e-01 3.79820521e-01 -1.34504110e-01 1.38783958e+02] [ 1.45008615e-01 9.64220239e-04 9.89429923e-01 3.76946440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters Centerline goodness : 0.991214 with order 1 Centerline is valid? [True, True] Translation: X:202.18, Y:138.84, Z:37.71 [[ 3.72821344e-01 -9.26321521e-01 -5.41542715e-02 2.02184843e+02] [ 9.16502094e-01 3.76733553e-01 -1.34520412e-01 1.38835489e+02] [ 1.45010884e-01 5.19577551e-04 9.89429924e-01 3.77116667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters Centerline goodness : 0.990583 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:138.89, Z:37.72 [[ 3.74078094e-01 -9.25816951e-01 -5.41161008e-02 2.02205933e+02] [ 9.15990026e-01 3.77971426e-01 -1.34535766e-01 1.38889616e+02] [ 1.45009832e-01 7.57074168e-04 9.89429924e-01 3.77154581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters Centerline goodness : 0.991166 with order 1 Centerline is valid? [True, True] Translation: X:202.23, Y:138.94, Z:37.72 [[ 3.73310647e-01 -9.26128859e-01 -5.40786270e-02 2.02227898e+02] [ 9.16303005e-01 3.77206679e-01 -1.34550827e-01 1.38942985e+02] [ 1.45010224e-01 6.76848022e-04 9.89429925e-01 3.77237505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:202.25, Y:138.99, Z:37.74 [[ 3.70662862e-01 -9.27193958e-01 -5.40407894e-02 2.02249541e+02] [ 9.17377083e-01 3.74581463e-01 -1.34566023e-01 1.38994588e+02] [ 1.45011481e-01 3.02845359e-04 9.89429926e-01 3.77388501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters Centerline goodness : 0.990559 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:139.05, Z:37.74 [[ 3.71304825e-01 -9.26939280e-01 -5.40027575e-02 2.02269889e+02] [ 9.17117497e-01 3.75211106e-01 -1.34581284e-01 1.39049933e+02] [ 1.45011113e-01 4.43806319e-04 9.89429927e-01 3.77391446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters Centerline goodness : 0.990890 with order 1 Centerline is valid? [True, True] Translation: X:202.29, Y:139.10, Z:37.75 [[ 3.71440850e-01 -9.26886921e-01 -5.39660211e-02 2.02291439e+02] [ 9.17062447e-01 3.75340355e-01 -1.34596013e-01 1.39101712e+02] [ 1.45010910e-01 5.04246270e-04 9.89429928e-01 3.77525145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters Centerline goodness : 0.992096 with order 1 Centerline is valid? [True, True] Translation: X:202.31, Y:139.15, Z:37.76 [[ 3.74760849e-01 -9.25550893e-01 -5.39430289e-02 2.02313134e+02] [ 9.15711192e-01 3.78621770e-01 -1.34605228e-01 1.39154911e+02] [ 1.45007994e-01 1.04853399e-03 9.89429928e-01 3.77613076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters Centerline goodness : 0.990985 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:139.21, Z:37.77 [[ 3.75383641e-01 -9.25300474e-01 -5.39087627e-02 2.02333970e+02] [ 9.15456227e-01 3.79232955e-01 -1.34618950e-01 1.39209367e+02] [ 1.45006957e-01 1.18263898e-03 9.89429929e-01 3.77675081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters Centerline goodness : 0.991103 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:139.26, Z:37.78 [[ 3.74242892e-01 -9.25764741e-01 -5.38693110e-02 2.02355390e+02] [ 9.15922997e-01 3.78098599e-01 -1.34634735e-01 1.39262201e+02] [ 1.45008002e-01 1.04595189e-03 9.89429930e-01 3.77750504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:202.38, Y:139.31, Z:37.79 [[ 3.71440862e-01 -9.26894238e-01 -5.38401081e-02 2.02377490e+02] [ 9.17062528e-01 3.75322080e-01 -1.34646412e-01 1.39314880e+02] [ 1.45010365e-01 6.38433905e-04 9.89429930e-01 3.77850463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters Centerline goodness : 0.991414 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:139.37, Z:37.79 [[ 3.69850016e-01 -9.27532361e-01 -5.38022800e-02 2.02399002e+02] [ 9.17705148e-01 3.73742605e-01 -1.34661526e-01 1.39368096e+02] [ 1.45011128e-01 4.29938362e-04 9.89429931e-01 3.77934412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters Centerline goodness : 0.991537 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:139.42, Z:37.80 [[ 3.64961184e-01 -9.29469127e-01 -5.37631491e-02 2.02420482e+02] [ 9.19660268e-01 3.68899793e-01 -1.34677147e-01 1.39421130e+02] [ 1.45011465e-01 -2.91900957e-04 9.89429932e-01 3.78029455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:202.44, Y:139.47, Z:37.81 [[ 3.60183792e-01 -9.31332967e-01 -5.37265364e-02 2.02440753e+02] [ 9.21542306e-01 3.64167420e-01 -1.34691752e-01 1.39474408e+02] [ 1.45008323e-01 -9.97490400e-04 9.89429932e-01 3.78121748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters Centerline goodness : 0.987930 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:139.53, Z:37.81 [[ 3.49138965e-01 -9.35531696e-01 -5.36882617e-02 2.02455743e+02] [ 9.25786540e-01 3.53232649e-01 -1.34707007e-01 1.39531490e+02] [ 1.44987121e-01 -2.67240523e-03 9.89429933e-01 3.78139101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters Centerline goodness : 0.987401 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:139.58, Z:37.83 [[ 3.49090216e-01 -9.35552102e-01 -5.36496587e-02 2.02477455e+02] [ 9.25804828e-01 3.53178852e-01 -1.34722379e-01 1.39582934e+02] [ 1.44987730e-01 -2.63884847e-03 9.89429934e-01 3.78282707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters Centerline goodness : 0.985782 with order 1 Centerline is valid? [True, True] Translation: X:202.49, Y:139.64, Z:37.82 [[ 3.37873789e-01 -9.39663348e-01 -5.36105916e-02 2.02490175e+02] [ 9.29963258e-01 3.42073138e-01 -1.34737924e-01 1.39642123e+02] [ 1.44947032e-01 -4.33146752e-03 9.89429935e-01 3.78206929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters Centerline goodness : 0.993583 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:139.68, Z:37.85 [[ 3.56553048e-01 -9.32737965e-01 -5.35706208e-02 2.02532331e+02] [ 9.22953667e-01 3.60552268e-01 -1.34753814e-01 1.39683080e+02] [ 1.45005007e-01 -1.39631772e-03 9.89429936e-01 3.78451144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters Centerline goodness : 0.985667 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:139.75, Z:37.84 [[ 3.37581680e-01 -9.39772833e-01 -5.35316028e-02 2.02528626e+02] [ 9.30069156e-01 3.41772729e-01 -1.34769313e-01 1.39748701e+02] [ 1.44948181e-01 -4.29244163e-03 9.89429937e-01 3.78371133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters Centerline goodness : 0.984173 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:139.81, Z:37.84 [[ 3.36780794e-01 -9.40062469e-01 -5.34906630e-02 2.02544451e+02] [ 9.30359832e-01 3.40974246e-01 -1.34785560e-01 1.39805118e+02] [ 1.44945785e-01 -4.37237633e-03 9.89429938e-01 3.78371489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters Centerline goodness : 0.984016 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:139.86, Z:37.84 [[ 3.39804775e-01 -9.38975842e-01 -5.34516807e-02 2.02562932e+02] [ 9.29257366e-01 3.43961385e-01 -1.34801017e-01 1.39859485e+02] [ 1.44960213e-01 -3.86433854e-03 9.89429939e-01 3.78416040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters Centerline goodness : 0.984550 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:139.91, Z:37.86 [[ 3.49105789e-01 -9.35559792e-01 -5.34136983e-02 2.02586361e+02] [ 9.25798273e-01 3.53160284e-01 -1.34816066e-01 1.39909044e+02] [ 1.44992088e-01 -2.38524051e-03 9.89429940e-01 3.78583184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:139.96, Z:37.87 [[ 3.56373270e-01 -9.32817622e-01 -5.33795556e-02 2.02610707e+02] [ 9.23022854e-01 3.60346769e-01 -1.34829583e-01 1.39961505e+02] [ 1.45006562e-01 -1.22089020e-03 9.89429940e-01 3.78685447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters Centerline goodness : 0.987691 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:140.01, Z:37.89 [[ 3.70216419e-01 -9.27412636e-01 -5.33442102e-02 2.02641030e+02] [ 9.17557824e-01 3.74038569e-01 -1.34843566e-01 1.40007735e+02] [ 1.45008419e-01 9.74904801e-04 9.89429941e-01 3.78922046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters Centerline goodness : 0.984255 with order 1 Centerline is valid? [True, True] Translation: X:202.65, Y:140.07, Z:37.89 [[ 3.62954443e-01 -9.30281757e-01 -5.32909509e-02 2.02645902e+02] [ 9.20454069e-01 3.66845802e-01 -1.34864612e-01 1.40069156e+02] [ 1.45011649e-01 -1.02162686e-04 9.89429943e-01 3.78860823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters Centerline goodness : 0.985230 with order 1 Centerline is valid? [True, True] Translation: X:202.67, Y:140.12, Z:37.89 [[ 3.69581602e-01 -9.27671801e-01 -5.32397379e-02 2.02668826e+02] [ 9.17813722e-01 3.73395308e-01 -1.34884826e-01 1.40122250e+02] [ 1.45008318e-01 9.86788010e-04 9.89429944e-01 3.78925956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters Centerline goodness : 0.985887 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:140.17, Z:37.90 [[ 3.72071799e-01 -9.26677903e-01 -5.32037592e-02 2.02690260e+02] [ 9.16807610e-01 3.75853778e-01 -1.34899016e-01 1.40174198e+02] [ 1.45004771e-01 1.41450814e-03 9.89429945e-01 3.79020892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters Centerline goodness : 0.986854 with order 1 Centerline is valid? [True, True] Translation: X:202.71, Y:140.23, Z:37.91 [[ 3.71900848e-01 -9.26748070e-01 -5.31768226e-02 2.02714361e+02] [ 9.16876972e-01 3.75680727e-01 -1.34909633e-01 1.40226584e+02] [ 1.45004750e-01 1.41640290e-03 9.89429945e-01 3.79089390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters Centerline goodness : 0.987378 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:140.28, Z:37.92 [[ 3.69254951e-01 -9.27807617e-01 -5.31395059e-02 2.02737688e+02] [ 9.17945252e-01 3.73057555e-01 -1.34924331e-01 1.40279206e+02] [ 1.45007916e-01 1.04231988e-03 9.89429946e-01 3.79163889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters Centerline goodness : 0.988539 with order 1 Centerline is valid? [True, True] Translation: X:202.76, Y:140.33, Z:37.93 [[ 3.67035781e-01 -9.28689996e-01 -5.31001565e-02 2.02762734e+02] [ 9.18834533e-01 3.70856235e-01 -1.34939815e-01 1.40329363e+02] [ 1.45009780e-01 7.37482931e-04 9.89429947e-01 3.79262229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters Centerline goodness : 0.987465 with order 1 Centerline is valid? [True, True] Translation: X:202.78, Y:140.39, Z:37.93 [[ 3.55101260e-01 -9.33320866e-01 -5.30589808e-02 2.02780007e+02] [ 9.23512793e-01 3.59041779e-01 -1.34956004e-01 1.40385012e+02] [ 1.45007645e-01 -1.07760056e-03 9.89429948e-01 3.79312452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters Centerline goodness : 0.988183 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:140.44, Z:37.94 [[ 3.53391128e-01 -9.33971960e-01 -5.30197034e-02 2.02804202e+02] [ 9.24168831e-01 3.57343931e-01 -1.34971433e-01 1.40436710e+02] [ 1.45005803e-01 -1.30145028e-03 9.89429949e-01 3.79428104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters Centerline goodness : 0.988008 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:140.49, Z:37.95 [[ 3.48617523e-01 -9.35766413e-01 -5.29815414e-02 2.02825607e+02] [ 9.25981346e-01 3.52614826e-01 -1.34986411e-01 1.40490022e+02] [ 1.44997827e-01 -2.00129069e-03 9.89429950e-01 3.79541447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters Centerline goodness : 0.987234 with order 1 Centerline is valid? [True, True] Translation: X:202.85, Y:140.54, Z:37.96 [[ 3.47073218e-01 -9.36342528e-01 -5.29419704e-02 2.02846069e+02] [ 9.26561731e-01 3.51080956e-01 -1.35001930e-01 1.40543223e+02] [ 1.44994966e-01 -2.19844961e-03 9.89429950e-01 3.79618782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters Centerline goodness : 0.988596 with order 1 Centerline is valid? [True, True] Translation: X:202.87, Y:140.60, Z:37.97 [[ 3.47790556e-01 -9.36078618e-01 -5.29013210e-02 2.02867123e+02] [ 9.26292360e-01 3.51784937e-01 -1.35017857e-01 1.40597594e+02] [ 1.44997217e-01 -2.04415411e-03 9.89429951e-01 3.79680011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters Centerline goodness : 0.988032 with order 1 Centerline is valid? [True, True] Translation: X:202.89, Y:140.65, Z:37.98 [[ 3.48613287e-01 -9.35774540e-01 -5.28657451e-02 2.02887492e+02] [ 9.25982687e-01 3.52593932e-01 -1.35031785e-01 1.40649996e+02] [ 1.44999447e-01 -1.87889024e-03 9.89429952e-01 3.79773143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters Centerline goodness : 0.988213 with order 1 Centerline is valid? [True, True] Translation: X:202.91, Y:140.71, Z:37.98 [[ 3.46854360e-01 -9.36430207e-01 -5.28253735e-02 2.02905108e+02] [ 9.26643475e-01 3.50847576e-01 -1.35047577e-01 1.40705138e+02] [ 1.44996285e-01 -2.10844680e-03 9.89429953e-01 3.79823936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters Centerline goodness : 0.986496 with order 1 Centerline is valid? [True, True] Translation: X:202.93, Y:140.76, Z:37.99 [[ 3.48711447e-01 -9.35742345e-01 -5.27881650e-02 2.02925819e+02] [ 9.25945535e-01 3.52679870e-01 -1.35062120e-01 1.40759046e+02] [ 1.45000668e-01 -1.78125847e-03 9.89429954e-01 3.79922932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters Centerline goodness : 0.989043 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:140.81, Z:38.00 [[ 3.52845319e-01 -9.34193498e-01 -5.27512020e-02 2.02946813e+02] [ 9.24377102e-01 3.56765044e-01 -1.35076555e-01 1.40812102e+02] [ 1.45007424e-01 -1.10087303e-03 9.89429955e-01 3.80038967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters Centerline goodness : 0.987025 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:140.87, Z:38.01 [[ 3.52297507e-01 -9.34402454e-01 -5.27116739e-02 2.02961768e+02] [ 9.24586076e-01 3.56217273e-01 -1.35091979e-01 1.40867772e+02] [ 1.45007085e-01 -1.14391245e-03 9.89429955e-01 3.80087293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters Centerline goodness : 0.987970 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:140.92, Z:38.03 [[ 3.60140366e-01 -9.31409176e-01 -5.26864685e-02 2.02984278e+02] [ 9.21558769e-01 3.63973813e-01 -1.35101808e-01 1.40918211e+02] [ 1.45011559e-01 1.01937454e-04 9.89429956e-01 3.80265394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters Centerline goodness : 0.988154 with order 1 Centerline is valid? [True, True] Translation: X:203.00, Y:140.97, Z:38.03 [[ 3.59890127e-01 -9.31507927e-01 -5.26505306e-02 2.03003191e+02] [ 9.21656523e-01 3.63721008e-01 -1.35115812e-01 1.40972583e+02] [ 1.45011554e-01 1.01141873e-04 9.89429957e-01 3.80324328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters Centerline goodness : 0.985846 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:141.03, Z:38.04 [[ 3.61509622e-01 -9.30882783e-01 -5.26121450e-02 2.03020912e+02] [ 9.21022578e-01 3.65317792e-01 -1.35130757e-01 1.41027109e+02] [ 1.45011048e-01 3.94095642e-04 9.89429957e-01 3.80374639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters Centerline goodness : 0.984870 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:141.08, Z:38.04 [[ 3.60719745e-01 -9.31190701e-01 -5.25846381e-02 2.03038602e+02] [ 9.21332186e-01 3.64532287e-01 -1.35141461e-01 1.41082354e+02] [ 1.45011270e-01 3.00273588e-04 9.89429958e-01 3.80410882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters Centerline goodness : 0.993323 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:141.13, Z:38.06 [[ 3.76604503e-01 -9.24882579e-01 -5.25477226e-02 2.03079732e+02] [ 9.14958278e-01 3.80242364e-01 -1.35155813e-01 1.41127337e+02] [ 1.44984127e-01 2.82131410e-03 9.89429959e-01 3.80564707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters Centerline goodness : 0.985498 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:141.19, Z:38.06 [[ 3.60370293e-01 -9.31330074e-01 -5.25123371e-02 2.03083722e+02] [ 9.21468936e-01 3.64176042e-01 -1.35169560e-01 1.41188233e+02] [ 1.45011212e-01 3.22606651e-04 9.89429959e-01 3.80607270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters Centerline goodness : 0.986386 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:141.24, Z:38.07 [[ 3.59108260e-01 -9.31819574e-01 -5.24741781e-02 2.03108099e+02] [ 9.21961459e-01 3.62921829e-01 -1.35184373e-01 1.41239541e+02] [ 1.45011469e-01 1.66655071e-04 9.89429960e-01 3.80727612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters Centerline goodness : 0.986988 with order 1 Centerline is valid? [True, True] Translation: X:203.13, Y:141.29, Z:38.08 [[ 3.56141721e-01 -9.32959518e-01 -5.24367454e-02 2.03125934e+02] [ 9.23111471e-01 3.59981211e-01 -1.35198891e-01 1.41294344e+02] [ 1.45011335e-01 -2.54995507e-04 9.89429961e-01 3.80783842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters Centerline goodness : 0.987212 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:141.35, Z:38.09 [[ 3.58335062e-01 -9.32121395e-01 -5.23993224e-02 2.03147620e+02] [ 9.22262245e-01 3.62145951e-01 -1.35213394e-01 1.41347246e+02] [ 1.45011500e-01 1.25783117e-04 9.89429962e-01 3.80881401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters Centerline goodness : 0.986300 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:141.40, Z:38.09 [[ 3.61776856e-01 -9.30793149e-01 -5.23604775e-02 2.03166958e+02] [ 9.20917831e-01 3.65545646e-01 -1.35228435e-01 1.41400726e+02] [ 1.45009845e-01 7.02820538e-04 9.89429963e-01 3.80949173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters Centerline goodness : 0.984711 with order 1 Centerline is valid? [True, True] Translation: X:203.19, Y:141.45, Z:38.10 [[ 3.63016060e-01 -9.30312762e-01 -5.23211764e-02 2.03185524e+02] [ 9.20430264e-01 3.66765983e-01 -1.35243639e-01 1.41454582e+02] [ 1.45008511e-01 9.37618799e-04 9.89429963e-01 3.80988572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters Centerline goodness : 0.984133 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:141.51, Z:38.10 [[ 3.60860017e-01 -9.31153388e-01 -5.22820924e-02 2.03203303e+02] [ 9.21277437e-01 3.64627146e-01 -1.35258746e-01 1.41510390e+02] [ 1.45010110e-01 6.43161407e-04 9.89429964e-01 3.81022517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters Centerline goodness : 0.984007 with order 1 Centerline is valid? [True, True] Translation: X:203.23, Y:141.56, Z:38.11 [[ 3.63626804e-01 -9.30078487e-01 -5.22451536e-02 2.03227251e+02] [ 9.20189352e-01 3.67359182e-01 -1.35273013e-01 1.41561821e+02] [ 1.45007256e-01 1.11345940e-03 9.89429965e-01 3.81129949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters Centerline goodness : 0.986115 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:141.61, Z:38.12 [[ 3.63663799e-01 -9.30066209e-01 -5.22062112e-02 2.03250076e+02] [ 9.20174791e-01 3.67390120e-01 -1.35288041e-01 1.41614158e+02] [ 1.45006881e-01 1.16052330e-03 9.89429966e-01 3.81228262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters Centerline goodness : 0.991428 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:141.66, Z:38.14 [[ 3.82080388e-01 -9.22655379e-01 -5.21692424e-02 2.03295484e+02] [ 9.12689925e-01 3.85603929e-01 -1.35302295e-01 1.41655496e+02] [ 1.44954055e-01 4.08201136e-03 9.89429967e-01 3.81408543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters Centerline goodness : 0.987559 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:141.72, Z:38.14 [[ 3.67780530e-01 -9.28450265e-01 -5.21304756e-02 2.03295588e+02] [ 9.18538344e-01 3.71451959e-01 -1.35317230e-01 1.41717907e+02] [ 1.44999285e-01 1.88320179e-03 9.89429968e-01 3.81430126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters Centerline goodness : 0.987868 with order 1 Centerline is valid? [True, True] Translation: X:203.32, Y:141.77, Z:38.16 [[ 3.75086518e-01 -9.25525769e-01 -5.20783483e-02 2.03318904e+02] [ 9.15582471e-01 3.78672097e-01 -1.35337289e-01 1.41769648e+02] [ 1.44978766e-01 3.08116958e-03 9.89429969e-01 3.81553052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters Centerline goodness : 0.986792 with order 1 Centerline is valid? [True, True] Translation: X:203.34, Y:141.82, Z:38.16 [[ 3.71976146e-01 -9.26782224e-01 -5.20428385e-02 2.03338514e+02] [ 9.16849136e-01 3.75589914e-01 -1.35350943e-01 1.41824419e+02] [ 1.44987613e-01 2.63189051e-03 9.89429970e-01 3.81606828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters Centerline goodness : 0.988275 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:141.88, Z:38.17 [[ 3.71754178e-01 -9.26873445e-01 -5.20043200e-02 2.03361997e+02] [ 9.16939179e-01 3.75364701e-01 -1.35365741e-01 1.41875369e+02] [ 1.44987496e-01 2.63798110e-03 9.89429971e-01 3.81733380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters Centerline goodness : 0.992130 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:141.92, Z:38.18 [[ 3.84302892e-01 -9.21742748e-01 -5.19768613e-02 2.03401735e+02] [ 9.11758981e-01 3.87774191e-01 -1.35376283e-01 1.41919780e+02] [ 1.44937393e-01 4.63512718e-03 9.89429971e-01 3.81831307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters Centerline goodness : 0.985933 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:141.98, Z:38.18 [[ 3.65338699e-01 -9.29425641e-01 -5.19192948e-02 2.03399977e+02] [ 9.19511982e-01 3.69005420e-01 -1.35398358e-01 1.41983258e+02] [ 1.45001207e-01 1.72584628e-03 9.89429973e-01 3.81780011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters Centerline goodness : 0.988241 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:142.03, Z:38.19 [[ 3.68440873e-01 -9.28203307e-01 -5.18646659e-02 2.03426982e+02] [ 9.18274546e-01 3.72066495e-01 -1.35419281e-01 1.42033755e+02] [ 1.44993729e-01 2.26799539e-03 9.89429975e-01 3.81926207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters Centerline goodness : 0.985696 with order 1 Centerline is valid? [True, True] Translation: X:203.47, Y:142.08, Z:38.21 [[ 3.77565771e-01 -9.24531159e-01 -5.18287906e-02 2.03467571e+02] [ 9.14565311e-01 3.81088168e-01 -1.35433010e-01 1.42075229e+02] [ 1.44963376e-01 3.73405489e-03 9.89429975e-01 3.82108520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters Centerline goodness : 0.992041 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:142.13, Z:38.22 [[ 3.65856877e-01 -9.29230554e-01 -5.17621859e-02 2.03477424e+02] [ 9.19306434e-01 3.69495176e-01 -1.35458462e-01 1.42131376e+02] [ 1.44998019e-01 1.97309915e-03 9.89429978e-01 3.82215207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters Centerline goodness : 0.991693 with order 1 Centerline is valid? [True, True] Translation: X:203.50, Y:142.18, Z:38.23 [[ 3.59636293e-01 -9.31659639e-01 -5.16919113e-02 2.03499051e+02] [ 9.21756251e-01 3.63330641e-01 -1.35485274e-01 1.42184547e+02] [ 1.45007417e-01 1.07807932e-03 9.89429981e-01 3.82296919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:142.23, Z:38.24 [[ 3.61497664e-01 -9.30941158e-01 -5.16526837e-02 2.03524298e+02] [ 9.21028292e-01 3.65166502e-01 -1.35500228e-01 1.42234607e+02] [ 1.45004569e-01 1.40943270e-03 9.89429982e-01 3.82406909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:142.29, Z:38.25 [[ 3.60569063e-01 -9.31303086e-01 -5.16189201e-02 2.03544810e+02] [ 9.21392062e-01 3.64242873e-01 -1.35513089e-01 1.42286699e+02] [ 1.45005582e-01 1.30056428e-03 9.89429982e-01 3.82468009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:203.56, Y:142.34, Z:38.25 [[ 3.59083574e-01 -9.31879202e-01 -5.15765385e-02 2.03564443e+02] [ 9.21971757e-01 3.62767020e-01 -1.35529218e-01 1.42339976e+02] [ 1.45007126e-01 1.11420398e-03 9.89429983e-01 3.82545114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters Centerline goodness : 0.991670 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:142.40, Z:38.26 [[ 3.59709942e-01 -9.31639998e-01 -5.15332069e-02 2.03581428e+02] [ 9.21727744e-01 3.63380423e-01 -1.35545692e-01 1.42395373e+02] [ 1.45005947e-01 1.25754644e-03 9.89429984e-01 3.82592637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:203.60, Y:142.45, Z:38.27 [[ 3.58465234e-01 -9.32121766e-01 -5.14945627e-02 2.03601721e+02] [ 9.22212336e-01 3.62143333e-01 -1.35560372e-01 1.42448919e+02] [ 1.45007186e-01 1.10475942e-03 9.89429985e-01 3.82725358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters Centerline goodness : 0.992376 with order 1 Centerline is valid? [True, True] Translation: X:203.62, Y:142.50, Z:38.28 [[ 3.58805327e-01 -9.31992926e-01 -5.14579719e-02 2.03620121e+02] [ 9.22080184e-01 3.62474487e-01 -1.35574260e-01 1.42501819e+02] [ 1.45006453e-01 1.19639043e-03 9.89429986e-01 3.82817123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters Centerline goodness : 0.989510 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:142.56, Z:38.29 [[ 3.53236121e-01 -9.34120169e-01 -5.14174383e-02 2.03632610e+02] [ 9.24227289e-01 3.56958500e-01 -1.35589631e-01 1.42558863e+02] [ 1.45010901e-01 3.73755792e-04 9.89429987e-01 3.82852975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters Centerline goodness : 0.991001 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:142.61, Z:38.30 [[ 3.59685698e-01 -9.31657868e-01 -5.13791327e-02 2.03658489e+02] [ 9.21737439e-01 3.63334019e-01 -1.35604145e-01 1.42609770e+02] [ 1.45004455e-01 1.41680136e-03 9.89429988e-01 3.82983570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:203.68, Y:142.66, Z:38.30 [[ 3.62216753e-01 -9.30678930e-01 -5.13395852e-02 2.03677970e+02] [ 9.20746523e-01 3.65832334e-01 -1.35619116e-01 1.42663911e+02] [ 1.44999534e-01 1.85277140e-03 9.89429989e-01 3.83030607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters Centerline goodness : 0.990641 with order 1 Centerline is valid? [True, True] Translation: X:203.70, Y:142.72, Z:38.31 [[ 3.61062550e-01 -9.31128712e-01 -5.13142867e-02 2.03697567e+02] [ 9.21199450e-01 3.64686759e-01 -1.35628688e-01 1.42718756e+02] [ 1.45001406e-01 1.69974709e-03 9.89429989e-01 3.83114772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters Centerline goodness : 0.990777 with order 1 Centerline is valid? [True, True] Translation: X:203.72, Y:142.77, Z:38.32 [[ 3.60729338e-01 -9.31259942e-01 -5.12763686e-02 2.03717080e+02] [ 9.21329962e-01 3.64351577e-01 -1.35643022e-01 1.42772581e+02] [ 1.45001538e-01 1.68796266e-03 9.89429990e-01 3.83200490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters Centerline goodness : 0.990061 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:142.83, Z:38.33 [[ 3.58320575e-01 -9.32191668e-01 -5.12353400e-02 2.03733816e+02] [ 9.22268894e-01 3.61962504e-01 -1.35658518e-01 1.42827011e+02] [ 1.45005012e-01 1.35647763e-03 9.89429991e-01 3.83281423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters Centerline goodness : 0.991161 with order 1 Centerline is valid? [True, True] Translation: X:203.76, Y:142.88, Z:38.34 [[ 3.63053885e-01 -9.30360780e-01 -5.11927311e-02 2.03757597e+02] [ 9.20417383e-01 3.66639122e-01 -1.35674595e-01 1.42878807e+02] [ 1.44995580e-01 2.13850920e-03 9.89429992e-01 3.83350242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters Centerline goodness : 0.990415 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:142.93, Z:38.34 [[ 3.59262783e-01 -9.31833330e-01 -5.11556145e-02 2.03777730e+02] [ 9.21902643e-01 3.62883073e-01 -1.35688588e-01 1.42932742e+02] [ 1.45002656e-01 1.58736368e-03 9.89429993e-01 3.83444956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters Centerline goodness : 0.991508 with order 1 Centerline is valid? [True, True] Translation: X:203.80, Y:142.99, Z:38.35 [[ 3.59249037e-01 -9.31840679e-01 -5.11182675e-02 2.03800044e+02] [ 9.21908065e-01 3.62864036e-01 -1.35702657e-01 1.42986095e+02] [ 1.45002237e-01 1.62470571e-03 9.89429993e-01 3.83471676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters Centerline goodness : 0.990918 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:143.04, Z:38.37 [[ 3.55840103e-01 -9.33149992e-01 -5.10775259e-02 2.03821535e+02] [ 9.23228482e-01 3.59485463e-01 -1.35717990e-01 1.43038423e+02] [ 1.45006869e-01 1.13767682e-03 9.89429994e-01 3.83655858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters Centerline goodness : 0.991273 with order 1 Centerline is valid? [True, True] Translation: X:203.84, Y:143.09, Z:38.37 [[ 3.54928387e-01 -9.33499365e-01 -5.10369959e-02 2.03841744e+02] [ 9.23579252e-01 3.58577545e-01 -1.35733230e-01 1.43092336e+02] [ 1.45007605e-01 1.03886583e-03 9.89429995e-01 3.83740203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters Centerline goodness : 0.991007 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:143.15, Z:38.37 [[ 3.56150075e-01 -9.33036145e-01 -5.09968269e-02 2.03860584e+02] [ 9.23109125e-01 3.59780401e-01 -1.35748320e-01 1.43147823e+02] [ 1.45005748e-01 1.27113828e-03 9.89429996e-01 3.83708320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters Centerline goodness : 0.991737 with order 1 Centerline is valid? [True, True] Translation: X:203.88, Y:143.20, Z:38.38 [[ 3.57339380e-01 -9.32582901e-01 -5.09676330e-02 2.03881714e+02] [ 9.22649715e-01 3.60952797e-01 -1.35759281e-01 1.43200710e+02] [ 1.45003693e-01 1.48686509e-03 9.89429997e-01 3.83841049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:143.25, Z:38.40 [[ 3.56394077e-01 -9.32946657e-01 -5.09293344e-02 2.03903415e+02] [ 9.23015107e-01 3.60011986e-01 -1.35773647e-01 1.43251939e+02] [ 1.45004741e-01 1.38037855e-03 9.89429997e-01 3.84002323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:203.92, Y:143.31, Z:38.41 [[ 3.52491509e-01 -9.34430439e-01 -5.08870438e-02 2.03922143e+02] [ 9.24511833e-01 3.56144752e-01 -1.35789495e-01 1.43306837e+02] [ 1.45008991e-01 8.18970001e-04 9.89429998e-01 3.84069463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:143.36, Z:38.41 [[ 3.52288767e-01 -9.34509125e-01 -5.08460452e-02 2.03942149e+02] [ 9.24589119e-01 3.55938204e-01 -1.35804845e-01 1.43361313e+02] [ 1.45008917e-01 8.30821390e-04 9.89429999e-01 3.84142613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters Centerline goodness : 0.992525 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:143.41, Z:38.43 [[ 3.50302324e-01 -9.35257720e-01 -5.08062895e-02 2.03961705e+02] [ 9.25343356e-01 3.53967059e-01 -1.35819717e-01 1.43413463e+02] [ 1.45010192e-01 5.64700139e-04 9.89430000e-01 3.84258247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:203.98, Y:143.47, Z:38.43 [[ 3.47971547e-01 -9.36128984e-01 -5.07772268e-02 2.03978182e+02] [ 9.26222211e-01 3.51656750e-01 -1.35830582e-01 1.43467557e+02] [ 1.45011099e-01 2.34182405e-04 9.89430001e-01 3.84298417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters Centerline goodness : 0.993466 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:143.52, Z:38.44 [[ 3.47057851e-01 -9.36470557e-01 -5.07320877e-02 2.03995657e+02] [ 9.26564944e-01 3.50746172e-01 -1.35847439e-01 1.43522327e+02] [ 1.45011212e-01 1.40346163e-04 9.89430002e-01 3.84376713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:143.58, Z:38.44 [[ 3.46808042e-01 -9.36565288e-01 -5.06916485e-02 2.04013046e+02] [ 9.26658477e-01 3.50493139e-01 -1.35862527e-01 1.43577046e+02] [ 1.45011202e-01 1.44371260e-04 9.89430003e-01 3.84448744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters Centerline goodness : 0.994431 with order 1 Centerline is valid? [True, True] Translation: X:204.03, Y:143.63, Z:38.46 [[ 3.45769345e-01 -9.36951426e-01 -5.06516092e-02 2.04032697e+02] [ 9.27046543e-01 3.49459618e-01 -1.35877453e-01 1.43631320e+02] [ 1.45011265e-01 2.58587087e-05 9.89430004e-01 3.84550496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters Centerline goodness : 0.991582 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:143.68, Z:38.46 [[ 3.46528727e-01 -9.36673031e-01 -5.06110001e-02 2.04052398e+02] [ 9.26762974e-01 3.50205079e-01 -1.35892577e-01 1.43684771e+02] [ 1.45011142e-01 1.86280876e-04 9.89430005e-01 3.84616362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:143.74, Z:38.47 [[ 3.46268436e-01 -9.36771578e-01 -5.05685774e-02 2.04074317e+02] [ 9.26860261e-01 3.49941387e-01 -1.35908362e-01 1.43738508e+02] [ 1.45011129e-01 1.90771195e-04 9.89430006e-01 3.84691164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters Centerline goodness : 0.991210 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:143.79, Z:38.48 [[ 3.46772810e-01 -9.36587027e-01 -5.05307769e-02 2.04093771e+02] [ 9.26671706e-01 3.50434938e-01 -1.35922415e-01 1.43791639e+02] [ 1.45010920e-01 3.08756514e-04 9.89430006e-01 3.84803820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters Centerline goodness : 0.992263 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:143.84, Z:38.49 [[ 3.49440092e-01 -9.35597315e-01 -5.04904501e-02 2.04113792e+02] [ 9.25669458e-01 3.53068094e-01 -1.35937394e-01 1.43844111e+02] [ 1.45009227e-01 7.64507642e-04 9.89430007e-01 3.84879652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters Centerline goodness : 0.990549 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:143.90, Z:38.50 [[ 3.48892353e-01 -9.35803401e-01 -5.04591030e-02 2.04131728e+02] [ 9.25876004e-01 3.52521612e-01 -1.35949028e-01 1.43897921e+02] [ 1.45009488e-01 7.12703795e-04 9.89430008e-01 3.85001573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters Centerline goodness : 0.990650 with order 1 Centerline is valid? [True, True] Translation: X:204.15, Y:143.95, Z:38.51 [[ 3.49540384e-01 -9.35563679e-01 -5.04194601e-02 2.04150647e+02] [ 9.25631673e-01 3.53157006e-01 -1.35963729e-01 1.43951360e+02] [ 1.45008713e-01 8.54964960e-04 9.89430009e-01 3.85082763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters Centerline goodness : 0.990695 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:144.00, Z:38.52 [[ 3.48601781e-01 -9.35915339e-01 -5.03912412e-02 2.04170638e+02] [ 9.25985469e-01 3.52224264e-01 -1.35974187e-01 1.44004975e+02] [ 1.45009345e-01 7.39286739e-04 9.89430009e-01 3.85174610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters Centerline goodness : 0.990142 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:144.06, Z:38.53 [[ 3.48088017e-01 -9.36108721e-01 -5.03507073e-02 2.04190270e+02] [ 9.26178693e-01 3.51710063e-01 -1.35989195e-01 1.44058046e+02] [ 1.45009522e-01 7.02457156e-04 9.89430010e-01 3.85257080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters Centerline goodness : 0.990708 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:144.11, Z:38.53 [[ 3.47253332e-01 -9.36420958e-01 -5.03081729e-02 2.04209516e+02] [ 9.26491906e-01 3.50878051e-01 -1.36004929e-01 1.44112380e+02] [ 1.45009900e-01 6.18049751e-04 9.89430011e-01 3.85338949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters Centerline goodness : 0.990965 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:144.17, Z:38.54 [[ 3.47380106e-01 -9.36376032e-01 -5.02691537e-02 2.04229374e+02] [ 9.26444424e-01 3.50997814e-01 -1.36019349e-01 1.44166696e+02] [ 1.45009622e-01 6.78838930e-04 9.89430012e-01 3.85428463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters Centerline goodness : 0.990499 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:144.22, Z:38.55 [[ 3.47755205e-01 -9.36238883e-01 -5.02301832e-02 2.04248103e+02] [ 9.26303769e-01 3.51363272e-01 -1.36033739e-01 1.44220976e+02] [ 1.45009118e-01 7.78032916e-04 9.89430013e-01 3.85526857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters Centerline goodness : 0.989793 with order 1 Centerline is valid? [True, True] Translation: X:204.27, Y:144.28, Z:38.56 [[ 3.49693591e-01 -9.35518791e-01 -5.01894806e-02 2.04265742e+02] [ 9.25574093e-01 3.53275154e-01 -1.36048755e-01 1.44276446e+02] [ 1.45006863e-01 1.12129479e-03 9.89430014e-01 3.85597714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters Centerline goodness : 0.990214 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:144.33, Z:38.57 [[ 3.51303557e-01 -9.34917634e-01 -5.01480709e-02 2.04284770e+02] [ 9.24964630e-01 3.54861969e-01 -1.36064017e-01 1.44329715e+02] [ 1.45004292e-01 1.41458136e-03 9.89430015e-01 3.85692556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters Centerline goodness : 0.990683 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:144.38, Z:38.59 [[ 3.49691131e-01 -9.35524235e-01 -5.01050689e-02 2.04303346e+02] [ 9.25575136e-01 3.53260444e-01 -1.36079851e-01 1.44382493e+02] [ 1.45006137e-01 1.20991098e-03 9.89430016e-01 3.85855807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters Centerline goodness : 0.989583 with order 1 Centerline is valid? [True, True] Translation: X:204.32, Y:144.44, Z:38.59 [[ 3.50033939e-01 -9.35398140e-01 -5.00655711e-02 2.04320081e+02] [ 9.25445677e-01 3.53593860e-01 -1.36094381e-01 1.44437514e+02] [ 1.45005310e-01 1.30468594e-03 9.89430017e-01 3.85921866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters Centerline goodness : 0.988858 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:144.49, Z:38.60 [[ 3.55716132e-01 -9.33254233e-01 -5.00256857e-02 2.04335253e+02] [ 9.23278268e-01 3.59209645e-01 -1.36109041e-01 1.44493565e+02] [ 1.44994047e-01 2.22855311e-03 9.89430018e-01 3.85972944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters Centerline goodness : 0.988339 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:144.55, Z:38.61 [[ 3.60309010e-01 -9.31492765e-01 -4.99864485e-02 2.04350742e+02] [ 9.21497739e-01 3.63747609e-01 -1.36123450e-01 1.44549204e+02] [ 1.44980460e-01 2.98410607e-03 9.89430018e-01 3.86059007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters Centerline goodness : 0.988694 with order 1 Centerline is valid? [True, True] Translation: X:204.37, Y:144.60, Z:38.62 [[ 3.59249278e-01 -9.31904051e-01 -4.99479314e-02 2.04369212e+02] [ 9.21911003e-01 3.62693619e-01 -1.36137581e-01 1.44601695e+02] [ 1.44982960e-01 2.85978021e-03 9.89430019e-01 3.86207262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters Centerline goodness : 0.986929 with order 1 Centerline is valid? [True, True] Translation: X:204.38, Y:144.66, Z:38.63 [[ 3.60266760e-01 -9.31513216e-01 -4.99098272e-02 2.04384056e+02] [ 9.21514503e-01 3.63694619e-01 -1.36151549e-01 1.44656220e+02] [ 1.44978903e-01 3.05824794e-03 9.89430020e-01 3.86321334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters Centerline goodness : 0.985065 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:144.71, Z:38.64 [[ 3.56270963e-01 -9.33051100e-01 -4.98662853e-02 2.04396329e+02] [ 9.23064966e-01 3.59735294e-01 -1.36167495e-01 1.44713396e+02] [ 1.44989894e-01 2.48270373e-03 9.89430021e-01 3.86378777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters Centerline goodness : 0.983208 with order 1 Centerline is valid? [True, True] Translation: X:204.41, Y:144.77, Z:38.65 [[ 3.55097019e-01 -9.33500570e-01 -4.98276340e-02 2.04409954e+02] [ 9.23516841e-01 3.58568272e-01 -1.36181638e-01 1.44769766e+02] [ 1.44992245e-01 2.34103434e-03 9.89430022e-01 3.86479933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters Centerline goodness : 0.982959 with order 1 Centerline is valid? [True, True] Translation: X:204.43, Y:144.82, Z:38.66 [[ 3.55856749e-01 -9.33213145e-01 -4.97915722e-02 2.04428269e+02] [ 9.23224772e-01 3.59314613e-01 -1.36194822e-01 1.44824629e+02] [ 1.44989637e-01 2.49703349e-03 9.89430023e-01 3.86556795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters Centerline goodness : 0.983338 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:144.88, Z:38.67 [[ 3.56685957e-01 -9.32898516e-01 -4.97542729e-02 2.04447061e+02] [ 9.22905197e-01 3.60129499e-01 -1.36208446e-01 1.44879568e+02] [ 1.44986639e-01 2.66516293e-03 9.89430024e-01 3.86652957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters Centerline goodness : 0.982662 with order 1 Centerline is valid? [True, True] Translation: X:204.47, Y:144.93, Z:38.67 [[ 3.55125253e-01 -9.33495555e-01 -4.97202457e-02 2.04465742e+02] [ 9.23506292e-01 3.58580540e-01 -1.36220866e-01 1.44934305e+02] [ 1.44990286e-01 2.45850993e-03 9.89430024e-01 3.86741137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters Centerline goodness : 0.982679 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:144.99, Z:38.68 [[ 3.52457606e-01 -9.34508165e-01 -4.96802225e-02 2.04481100e+02] [ 9.24526778e-01 3.55935577e-01 -1.36235461e-01 1.44988971e+02] [ 1.44996110e-01 2.08652857e-03 9.89430025e-01 3.86833849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters Centerline goodness : 0.981187 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:145.05, Z:38.69 [[ 3.46044462e-01 -9.36903177e-01 -4.96554859e-02 2.04495810e+02] [ 9.26944581e-01 3.49587164e-01 -1.36244477e-01 1.45045327e+02] [ 1.45006804e-01 1.11876315e-03 9.89430025e-01 3.86891334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters Centerline goodness : 0.981335 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:145.10, Z:38.70 [[ 3.48247826e-01 -9.36088518e-01 -4.96159112e-02 2.04515340e+02] [ 9.26119584e-01 3.51761329e-01 -1.36258887e-01 1.45098720e+02] [ 1.45003339e-01 1.50159432e-03 9.89430026e-01 3.86960964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters Centerline goodness : 0.981210 with order 1 Centerline is valid? [True, True] Translation: X:204.53, Y:145.15, Z:38.70 [[ 3.45987061e-01 -9.36928365e-01 -4.95801624e-02 2.04532339e+02] [ 9.26966097e-01 3.49519420e-01 -1.36271894e-01 1.45154351e+02] [ 1.45006233e-01 1.18918257e-03 9.89430027e-01 3.86998101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters Centerline goodness : 0.981760 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:145.21, Z:38.71 [[ 3.45037417e-01 -9.37280500e-01 -4.95423528e-02 2.04552234e+02] [ 9.27319865e-01 3.48574373e-01 -1.36285639e-01 1.45208128e+02] [ 1.45007066e-01 1.08203693e-03 9.89430028e-01 3.87108451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters Centerline goodness : 0.981776 with order 1 Centerline is valid? [True, True] Translation: X:204.57, Y:145.26, Z:38.72 [[ 3.45226329e-01 -9.37212892e-01 -4.95053311e-02 2.04571699e+02] [ 9.27249635e-01 3.48755893e-01 -1.36299086e-01 1.45262915e+02] [ 1.45006536e-01 1.15023272e-03 9.89430029e-01 3.87197327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters Centerline goodness : 0.981836 with order 1 Centerline is valid? [True, True] Translation: X:204.59, Y:145.32, Z:38.72 [[ 3.42515959e-01 -9.38208780e-01 -4.94682055e-02 2.04588987e+02] [ 9.28253841e-01 3.46068912e-01 -1.36312559e-01 1.45318448e+02] [ 1.45009047e-01 7.70174905e-04 9.89430029e-01 3.87246581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters Centerline goodness : 0.983732 with order 1 Centerline is valid? [True, True] Translation: X:204.63, Y:145.36, Z:38.74 [[ 3.62187698e-01 -9.30793660e-01 -4.94290675e-02 2.04632102e+02] [ 9.20764238e-01 3.65524604e-01 -1.36326749e-01 1.45360277e+02] [ 1.44959614e-01 3.86335390e-03 9.89430030e-01 3.87419568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters Centerline goodness : 0.981048 with order 1 Centerline is valid? [True, True] Translation: X:204.62, Y:145.43, Z:38.74 [[ 3.37184118e-01 -9.40143739e-01 -4.93621450e-02 2.04623846e+02] [ 9.30203560e-01 3.40778150e-01 -1.36350977e-01 1.45425209e+02] [ 1.45011058e-01 5.85409123e-05 9.89430033e-01 3.87381782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters Centerline goodness : 0.987594 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:145.47, Z:38.76 [[ 3.55300798e-01 -9.33451265e-01 -4.92958278e-02 2.04664674e+02] [ 9.23440164e-01 3.58692260e-01 -1.36374949e-01 1.45468713e+02] [ 1.44981401e-01 2.93238120e-03 9.89430035e-01 3.87594452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters Centerline goodness : 0.982611 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:145.53, Z:38.76 [[ 3.36954910e-01 -9.40232177e-01 -4.92426935e-02 2.04662236e+02] [ 9.30286627e-01 3.40534039e-01 -1.36394133e-01 1.45531325e+02] [ 1.45010966e-01 1.48853454e-04 9.89430037e-01 3.87587022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters Centerline goodness : 0.982659 with order 1 Centerline is valid? [True, True] Translation: X:204.70, Y:145.57, Z:38.78 [[ 3.53029266e-01 -9.34318452e-01 -4.91870592e-02 2.04703995e+02] [ 9.24310227e-01 3.56429196e-01 -1.36414193e-01 1.45573095e+02] [ 1.44986002e-01 2.69410076e-03 9.89430039e-01 3.87787404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters Centerline goodness : 0.980607 with order 1 Centerline is valid? [True, True] Translation: X:204.70, Y:145.64, Z:38.78 [[ 3.33392119e-01 -9.41507635e-01 -4.91229967e-02 2.04697783e+02] [ 9.31569415e-01 3.36991541e-01 -1.36437259e-01 1.45637700e+02] [ 1.45010755e-01 -2.74374473e-04 9.89430041e-01 3.87756829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters Centerline goodness : 0.983543 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:145.68, Z:38.80 [[ 3.54693776e-01 -9.33694555e-01 -4.90591927e-02 2.04742603e+02] [ 9.23674003e-01 3.58057188e-01 -1.36460198e-01 1.45678701e+02] [ 1.44978140e-01 3.08688179e-03 9.89430043e-01 3.87995358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters Centerline goodness : 0.981658 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:145.74, Z:38.80 [[ 3.35056048e-01 -9.40923277e-01 -4.89982750e-02 2.04735579e+02] [ 9.30972218e-01 3.38619807e-01 -1.36482068e-01 1.45743230e+02] [ 1.45010941e-01 1.13109516e-04 9.89430045e-01 3.87961151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters Centerline goodness : 0.980223 with order 1 Centerline is valid? [True, True] Translation: X:204.75, Y:145.80, Z:38.81 [[ 3.34065611e-01 -9.41278689e-01 -4.89346242e-02 2.04752779e+02] [ 9.31328077e-01 3.37630610e-01 -1.36504886e-01 1.45797290e+02] [ 1.45010967e-01 2.73986278e-05 9.89430047e-01 3.88067193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters Centerline goodness : 0.980149 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:145.85, Z:38.82 [[ 3.35434780e-01 -9.40792885e-01 -4.89106875e-02 2.04772488e+02] [ 9.30835859e-01 3.38981825e-01 -1.36513462e-01 1.45851181e+02] [ 1.45010728e-01 2.63541383e-04 9.89430048e-01 3.88175966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters Centerline goodness : 0.980337 with order 1 Centerline is valid? [True, True] Translation: X:204.79, Y:145.91, Z:38.82 [[ 3.39019655e-01 -9.39508880e-01 -4.88747081e-02 2.04789544e+02] [ 9.29536564e-01 3.42523479e-01 -1.36526342e-01 1.45906115e+02] [ 1.45008446e-01 8.54285233e-04 9.89430048e-01 3.88193127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters Centerline goodness : 0.980988 with order 1 Centerline is valid? [True, True] Translation: X:204.81, Y:145.96, Z:38.83 [[ 3.43361851e-01 -9.37931613e-01 -4.88562025e-02 2.04810655e+02] [ 9.27942264e-01 3.46816816e-01 -1.36532964e-01 1.45959215e+02] [ 1.45002736e-01 1.54447624e-03 9.89430049e-01 3.88294627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters Centerline goodness : 0.983586 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:146.00, Z:38.85 [[ 3.63604088e-01 -9.30273601e-01 -4.88169445e-02 2.04853314e+02] [ 9.20209887e-01 3.66836040e-01 -1.36547000e-01 1.46002052e+02] [ 1.44933884e-01 4.72721226e-03 9.89430049e-01 3.88458265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters Centerline goodness : 0.981484 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:146.07, Z:38.84 [[ 3.46503576e-01 -9.36780723e-01 -4.87560083e-02 2.04848447e+02] [ 9.26774870e-01 3.49910439e-01 -1.36568755e-01 1.46066082e+02] [ 1.44995213e-01 2.13571859e-03 9.89430052e-01 3.88410072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters Centerline goodness : 0.980817 with order 1 Centerline is valid? [True, True] Translation: X:204.87, Y:146.12, Z:38.85 [[ 3.46656140e-01 -9.36727581e-01 -4.86924904e-02 2.04866631e+02] [ 9.26718030e-01 3.50052115e-01 -1.36591398e-01 1.46120040e+02] [ 1.44993839e-01 2.22603800e-03 9.89430054e-01 3.88487456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters Centerline goodness : 0.981358 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:146.17, Z:38.86 [[ 3.46962660e-01 -9.36615925e-01 -4.86571886e-02 2.04886571e+02] [ 9.26603520e-01 3.50350212e-01 -1.36603972e-01 1.46173867e+02] [ 1.44992512e-01 2.31055540e-03 9.89430055e-01 3.88565883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters Centerline goodness : 0.982348 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:146.23, Z:38.87 [[ 3.46804601e-01 -9.36676416e-01 -4.86195512e-02 2.04908699e+02] [ 9.26662728e-01 3.50188354e-01 -1.36617367e-01 1.46227368e+02] [ 1.44992266e-01 2.32560547e-03 9.89430055e-01 3.88662188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters Centerline goodness : 0.979990 with order 1 Centerline is valid? [True, True] Translation: X:204.93, Y:146.28, Z:38.87 [[ 3.42499948e-01 -9.38260834e-01 -4.85838778e-02 2.04926731e+02] [ 9.28261010e-01 3.45924453e-01 -1.36630052e-01 1.46282241e+02] [ 1.45000978e-01 1.69726627e-03 9.89430056e-01 3.88729839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters Centerline goodness : 0.982720 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:146.33, Z:38.89 [[ 3.45278173e-01 -9.37243904e-01 -4.85473791e-02 2.04951666e+02] [ 9.27232176e-01 3.48667717e-01 -1.36643020e-01 1.46332959e+02] [ 1.44994741e-01 2.16516010e-03 9.89430057e-01 3.88858055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters Centerline goodness : 0.982633 with order 1 Centerline is valid? [True, True] Translation: X:204.97, Y:146.39, Z:38.90 [[ 3.40820443e-01 -9.38875894e-01 -4.85126853e-02 2.04971479e+02] [ 9.28878653e-01 3.44252476e-01 -1.36655336e-01 1.46386473e+02] [ 1.45003013e-01 1.51253441e-03 9.89430057e-01 3.88965255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters Centerline goodness : 0.984645 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:146.44, Z:38.91 [[ 3.39301729e-01 -9.39427772e-01 -4.84747057e-02 2.04995316e+02] [ 9.29434190e-01 3.42744400e-01 -1.36668807e-01 1.46438781e+02] [ 1.45004907e-01 1.31791369e-03 9.89430058e-01 3.89075409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters Centerline goodness : 0.986049 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:146.49, Z:38.91 [[ 3.41248698e-01 -9.38724286e-01 -4.84359498e-02 2.05016387e+02] [ 9.28721660e-01 3.44664999e-01 -1.36682541e-01 1.46492002e+02] [ 1.45001397e-01 1.65922337e-03 9.89430059e-01 3.89083502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters Centerline goodness : 0.984185 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:146.55, Z:38.92 [[ 3.34012015e-01 -9.41325478e-01 -4.83975085e-02 2.05035153e+02] [ 9.31347495e-01 3.37499637e-01 -1.36696151e-01 1.46546001e+02] [ 1.45009711e-01 5.83258707e-04 9.89430060e-01 3.89204870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters Centerline goodness : 0.983418 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:146.59, Z:38.94 [[ 3.49793275e-01 -9.35577964e-01 -4.83584313e-02 2.05079109e+02] [ 9.25540863e-01 3.53106916e-01 -1.36709974e-01 1.46587614e+02] [ 1.44978536e-01 3.06252540e-03 9.89430061e-01 3.89432254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters Centerline goodness : 0.987000 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:146.65, Z:38.94 [[ 3.36388178e-01 -9.40484076e-01 -4.82979931e-02 2.05079668e+02] [ 9.30492318e-01 3.39836125e-01 -1.36731323e-01 1.46648596e+02] [ 1.45007035e-01 1.05388927e-03 9.89430063e-01 3.89425322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters Centerline goodness : 0.987810 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:146.70, Z:38.95 [[ 3.35083422e-01 -9.40952721e-01 -4.82397893e-02 2.05099497e+02] [ 9.30962829e-01 3.38536766e-01 -1.36751855e-01 1.46703964e+02] [ 1.45007973e-01 9.13828815e-04 9.89430065e-01 3.89454557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters Centerline goodness : 0.987918 with order 1 Centerline is valid? [True, True] Translation: X:205.12, Y:146.76, Z:38.96 [[ 3.37875164e-01 -9.39955804e-01 -4.82022805e-02 2.05120568e+02] [ 9.29953839e-01 3.41293381e-01 -1.36765075e-01 1.46757059e+02] [ 1.45004246e-01 1.38362646e-03 9.89430065e-01 3.89551080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters Centerline goodness : 0.988108 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:146.81, Z:38.96 [[ 3.40110319e-01 -9.39151291e-01 -4.81645502e-02 2.05143250e+02] [ 9.29139361e-01 3.43499238e-01 -1.36778361e-01 1.46810093e+02] [ 1.45000061e-01 1.76815274e-03 9.89430066e-01 3.89647787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters Centerline goodness : 0.986414 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:146.87, Z:38.97 [[ 3.36431826e-01 -9.40477233e-01 -4.81269111e-02 2.05158852e+02] [ 9.30476771e-01 3.39854433e-01 -1.36791604e-01 1.46866119e+02] [ 1.45005533e-01 1.24007634e-03 9.89430067e-01 3.89697311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters Centerline goodness : 0.986710 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:146.92, Z:38.97 [[ 3.40496093e-01 -9.39015468e-01 -4.80870228e-02 2.05178771e+02] [ 9.28998339e-01 3.43869607e-01 -1.36805625e-01 1.46919942e+02] [ 1.44998263e-01 1.90901649e-03 9.89430068e-01 3.89729617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters Centerline goodness : 0.987038 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:146.97, Z:38.99 [[ 3.35638752e-01 -9.40764535e-01 -4.80491199e-02 2.05200758e+02] [ 9.30763089e-01 3.39058477e-01 -1.36818936e-01 1.46972239e+02] [ 1.45005864e-01 1.19938958e-03 9.89430069e-01 3.89853664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters Centerline goodness : 0.986387 with order 1 Centerline is valid? [True, True] Translation: X:205.22, Y:147.03, Z:38.99 [[ 3.35829946e-01 -9.40698298e-01 -4.80099883e-02 2.05219007e+02] [ 9.30694215e-01 3.39241948e-01 -1.36832666e-01 1.47026422e+02] [ 1.45005258e-01 1.26988853e-03 9.89430070e-01 3.89901982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters Centerline goodness : 0.987538 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:147.08, Z:39.00 [[ 3.32678840e-01 -9.41819220e-01 -4.79723531e-02 2.05239681e+02] [ 9.31824733e-01 3.36118846e-01 -1.36845860e-01 1.47079732e+02] [ 1.45008473e-01 8.23896746e-04 9.89430070e-01 3.90001892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters Centerline goodness : 0.988368 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:147.13, Z:39.01 [[ 3.31910993e-01 -9.42092044e-01 -4.79340496e-02 2.05261732e+02] [ 9.32098447e-01 3.35353581e-01 -1.36859275e-01 1.47133014e+02] [ 1.45008890e-01 7.45844736e-04 9.89430071e-01 3.90104395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters Centerline goodness : 0.987209 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:147.19, Z:39.02 [[ 3.25464290e-01 -9.44340550e-01 -4.78948917e-02 2.05279294e+02] [ 9.34368720e-01 3.28969426e-01 -1.36872978e-01 1.47187297e+02] [ 1.45010658e-01 -2.04222194e-04 9.89430072e-01 3.90189838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters Centerline goodness : 0.988997 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:147.24, Z:39.03 [[ 3.25189252e-01 -9.44436636e-01 -4.78684703e-02 2.05305093e+02] [ 9.34464481e-01 3.28693462e-01 -1.36882217e-01 1.47238255e+02] [ 1.45010634e-01 -2.18759451e-04 9.89430072e-01 3.90324923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters Centerline goodness : 0.990111 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:147.29, Z:39.04 [[ 3.22523480e-01 -9.45352205e-01 -4.78310885e-02 2.05328071e+02] [ 9.35388059e-01 3.26050397e-01 -1.36895279e-01 1.47292068e+02] [ 1.45009599e-01 -5.88687423e-04 9.89430073e-01 3.90385671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters Centerline goodness : 0.989861 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:147.35, Z:39.05 [[ 3.17258243e-01 -9.47133281e-01 -4.78095820e-02 2.05348908e+02] [ 9.37187795e-01 3.20837441e-01 -1.36902789e-01 1.47345467e+02] [ 1.45004292e-01 -1.37301837e-03 9.89430073e-01 3.90487297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters Centerline goodness : 0.990617 with order 1 Centerline is valid? [True, True] Translation: X:205.37, Y:147.40, Z:39.06 [[ 3.17221521e-01 -9.47147540e-01 -4.77707408e-02 2.05371657e+02] [ 9.37200175e-01 3.20795491e-01 -1.36916341e-01 1.47398440e+02] [ 1.45004614e-01 -1.33793663e-03 9.89430074e-01 3.90602524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters Centerline goodness : 0.990367 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:147.45, Z:39.07 [[ 3.14203781e-01 -9.48154756e-01 -4.77340864e-02 2.05390246e+02] [ 9.38216904e-01 3.17804117e-01 -1.36929119e-01 1.47453442e+02] [ 1.45000085e-01 -1.76127987e-03 9.89430075e-01 3.90657770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters Centerline goodness : 0.991813 with order 1 Centerline is valid? [True, True] Translation: X:205.42, Y:147.50, Z:39.08 [[ 3.21828629e-01 -9.45595888e-01 -4.76943401e-02 2.05415817e+02] [ 9.35627337e-01 3.25343068e-01 -1.36942962e-01 1.47503349e+02] [ 1.45009725e-01 -5.51962687e-04 9.89430076e-01 3.90819661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters Centerline goodness : 0.990350 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:147.56, Z:39.09 [[ 3.17640043e-01 -9.47013173e-01 -4.76534744e-02 2.05431580e+02] [ 9.37058165e-01 3.21192662e-01 -1.36957181e-01 1.47559582e+02] [ 1.45006201e-01 -1.15099235e-03 9.89430077e-01 3.90866577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters Centerline goodness : 0.990858 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:147.61, Z:39.09 [[ 3.20652321e-01 -9.45998693e-01 -4.76294224e-02 2.05451738e+02] [ 9.36031200e-01 3.24169757e-01 -1.36965545e-01 1.47613873e+02] [ 1.45009245e-01 -6.64305469e-04 9.89430077e-01 3.90936717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters Centerline goodness : 0.991990 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:147.67, Z:39.11 [[ 3.22772994e-01 -9.45279162e-01 -4.75909671e-02 2.05476666e+02] [ 9.35301856e-01 3.26262497e-01 -1.36978906e-01 1.47665207e+02] [ 1.45010453e-01 -2.98828217e-04 9.89430078e-01 3.91079548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters Centerline goodness : 0.993448 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:147.72, Z:39.12 [[ 3.23777247e-01 -9.44937572e-01 -4.75529116e-02 2.05497279e+02] [ 9.34954644e-01 3.27250629e-01 -1.36992116e-01 1.47718962e+02] [ 1.45010718e-01 -1.04885369e-04 9.89430079e-01 3.91156242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters Centerline goodness : 0.993252 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:147.77, Z:39.12 [[ 3.24946639e-01 -9.44537938e-01 -4.75159408e-02 2.05519020e+02] [ 9.34548863e-01 3.28402299e-01 -1.37004938e-01 1.47773060e+02] [ 1.45010706e-01 1.13325903e-04 9.89430080e-01 3.91225850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters Centerline goodness : 0.992412 with order 1 Centerline is valid? [True, True] Translation: X:205.53, Y:147.83, Z:39.13 [[ 3.19183427e-01 -9.46503095e-01 -4.74745381e-02 2.05531843e+02] [ 9.36533156e-01 3.22693915e-01 -1.37019284e-01 1.47829168e+02] [ 1.45008921e-01 -7.27194441e-04 9.89430080e-01 3.91259083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters Centerline goodness : 0.993353 with order 1 Centerline is valid? [True, True] Translation: X:205.56, Y:147.88, Z:39.14 [[ 3.24305183e-01 -9.44762639e-01 -4.74310394e-02 2.05558924e+02] [ 9.34771654e-01 3.27755312e-01 -1.37034340e-01 1.47878959e+02] [ 1.45010700e-01 1.03755565e-04 9.89430082e-01 3.91404156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters Centerline goodness : 0.993440 with order 1 Centerline is valid? [True, True] Translation: X:205.58, Y:147.93, Z:39.15 [[ 3.23499733e-01 -9.45040802e-01 -4.73899277e-02 2.05577807e+02] [ 9.35050700e-01 3.26952415e-01 -1.37048556e-01 1.47931916e+02] [ 1.45010729e-01 2.31862289e-05 9.89430082e-01 3.91499215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:147.99, Z:39.16 [[ 3.24792246e-01 -9.44599589e-01 -4.73456714e-02 2.05597882e+02] [ 9.34602567e-01 3.28224838e-01 -1.37063844e-01 1.47985769e+02] [ 1.45010476e-01 2.67887558e-04 9.89430084e-01 3.91611067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:205.62, Y:148.04, Z:39.17 [[ 3.26988971e-01 -9.43843341e-01 -4.73070948e-02 2.05617580e+02] [ 9.33836453e-01 3.30392693e-01 -1.37077157e-01 1.48040350e+02] [ 1.45009280e-01 6.45628872e-04 9.89430084e-01 3.91688272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters Centerline goodness : 0.992192 with order 1 Centerline is valid? [True, True] Translation: X:205.63, Y:148.10, Z:39.17 [[ 3.25900964e-01 -9.44221503e-01 -4.72685519e-02 2.05629366e+02] [ 9.34216637e-01 3.29310621e-01 -1.37090447e-01 1.48098591e+02] [ 1.45009784e-01 5.18841101e-04 9.89430085e-01 3.91709521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:148.15, Z:39.18 [[ 3.29360130e-01 -9.43022278e-01 -4.72322774e-02 2.05652439e+02] [ 9.33003207e-01 3.32727815e-01 -1.37102943e-01 1.48150716e+02] [ 1.45006623e-01 1.08837699e-03 9.89430086e-01 3.91827558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:148.20, Z:39.20 [[ 3.26590940e-01 -9.43986824e-01 -4.71935869e-02 2.05672306e+02] [ 9.33975775e-01 3.29982397e-01 -1.37116260e-01 1.48204264e+02] [ 1.45008996e-01 7.03261502e-04 9.89430087e-01 3.91964148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters Centerline goodness : 0.992893 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:148.26, Z:39.20 [[ 3.25314011e-01 -9.44429599e-01 -4.71542942e-02 2.05690573e+02] [ 9.34421207e-01 3.28713299e-01 -1.37129772e-01 1.48258576e+02] [ 1.45009659e-01 5.48263657e-04 9.89430088e-01 3.92029121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters Centerline goodness : 0.991903 with order 1 Centerline is valid? [True, True] Translation: X:205.70, Y:148.32, Z:39.20 [[ 3.20637149e-01 -9.46029508e-01 -4.71167561e-02 2.05701126e+02] [ 9.36036183e-01 3.24080474e-01 -1.37142669e-01 1.48317196e+02] [ 1.45010632e-01 -1.29954213e-04 9.89430088e-01 3.92000057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:205.72, Y:148.37, Z:39.21 [[ 3.21853092e-01 -9.45618350e-01 -4.70799673e-02 2.05722942e+02] [ 9.35618778e-01 3.25278230e-01 -1.37155297e-01 1.48370649e+02] [ 1.45010654e-01 9.49548855e-05 9.89430089e-01 3.92094817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters Centerline goodness : 0.992445 with order 1 Centerline is valid? [True, True] Translation: X:205.74, Y:148.43, Z:39.22 [[ 3.20688849e-01 -9.46015719e-01 -4.70416943e-02 2.05738937e+02] [ 9.36018465e-01 3.24120744e-01 -1.37168423e-01 1.48425028e+02] [ 1.45010673e-01 -4.35109016e-05 9.89430090e-01 3.92206269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters Centerline goodness : 0.991291 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:148.48, Z:39.23 [[ 3.20313179e-01 -9.46144290e-01 -4.70154207e-02 2.05756340e+02] [ 9.36147091e-01 3.23745234e-01 -1.37177428e-01 1.48479555e+02] [ 1.45010658e-01 -7.36115224e-05 9.89430090e-01 3.92284170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters Centerline goodness : 0.990389 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:148.54, Z:39.24 [[ 3.18601145e-01 -9.46724061e-01 -4.69772601e-02 2.05770181e+02] [ 9.36731180e-01 3.22045750e-01 -1.37190495e-01 1.48535674e+02] [ 1.45010369e-01 -2.96015450e-04 9.89430091e-01 3.92352359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters Centerline goodness : 0.988971 with order 1 Centerline is valid? [True, True] Translation: X:205.78, Y:148.59, Z:39.23 [[ 3.16333370e-01 -9.47486095e-01 -4.69393221e-02 2.05779810e+02] [ 9.37499584e-01 3.19796398e-01 -1.37203474e-01 1.48594656e+02] [ 1.45009410e-01 -6.03557612e-04 9.89430092e-01 3.92347810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters Centerline goodness : 0.990115 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:148.65, Z:39.25 [[ 3.09957753e-01 -9.49592755e-01 -4.69019239e-02 2.05798166e+02] [ 9.39627835e-01 3.13482425e-01 -1.37216257e-01 1.48646872e+02] [ 1.45002493e-01 -1.53911036e-03 9.89430093e-01 3.92540379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters Centerline goodness : 0.988365 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:148.71, Z:39.25 [[ 2.93695914e-01 -9.54748869e-01 -4.68754410e-02 2.05800401e+02] [ 9.44844177e-01 2.97386444e-01 -1.37225304e-01 1.48708878e+02] [ 1.44955824e-01 -3.98747640e-03 9.89430093e-01 3.92487801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters Centerline goodness : 0.988276 with order 1 Centerline is valid? [True, True] Translation: X:205.82, Y:148.76, Z:39.26 [[ 2.97966432e-01 -9.53426736e-01 -4.68344365e-02 2.05817360e+02] [ 9.43503460e-01 3.01606693e-01 -1.37239297e-01 1.48763301e+02] [ 1.44973195e-01 -3.29574916e-03 9.89430094e-01 3.92573569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters Centerline goodness : 0.987543 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:148.82, Z:39.26 [[ 2.95927859e-01 -9.54063439e-01 -4.67937766e-02 2.05830859e+02] [ 9.44145810e-01 2.99583476e-01 -1.37253159e-01 1.48819810e+02] [ 1.44966864e-01 -3.56311455e-03 9.89430095e-01 3.92620054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters Centerline goodness : 0.985612 with order 1 Centerline is valid? [True, True] Translation: X:205.84, Y:148.88, Z:39.27 [[ 2.85851334e-01 -9.57132669e-01 -4.67554117e-02 2.05843722e+02] [ 9.47252050e-01 2.89605830e-01 -1.37266227e-01 1.48876885e+02] [ 1.44922630e-01 -5.05142540e-03 9.89430096e-01 3.92669306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters Centerline goodness : 0.986233 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:148.93, Z:39.28 [[ 2.90744590e-01 -9.55659630e-01 -4.67146161e-02 2.05862784e+02] [ 9.45757743e-01 2.94442630e-01 -1.37280110e-01 1.48928749e+02] [ 1.44947833e-01 -4.26726065e-03 9.89430097e-01 3.92840433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters Centerline goodness : 0.986617 with order 1 Centerline is valid? [True, True] Translation: X:205.88, Y:148.98, Z:39.30 [[ 2.92298241e-01 -9.55186920e-01 -4.66871161e-02 2.05881162e+02] [ 9.45277567e-01 2.95976225e-01 -1.37289462e-01 1.48982852e+02] [ 1.44955374e-01 -4.00281536e-03 9.89430097e-01 3.92960498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters Centerline goodness : 0.985547 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:149.04, Z:39.31 [[ 2.96950970e-01 -9.53752597e-01 -4.66487503e-02 2.05896247e+02] [ 9.43823417e-01 3.00575086e-01 -1.37302497e-01 1.49037317e+02] [ 1.44974065e-01 -3.25607336e-03 9.89430098e-01 3.93128572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters Centerline goodness : 0.985415 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:149.08, Z:39.33 [[ 3.25742021e-01 -9.44309129e-01 -4.66090621e-02 2.05940162e+02] [ 9.34272689e-01 3.29057544e-01 -1.37315968e-01 1.49078748e+02] [ 1.45005786e-01 1.18400720e-03 9.89430099e-01 3.93338263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters Centerline goodness : 0.985086 with order 1 Centerline is valid? [True, True] Translation: X:205.93, Y:149.15, Z:39.32 [[ 3.02026332e-01 -9.52162749e-01 -4.65423834e-02 2.05928375e+02] [ 9.42208921e-01 3.05582180e-01 -1.37338565e-01 1.49146244e+02] [ 1.44991189e-01 -2.37278579e-03 9.89430101e-01 3.93206725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters Centerline goodness : 0.983858 with order 1 Centerline is valid? [True, True] Translation: X:205.98, Y:149.19, Z:39.35 [[ 3.31168833e-01 -9.42425279e-01 -4.64951411e-02 2.05977611e+02] [ 9.32364574e-01 3.34409968e-01 -1.37354557e-01 1.49185502e+02] [ 1.44994845e-01 2.13712589e-03 9.89430102e-01 3.93509820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters Centerline goodness : 0.984513 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:149.24, Z:39.36 [[ 3.34067490e-01 -9.41404222e-01 -4.64435538e-02 2.05989202e+02] [ 9.31331196e-01 3.37270124e-01 -1.37371998e-01 1.49242013e+02] [ 1.44986602e-01 2.63718812e-03 9.89430104e-01 3.93581402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters Centerline goodness : 0.985187 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:149.29, Z:39.37 [[ 3.36049459e-01 -9.40701893e-01 -4.63757439e-02 2.06007570e+02] [ 9.30619029e-01 3.39220973e-01 -1.37394887e-01 1.49293207e+02] [ 1.44979255e-01 3.01332763e-03 9.89430106e-01 3.93696397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters Centerline goodness : 0.985315 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:149.36, Z:39.37 [[ 3.15298999e-01 -9.47861339e-01 -4.63187165e-02 2.05997559e+02] [ 9.37847799e-01 3.18683023e-01 -1.37414109e-01 1.49357166e+02] [ 1.45010510e-01 -1.13375210e-04 9.89430108e-01 3.93652841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters Centerline goodness : 0.984724 with order 1 Centerline is valid? [True, True] Translation: X:206.02, Y:149.41, Z:39.37 [[ 3.14338054e-01 -9.48183566e-01 -4.62548657e-02 2.06015969e+02] [ 9.38170330e-01 3.17722973e-01 -1.37435599e-01 1.49412068e+02] [ 1.45010410e-01 -1.93703843e-04 9.89430110e-01 3.93733621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters Centerline goodness : 0.981758 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:149.45, Z:39.40 [[ 3.33384996e-01 -9.41657345e-01 -4.62156735e-02 2.06061035e+02] [ 9.31576117e-01 3.36561691e-01 -1.37448777e-01 1.49453591e+02] [ 1.44984076e-01 2.76994244e-03 9.89430111e-01 3.93961391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters Centerline goodness : 0.979628 with order 1 Centerline is valid? [True, True] Translation: X:206.08, Y:149.51, Z:39.40 [[ 3.29000589e-01 -9.43201278e-01 -4.61515010e-02 2.06079573e+02] [ 9.33131951e-01 3.32214799e-01 -1.37470322e-01 1.49505160e+02] [ 1.44994395e-01 2.16237663e-03 9.89430114e-01 3.94024700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters Centerline goodness : 0.983729 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:149.56, Z:39.41 [[ 3.28298603e-01 -9.43449329e-01 -4.60802769e-02 2.06097704e+02] [ 9.33379084e-01 3.31509929e-01 -1.37494192e-01 1.49559453e+02] [ 1.44994873e-01 2.12878459e-03 9.89430116e-01 3.94105244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters Centerline goodness : 0.984977 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:149.61, Z:39.42 [[ 3.27135052e-01 -9.43856607e-01 -4.60148225e-02 2.06117852e+02] [ 9.33787284e-01 3.30349259e-01 -1.37516095e-01 1.49611804e+02] [ 1.44996437e-01 2.01827871e-03 9.89430119e-01 3.94199765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters Centerline goodness : 0.986979 with order 1 Centerline is valid? [True, True] Translation: X:206.11, Y:149.68, Z:39.41 [[ 3.05515333e-01 -9.51078023e-01 -4.59453607e-02 2.06109219e+02] [ 9.41081203e-01 3.08948396e-01 -1.37539299e-01 1.49676943e+02] [ 1.45005350e-01 -1.21795056e-03 9.89430121e-01 3.94086686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters Centerline goodness : 0.985583 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:149.73, Z:39.41 [[ 3.04119659e-01 -9.51528334e-01 -4.58809698e-02 2.06125400e+02] [ 9.41533357e-01 3.07558077e-01 -1.37560776e-01 1.49733460e+02] [ 1.45004039e-01 -1.36352733e-03 9.89430124e-01 3.94099335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters Centerline goodness : 0.984752 with order 1 Centerline is valid? [True, True] Translation: X:206.14, Y:149.79, Z:39.42 [[ 3.04134616e-01 -9.51525357e-01 -4.58435351e-02 2.06143605e+02] [ 9.41528467e-01 3.07567466e-01 -1.37573250e-01 1.49788582e+02] [ 1.45004416e-01 -1.32220565e-03 9.89430124e-01 3.94155263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters Centerline goodness : 0.985594 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:149.84, Z:39.43 [[ 3.06865595e-01 -9.50649984e-01 -4.58051815e-02 2.06162465e+02] [ 9.40641392e-01 3.10264176e-01 -1.37586019e-01 1.49842282e+02] [ 1.45007854e-01 -8.65834033e-04 9.89430125e-01 3.94257988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters Centerline goodness : 0.985328 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:149.90, Z:39.43 [[ 3.08028034e-01 -9.50275805e-01 -4.57670759e-02 2.06181231e+02] [ 9.40261201e-01 3.11408853e-01 -1.37598694e-01 1.49896836e+02] [ 1.45008982e-01 -6.48750650e-04 9.89430126e-01 3.94349724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters Centerline goodness : 0.985947 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:149.95, Z:39.44 [[ 3.08172937e-01 -9.50230597e-01 -4.57302180e-02 2.06200779e+02] [ 9.40213679e-01 3.11546892e-01 -1.37610942e-01 1.49951933e+02] [ 1.45009235e-01 -5.88208299e-04 9.89430127e-01 3.94419832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters Centerline goodness : 0.986102 with order 1 Centerline is valid? [True, True] Translation: X:206.22, Y:150.01, Z:39.45 [[ 3.08991512e-01 -9.49966428e-01 -4.56949777e-02 2.06220275e+02] [ 9.39944894e-01 3.12351731e-01 -1.37622643e-01 1.50006242e+02] [ 1.45009796e-01 -4.26532331e-04 9.89430127e-01 3.94529533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters Centerline goodness : 0.987197 with order 1 Centerline is valid? [True, True] Translation: X:206.24, Y:150.06, Z:39.47 [[ 3.10195170e-01 -9.49575829e-01 -4.56585245e-02 2.06243291e+02] [ 9.39548284e-01 3.13537402e-01 -1.37634736e-01 1.50059183e+02] [ 1.45010274e-01 -2.04757989e-04 9.89430128e-01 3.94659722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters Centerline goodness : 0.986830 with order 1 Centerline is valid? [True, True] Translation: X:206.26, Y:150.11, Z:39.48 [[ 3.15001041e-01 -9.47994172e-01 -4.56222956e-02 2.06264954e+02] [ 9.37948104e-01 3.18287178e-01 -1.37646744e-01 1.50111183e+02] [ 1.45009303e-01 5.67521947e-04 9.89430129e-01 3.94830018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters Centerline goodness : 0.990205 with order 1 Centerline is valid? [True, True] Translation: X:206.29, Y:150.16, Z:39.50 [[ 3.16193818e-01 -9.47598925e-01 -4.55823035e-02 2.06293058e+02] [ 9.37546841e-01 3.19461500e-01 -1.37659987e-01 1.50160981e+02] [ 1.45008246e-01 7.91692033e-04 9.89430130e-01 3.95008337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters Centerline goodness : 0.990943 with order 1 Centerline is valid? [True, True] Translation: X:206.32, Y:150.21, Z:39.51 [[ 3.18787536e-01 -9.46731352e-01 -4.55439855e-02 2.06315087e+02] [ 9.36668565e-01 3.22022108e-01 -1.37672663e-01 1.50214492e+02] [ 1.45005196e-01 1.22870947e-03 9.89430131e-01 3.95089223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters Centerline goodness : 0.988346 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:150.27, Z:39.51 [[ 3.10558335e-01 -9.49464471e-01 -4.55053592e-02 2.06326120e+02] [ 9.39428286e-01 3.13874525e-01 -1.37685429e-01 1.50272825e+02] [ 1.45010396e-01 1.03360592e-05 9.89430131e-01 3.95052855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters Centerline goodness : 0.991324 with order 1 Centerline is valid? [True, True] Translation: X:206.36, Y:150.32, Z:39.53 [[ 3.16635207e-01 -9.47457075e-01 -4.54668735e-02 2.06355285e+02] [ 9.37398043e-01 3.19881434e-01 -1.37698137e-01 1.50322230e+02] [ 1.45007083e-01 9.79519801e-04 9.89430132e-01 3.95257657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters Centerline goodness : 0.991710 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:150.38, Z:39.54 [[ 3.15486504e-01 -9.47841923e-01 -4.54307774e-02 2.06376693e+02] [ 9.37785136e-01 3.18739677e-01 -1.37710045e-01 1.50375267e+02] [ 1.45007945e-01 8.41352933e-04 9.89430133e-01 3.95402446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters Centerline goodness : 0.991671 with order 1 Centerline is valid? [True, True] Translation: X:206.40, Y:150.43, Z:39.55 [[ 3.15967843e-01 -9.47683430e-01 -4.53920567e-02 2.06395615e+02] [ 9.37623178e-01 3.19210282e-01 -1.37722807e-01 1.50430016e+02] [ 1.45007234e-01 9.55333886e-04 9.89430134e-01 3.95478260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters Centerline goodness : 0.987994 with order 1 Centerline is valid? [True, True] Translation: X:206.40, Y:150.49, Z:39.53 [[ 3.03552766e-01 -9.51734637e-01 -4.53530449e-02 2.06398781e+02] [ 9.41715731e-01 3.06920790e-01 -1.37735653e-01 1.50492361e+02] [ 1.45007584e-01 -8.99637377e-04 9.89430135e-01 3.95339871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters Centerline goodness : 0.988610 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:150.55, Z:39.55 [[ 3.05266382e-01 -9.51188314e-01 -4.53125626e-02 2.06420263e+02] [ 9.41161402e-01 3.08610493e-01 -1.37748970e-01 1.50545169e+02] [ 1.45009143e-01 -5.96305407e-04 9.89430135e-01 3.95473684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:206.44, Y:150.60, Z:39.56 [[ 3.10682717e-01 -9.49434903e-01 -4.52726617e-02 2.06441260e+02] [ 9.39387204e-01 3.13963836e-01 -1.37762083e-01 1.50597226e+02] [ 1.45010108e-01 2.71739011e-04 9.89430136e-01 3.95556084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:150.65, Z:39.57 [[ 3.11850425e-01 -9.49053412e-01 -4.52430574e-02 2.06464160e+02] [ 9.39000287e-01 3.15114885e-01 -1.37771804e-01 1.50648857e+02] [ 1.45009562e-01 4.80951881e-04 9.89430137e-01 3.95696366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters Centerline goodness : 0.990769 with order 1 Centerline is valid? [True, True] Translation: X:206.48, Y:150.70, Z:39.58 [[ 3.08156590e-01 -9.50261177e-01 -4.52018881e-02 2.06480849e+02] [ 9.40218866e-01 3.11454159e-01 -1.37785311e-01 1.50703298e+02] [ 1.45010347e-01 -4.02165189e-05 9.89430138e-01 3.95801293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters Centerline goodness : 0.990875 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:150.76, Z:39.59 [[ 3.03210258e-01 -9.51852835e-01 -4.51632627e-02 2.06501455e+02] [ 9.41825943e-01 3.06554420e-01 -1.37797970e-01 1.50756956e+02] [ 1.45008386e-01 -7.54174369e-04 9.89430139e-01 3.95912172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters Centerline goodness : 0.992221 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:150.81, Z:39.60 [[ 3.01522354e-01 -9.52390663e-01 -4.51253310e-02 2.06522130e+02] [ 9.42367877e-01 3.04878798e-01 -1.37810391e-01 1.50810901e+02] [ 1.45007086e-01 -9.71748885e-04 9.89430139e-01 3.95985136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:150.87, Z:39.60 [[ 2.97947260e-01 -9.53516892e-01 -4.50884407e-02 2.06538025e+02] [ 9.43504963e-01 3.01335950e-01 -1.37822460e-01 1.50865303e+02] [ 1.45002811e-01 -1.47734332e-03 9.89430140e-01 3.96039403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters Centerline goodness : 0.991448 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:150.92, Z:39.61 [[ 2.93885561e-01 -9.54778432e-01 -4.50491230e-02 2.06555261e+02] [ 9.44779074e-01 2.97311165e-01 -1.37835310e-01 1.50920507e+02] [ 1.44995788e-01 -2.05366131e-03 9.89430141e-01 3.96096108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters Centerline goodness : 0.992457 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:150.98, Z:39.61 [[ 2.89863741e-01 -9.56008976e-01 -4.50094394e-02 2.06575314e+02] [ 9.46022143e-01 2.93325688e-01 -1.37848267e-01 1.50975518e+02] [ 1.44986606e-01 -2.62271185e-03 9.89430142e-01 3.96141771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters Centerline goodness : 0.992214 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:151.03, Z:39.62 [[ 2.89927054e-01 -9.55991028e-01 -4.49828676e-02 2.06593074e+02] [ 9.46002640e-01 2.93384510e-01 -1.37856938e-01 1.51029912e+02] [ 1.44987272e-01 -2.58545564e-03 9.89430142e-01 3.96204935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters Centerline goodness : 0.991225 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:151.09, Z:39.63 [[ 2.88304795e-01 -9.56483306e-01 -4.49447511e-02 2.06609081e+02] [ 9.46498889e-01 2.91773699e-01 -1.37869364e-01 1.51085876e+02] [ 1.44983441e-01 -2.79175833e-03 9.89430143e-01 3.96267866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters Centerline goodness : 0.991921 with order 1 Centerline is valid? [True, True] Translation: X:206.63, Y:151.14, Z:39.64 [[ 2.90972224e-01 -9.55676989e-01 -4.49072047e-02 2.06628684e+02] [ 9.45681071e-01 2.94407843e-01 -1.37881593e-01 1.51138761e+02] [ 1.44991299e-01 -2.34817978e-03 9.89430144e-01 3.96404897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:151.19, Z:39.66 [[ 2.93949730e-01 -9.54767226e-01 -4.48675910e-02 2.06651222e+02] [ 9.44758704e-01 2.97348455e-01 -1.37894482e-01 1.51190448e+02] [ 1.44998441e-01 -1.85500137e-03 9.89430145e-01 3.96561424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:206.67, Y:151.24, Z:39.67 [[ 2.94360280e-01 -9.54642685e-01 -4.48260016e-02 2.06669287e+02] [ 9.44630668e-01 2.97748694e-01 -1.37908001e-01 1.51244159e+02] [ 1.44999747e-01 -1.74937813e-03 9.89430146e-01 3.96673408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:151.30, Z:39.67 [[ 2.90509289e-01 -9.55823448e-01 -4.47871643e-02 2.06686460e+02] [ 9.45823254e-01 2.93932435e-01 -1.37920612e-01 1.51300147e+02] [ 1.44992155e-01 -2.29352248e-03 9.89430146e-01 3.96700933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters Centerline goodness : 0.993773 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:151.34, Z:39.70 [[ 3.08598047e-01 -9.50139446e-01 -4.47468191e-02 2.06726314e+02] [ 9.40074206e-01 3.11824922e-01 -1.37933701e-01 1.51342831e+02] [ 1.45009423e-01 5.00740234e-04 9.89430147e-01 3.96963327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:151.41, Z:39.69 [[ 2.91649293e-01 -9.55480900e-01 -4.46871207e-02 2.06725371e+02] [ 9.45471722e-01 2.95046069e-01 -1.37953039e-01 1.51405841e+02] [ 1.44996253e-01 -2.01650249e-03 9.89430149e-01 3.96869681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters Centerline goodness : 0.992783 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:151.46, Z:39.69 [[ 2.92562858e-01 -9.55204374e-01 -4.46271014e-02 2.06741470e+02] [ 9.45189025e-01 2.95941394e-01 -1.37972453e-01 1.51460873e+02] [ 1.44998897e-01 -1.81543136e-03 9.89430151e-01 3.96928920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters Centerline goodness : 0.992868 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:151.52, Z:39.70 [[ 2.95948539e-01 -9.54162560e-01 -4.45900391e-02 2.06759006e+02] [ 9.44133509e-01 2.99286176e-01 -1.37984430e-01 1.51515063e+02] [ 1.45004759e-01 -1.26265971e-03 9.89430152e-01 3.97004800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters Centerline goodness : 0.992744 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:151.57, Z:39.70 [[ 2.96212391e-01 -9.54082510e-01 -4.45509036e-02 2.06774892e+02] [ 9.44050657e-01 2.99541595e-01 -1.37997064e-01 1.51571728e+02] [ 1.45005434e-01 -1.18186947e-03 9.89430153e-01 3.97028829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:151.62, Z:39.72 [[ 2.99352929e-01 -9.53103705e-01 -4.45101229e-02 2.06794253e+02] [ 9.43059007e-01 3.02643171e-01 -1.38010217e-01 1.51624639e+02] [ 1.45008734e-01 -6.61909831e-04 9.89430154e-01 3.97151370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters Centerline goodness : 0.993163 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:151.68, Z:39.72 [[ 2.98973514e-01 -9.53224698e-01 -4.44692315e-02 2.06812607e+02] [ 9.43179372e-01 3.02261834e-01 -1.38023391e-01 1.51679284e+02] [ 1.45008657e-01 -6.77123424e-04 9.89430155e-01 3.97241729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters Centerline goodness : 0.991984 with order 1 Centerline is valid? [True, True] Translation: X:206.83, Y:151.74, Z:39.73 [[ 2.96501086e-01 -9.53998501e-01 -4.44293343e-02 2.06827706e+02] [ 9.43959831e-01 2.99809667e-01 -1.38036233e-01 1.51735351e+02] [ 1.45006703e-01 -1.01161379e-03 9.89430156e-01 3.97299255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters Centerline goodness : 0.992648 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:151.79, Z:39.74 [[ 2.96198083e-01 -9.54094477e-01 -4.43894742e-02 2.06845142e+02] [ 9.44054958e-01 2.99504085e-01 -1.38049050e-01 1.51788221e+02] [ 1.45006665e-01 -1.01623922e-03 9.89430156e-01 3.97399680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters Centerline goodness : 0.992656 with order 1 Centerline is valid? [True, True] Translation: X:206.87, Y:151.84, Z:39.75 [[ 2.96606989e-01 -9.53968925e-01 -4.43574589e-02 2.06865288e+02] [ 9.43926468e-01 2.99904055e-01 -1.38059337e-01 1.51841141e+02] [ 1.45007299e-01 -9.20815333e-04 9.89430157e-01 3.97507023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:151.89, Z:39.76 [[ 2.99077414e-01 -9.53199281e-01 -4.43151321e-02 2.06885527e+02] [ 9.43146324e-01 3.02342322e-01 -1.38072922e-01 1.51892986e+02] [ 1.45009350e-01 -5.01161524e-04 9.89430158e-01 3.97638322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters Centerline goodness : 0.993225 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:151.94, Z:39.78 [[ 3.07645682e-01 -9.50470407e-01 -4.42734750e-02 2.06915380e+02] [ 9.40386565e-01 3.10813912e-01 -1.38086278e-01 1.51941721e+02] [ 1.45007733e-01 8.47466122e-04 9.89430159e-01 3.97818349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:152.00, Z:39.78 [[ 2.97261217e-01 -9.53771652e-01 -4.42199588e-02 2.06918560e+02] [ 9.43720442e-01 3.00531488e-01 -1.38103414e-01 1.52002700e+02] [ 1.45008611e-01 -6.78490202e-04 9.89430160e-01 3.97783856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters Centerline goodness : 0.993555 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:152.06, Z:39.79 [[ 2.95338483e-01 -9.54371242e-01 -4.41668678e-02 2.06936744e+02] [ 9.44324131e-01 2.98621321e-01 -1.38120391e-01 1.52057650e+02] [ 1.45007298e-01 -9.15572252e-04 9.89430162e-01 3.97873083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters Centerline goodness : 0.994676 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:152.11, Z:39.80 [[ 2.91327893e-01 -9.55604987e-01 -4.41267126e-02 2.06954342e+02] [ 9.45569831e-01 2.94647093e-01 -1.38133219e-01 1.52110803e+02] [ 1.45002600e-01 -1.48282857e-03 9.89430163e-01 3.97977972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters Centerline goodness : 0.992778 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:152.17, Z:39.80 [[ 2.84137829e-01 -9.57769385e-01 -4.40851415e-02 2.06965921e+02] [ 9.47757427e-01 2.87526361e-01 -1.38146485e-01 1.52168997e+02] [ 1.44988114e-01 -2.52937789e-03 9.89430164e-01 3.97954928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:206.99, Y:152.22, Z:39.81 [[ 2.85473303e-01 -9.57374107e-01 -4.40433078e-02 2.06986580e+02] [ 9.47355403e-01 2.88841832e-01 -1.38159821e-01 1.52222215e+02] [ 1.44992185e-01 -2.28372519e-03 9.89430165e-01 3.98089912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters Centerline goodness : 0.992909 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:152.28, Z:39.81 [[ 2.82674920e-01 -9.58205897e-01 -4.40039691e-02 2.06998231e+02] [ 9.48195155e-01 2.86067037e-01 -1.38172350e-01 1.52278716e+02] [ 1.44985645e-01 -2.66649243e-03 9.89430166e-01 3.98147651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:207.02, Y:152.33, Z:39.83 [[ 2.88637867e-01 -9.56428490e-01 -4.39627704e-02 2.07018022e+02] [ 9.46394842e-01 2.91961612e-01 -1.38185457e-01 1.52330355e+02] [ 1.44999949e-01 -1.72058366e-03 9.89430166e-01 3.98319249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:152.39, Z:39.83 [[ 2.84350811e-01 -9.57713151e-01 -4.39333282e-02 2.07027885e+02] [ 9.47693065e-01 2.87715220e-01 -1.38194817e-01 1.52388298e+02] [ 1.44991281e-01 -2.33950213e-03 9.89430167e-01 3.98343355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters Centerline goodness : 0.992791 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:152.44, Z:39.84 [[ 2.87652060e-01 -9.56728565e-01 -4.38947048e-02 2.07045575e+02] [ 9.46695087e-01 2.90976313e-01 -1.38207084e-01 1.52443242e+02] [ 1.44998984e-01 -1.79934902e-03 9.89430168e-01 3.98432915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:152.49, Z:39.87 [[ 3.03021034e-01 -9.51974217e-01 -4.38559343e-02 2.07080171e+02] [ 9.41886746e-01 3.06177658e-01 -1.38219385e-01 1.52487322e+02] [ 1.45008999e-01 5.76057895e-04 9.89430169e-01 3.98703544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters Centerline goodness : 0.993053 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:152.55, Z:39.86 [[ 2.86710903e-01 -9.57015738e-01 -4.37919573e-02 2.07077806e+02] [ 9.46980617e-01 2.90030186e-01 -1.38239653e-01 1.52550689e+02] [ 1.44998513e-01 -1.83531909e-03 9.89430171e-01 3.98586617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters Centerline goodness : 0.993459 with order 1 Centerline is valid? [True, True] Translation: X:207.10, Y:152.61, Z:39.87 [[ 2.86118206e-01 -9.57195157e-01 -4.37470310e-02 2.07095080e+02] [ 9.47159947e-01 2.89437216e-01 -1.38253869e-01 1.52606015e+02] [ 1.44997952e-01 -1.87848674e-03 9.89430172e-01 3.98663669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters Centerline goodness : 0.986046 with order 1 Centerline is valid? [True, True] Translation: X:207.13, Y:152.65, Z:39.90 [[ 3.05548481e-01 -9.51172872e-01 -4.37069096e-02 2.07131509e+02] [ 9.41070368e-01 3.08656643e-01 -1.38266551e-01 1.52649482e+02] [ 1.45005821e-01 1.11585726e-03 9.89430173e-01 3.98953461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters Centerline goodness : 0.990351 with order 1 Centerline is valid? [True, True] Translation: X:207.12, Y:152.72, Z:39.88 [[ 2.84012521e-01 -9.57826931e-01 -4.36401013e-02 2.07118721e+02] [ 9.47793919e-01 2.87338159e-01 -1.38287635e-01 1.52716605e+02] [ 1.44995087e-01 -2.08640280e-03 9.89430175e-01 3.98779546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:207.14, Y:152.77, Z:39.89 [[ 2.88580078e-01 -9.56463772e-01 -4.35728295e-02 2.07138068e+02] [ 9.46411839e-01 2.91848074e-01 -1.38308828e-01 1.52769384e+02] [ 1.45004030e-01 -1.32466924e-03 9.89430178e-01 3.98916530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters Centerline goodness : 0.991266 with order 1 Centerline is valid? [True, True] Translation: X:207.16, Y:152.82, Z:39.90 [[ 2.88386250e-01 -9.56524092e-01 -4.35319782e-02 2.07156391e+02] [ 9.46470903e-01 2.91650376e-01 -1.38321685e-01 1.52823732e+02] [ 1.45004142e-01 -1.31167868e-03 9.89430179e-01 3.99002218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters Centerline goodness : 0.991697 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:152.88, Z:39.91 [[ 2.90243541e-01 -9.55963876e-01 -4.34943113e-02 2.07172362e+02] [ 9.45902611e-01 2.93482685e-01 -1.38333528e-01 1.52878499e+02] [ 1.45006683e-01 -9.90969486e-04 9.89430179e-01 3.99073068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters Centerline goodness : 0.991189 with order 1 Centerline is valid? [True, True] Translation: X:207.19, Y:152.93, Z:39.91 [[ 2.90676532e-01 -9.55834269e-01 -4.34511758e-02 2.07188964e+02] [ 9.45769534e-01 2.93904875e-01 -1.38347076e-01 1.52933959e+02] [ 1.45007389e-01 -8.80549899e-04 9.89430180e-01 3.99107634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:152.99, Z:39.92 [[ 2.89842554e-01 -9.56088640e-01 -4.34258716e-02 2.07207710e+02] [ 9.46025549e-01 2.93076014e-01 -1.38355019e-01 1.52988452e+02] [ 1.45006743e-01 -9.80812072e-04 9.89430181e-01 3.99217233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:207.22, Y:153.05, Z:39.93 [[ 2.85726066e-01 -9.57328592e-01 -4.33887269e-02 2.07221512e+02] [ 9.47277759e-01 2.88997428e-01 -1.38366666e-01 1.53045061e+02] [ 1.45001597e-01 -1.56621271e-03 9.89430181e-01 3.99258959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters Centerline goodness : 0.992389 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:153.10, Z:39.94 [[ 2.89718308e-01 -9.56129776e-01 -4.33491962e-02 2.07244062e+02] [ 9.46063547e-01 2.92941980e-01 -1.38379050e-01 1.53096842e+02] [ 1.45007130e-01 -9.20150105e-04 9.89430182e-01 3.99410463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters Centerline goodness : 0.991871 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:153.15, Z:39.95 [[ 2.85164797e-01 -9.57499485e-01 -4.33102264e-02 2.07259974e+02] [ 9.47446880e-01 2.88430707e-01 -1.38391246e-01 1.53151852e+02] [ 1.45001546e-01 -1.56982728e-03 9.89430183e-01 3.99457931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters Centerline goodness : 0.992069 with order 1 Centerline is valid? [True, True] Translation: X:207.28, Y:153.21, Z:39.95 [[ 2.86771457e-01 -9.57021529e-01 -4.32657536e-02 2.07275676e+02] [ 9.46961383e-01 2.90014059e-01 -1.38405149e-01 1.53207802e+02] [ 1.45004384e-01 -1.28035173e-03 9.89430184e-01 3.99537934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters Centerline goodness : 0.992253 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:153.26, Z:39.96 [[ 2.87041929e-01 -9.56942074e-01 -4.32296053e-02 2.07296107e+02] [ 9.46879331e-01 2.90276460e-01 -1.38416438e-01 1.53261063e+02] [ 1.45005050e-01 -1.20189824e-03 9.89430185e-01 3.99641607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters Centerline goodness : 0.992056 with order 1 Centerline is valid? [True, True] Translation: X:207.31, Y:153.32, Z:39.97 [[ 2.89292600e-01 -9.56265858e-01 -4.31902794e-02 2.07313912e+02] [ 9.46193720e-01 2.92497754e-01 -1.38428708e-01 1.53315295e+02] [ 1.45007707e-01 -8.19970255e-04 9.89430186e-01 3.99734501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters Centerline goodness : 0.990744 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:153.37, Z:39.98 [[ 2.90533911e-01 -9.55891228e-01 -4.31509723e-02 2.07325050e+02] [ 9.45813137e-01 2.93720294e-01 -1.38440960e-01 1.53372268e+02] [ 1.45008816e-01 -5.90962792e-04 9.89430187e-01 3.99783783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters Centerline goodness : 0.991293 with order 1 Centerline is valid? [True, True] Translation: X:207.34, Y:153.43, Z:39.99 [[ 2.91035230e-01 -9.55740504e-01 -4.31112988e-02 2.07341861e+02] [ 9.45658932e-01 2.94210579e-01 -1.38453314e-01 1.53427207e+02] [ 1.45009240e-01 -4.73792792e-04 9.89430187e-01 3.99898900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters Centerline goodness : 0.991355 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:153.48, Z:40.00 [[ 2.92948794e-01 -9.55157392e-01 -4.30739001e-02 2.07359837e+02] [ 9.45067787e-01 2.96098524e-01 -1.38464948e-01 1.53481760e+02] [ 1.45009937e-01 -1.44615917e-04 9.89430188e-01 4.00008579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:207.38, Y:153.54, Z:40.01 [[ 2.94098041e-01 -9.54805842e-01 -4.30365753e-02 2.07379773e+02] [ 9.44710774e-01 2.97230214e-01 -1.38476548e-01 1.53535871e+02] [ 1.45009987e-01 6.85651713e-05 9.89430189e-01 4.00120565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:207.40, Y:153.59, Z:40.02 [[ 2.93114745e-01 -9.55109904e-01 -4.29978700e-02 2.07395558e+02] [ 9.45016322e-01 2.96251698e-01 -1.38488565e-01 1.53589811e+02] [ 1.45009992e-01 -4.06484142e-05 9.89430190e-01 4.00201315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters Centerline goodness : 0.992996 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:153.65, Z:40.02 [[ 2.86778268e-01 -9.57033533e-01 -4.29539437e-02 2.07409846e+02] [ 9.46958944e-01 2.89975692e-01 -1.38502188e-01 1.53646428e+02] [ 1.45006838e-01 -9.56203499e-04 9.89430191e-01 4.00242768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:207.43, Y:153.70, Z:40.03 [[ 2.82829434e-01 -9.58209705e-01 -4.29147119e-02 2.07429366e+02] [ 9.48146564e-01 2.86062704e-01 -1.38514343e-01 1.53700849e+02] [ 1.45002087e-01 -1.51350326e-03 9.89430192e-01 4.00335028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters Centerline goodness : 0.992276 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:153.76, Z:40.04 [[ 2.81721503e-01 -9.58537093e-01 -4.28909886e-02 2.07445999e+02] [ 9.48476591e-01 2.84962977e-01 -1.38521689e-01 1.53756237e+02] [ 1.45000521e-01 -1.65656021e-03 9.89430192e-01 4.00440358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters Centerline goodness : 0.995426 with order 1 Centerline is valid? [True, True] Translation: X:207.48, Y:153.80, Z:40.06 [[ 2.94267465e-01 -9.54761873e-01 -4.28535254e-02 2.07479261e+02] [ 9.44658058e-01 2.97371292e-01 -1.38533278e-01 1.53803212e+02] [ 1.45009700e-01 2.83908491e-04 9.89430193e-01 4.00647714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:153.86, Z:40.07 [[ 2.93734192e-01 -9.54927848e-01 -4.28138834e-02 2.07495637e+02] [ 9.44824000e-01 2.96837910e-01 -1.38545528e-01 1.53857537e+02] [ 1.45009767e-01 2.43974232e-04 9.89430194e-01 4.00731696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:153.92, Z:40.07 [[ 2.83459868e-01 -9.58029828e-01 -4.27709264e-02 2.07499585e+02] [ 9.47957923e-01 2.86665726e-01 -1.38558789e-01 1.53917887e+02] [ 1.45004411e-01 -1.26918250e-03 9.89430195e-01 4.00723600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters Centerline goodness : 0.992755 with order 1 Centerline is valid? [True, True] Translation: X:207.51, Y:153.97, Z:40.08 [[ 2.81127327e-01 -9.58718688e-01 -4.27305986e-02 2.07513742e+02] [ 9.48652748e-01 2.84351860e-01 -1.38571225e-01 1.53973124e+02] [ 1.45001348e-01 -1.58034183e-03 9.89430195e-01 4.00776831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:154.03, Z:40.09 [[ 2.81580709e-01 -9.58587432e-01 -4.26900414e-02 2.07531312e+02] [ 9.48518096e-01 2.84794619e-01 -1.38583718e-01 1.54027477e+02] [ 1.45002505e-01 -1.46977525e-03 9.89430196e-01 4.00871637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters Centerline goodness : 0.992446 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:154.08, Z:40.09 [[ 2.84942354e-01 -9.57595334e-01 -4.26501009e-02 2.07548203e+02] [ 9.47512963e-01 2.88115134e-01 -1.38596009e-01 1.54081958e+02] [ 1.45007031e-01 -9.19650332e-04 9.89430197e-01 4.00896601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters Centerline goodness : 0.992195 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:154.14, Z:40.10 [[ 2.86856813e-01 -9.57025359e-01 -4.26102157e-02 2.07567370e+02] [ 9.46934861e-01 2.90003647e-01 -1.38608271e-01 1.54136353e+02] [ 1.45008748e-01 -5.88371906e-04 9.89430198e-01 4.00966409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:207.58, Y:154.19, Z:40.10 [[ 2.85759274e-01 -9.57355279e-01 -4.25735485e-02 2.07582319e+02] [ 9.47266736e-01 2.88912367e-01 -1.38619532e-01 1.54191846e+02] [ 1.45008165e-01 -7.16689535e-04 9.89430199e-01 4.01015435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters Centerline goodness : 0.993102 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:154.24, Z:40.12 [[ 2.87192573e-01 -9.56928283e-01 -4.25286637e-02 2.07603614e+02] [ 9.46833012e-01 2.90324053e-01 -1.38633302e-01 1.54244304e+02] [ 1.45009221e-01 -4.53088238e-04 9.89430200e-01 4.01157328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:207.62, Y:154.30, Z:40.12 [[ 2.88347912e-01 -9.56582442e-01 -4.24913343e-02 2.07619385e+02] [ 9.46481728e-01 2.91461790e-01 -1.38644742e-01 1.54299863e+02] [ 1.45009726e-01 -2.39349472e-04 9.89430201e-01 4.01210815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:154.35, Z:40.13 [[ 2.90335249e-01 -9.55982931e-01 -4.24508907e-02 2.07638644e+02] [ 9.45873976e-01 2.93422262e-01 -1.38657125e-01 1.54354228e+02] [ 1.45009881e-01 1.03858016e-04 9.89430202e-01 4.01325100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:154.41, Z:40.14 [[ 2.91894122e-01 -9.55509792e-01 -4.24129461e-02 2.07658627e+02] [ 9.45394146e-01 2.94959137e-01 -1.38668730e-01 1.54406759e+02] [ 1.45009416e-01 3.79636416e-04 9.89430202e-01 4.01429825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:154.46, Z:40.15 [[ 2.89533373e-01 -9.56229659e-01 -4.23705762e-02 2.07675367e+02] [ 9.46119737e-01 2.92617217e-01 -1.38681675e-01 1.54460260e+02] [ 1.45009891e-01 6.53348949e-05 9.89430203e-01 4.01510372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters Centerline goodness : 0.992909 with order 1 Centerline is valid? [True, True] Translation: X:207.69, Y:154.52, Z:40.16 [[ 2.88573775e-01 -9.56521731e-01 -4.23243934e-02 2.07692157e+02] [ 9.46412863e-01 2.91661065e-01 -1.38695769e-01 1.54516092e+02] [ 1.45009894e-01 -3.23887861e-05 9.89430204e-01 4.01573763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:207.71, Y:154.57, Z:40.16 [[ 2.88048176e-01 -9.56681881e-01 -4.22850632e-02 2.07708717e+02] [ 9.46572969e-01 2.91135317e-01 -1.38707759e-01 1.54569700e+02] [ 1.45009875e-01 -7.13810147e-05 9.89430205e-01 4.01638475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters Centerline goodness : 0.993430 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:154.63, Z:40.17 [[ 2.80875251e-01 -9.58814356e-01 -4.22388957e-02 2.07725302e+02] [ 9.48726756e-01 2.84031335e-01 -1.38721816e-01 1.54625125e+02] [ 1.45005639e-01 -1.10964563e-03 9.89430206e-01 4.01713075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters Centerline goodness : 0.993483 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:154.68, Z:40.18 [[ 2.81115887e-01 -9.58745616e-01 -4.21983575e-02 2.07740577e+02] [ 9.48655394e-01 2.84263574e-01 -1.38734147e-01 1.54679810e+02] [ 1.45006211e-01 -1.03132679e-03 9.89430207e-01 4.01794166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters Centerline goodness : 0.993333 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:154.74, Z:40.19 [[ 2.80965424e-01 -9.58791039e-01 -4.21683889e-02 2.07755055e+02] [ 9.48699960e-01 2.84110359e-01 -1.38743255e-01 1.54735737e+02] [ 1.45006266e-01 -1.02309131e-03 9.89430208e-01 4.01853443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters Centerline goodness : 0.993723 with order 1 Centerline is valid? [True, True] Translation: X:207.77, Y:154.79, Z:40.19 [[ 2.81075449e-01 -9.58760540e-01 -4.21285900e-02 2.07770999e+02] [ 9.48667308e-01 2.84213466e-01 -1.38755339e-01 1.54790925e+02] [ 1.45006656e-01 -9.65296876e-04 9.89430209e-01 4.01942147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters Centerline goodness : 0.993471 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:154.85, Z:40.20 [[ 2.82179243e-01 -9.58438005e-01 -4.20887826e-02 2.07785041e+02] [ 9.48339384e-01 2.85299873e-01 -1.38767413e-01 1.54845958e+02] [ 1.45007887e-01 -7.57166610e-04 9.89430210e-01 4.01981917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters Centerline goodness : 0.993873 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:154.90, Z:40.21 [[ 2.84199020e-01 -9.57842306e-01 -4.20598795e-02 2.07804816e+02] [ 9.47735847e-01 2.87294168e-01 -1.38776173e-01 1.54899688e+02] [ 1.45009248e-01 -4.21603144e-04 9.89430210e-01 4.02102264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters Centerline goodness : 0.992773 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:154.96, Z:40.22 [[ 2.83634229e-01 -9.58011360e-01 -4.20221102e-02 2.07816003e+02] [ 9.47905051e-01 2.86729864e-01 -1.38787609e-01 1.54955524e+02] [ 1.45009100e-01 -4.68054096e-04 9.89430211e-01 4.02159026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters Centerline goodness : 0.993399 with order 1 Centerline is valid? [True, True] Translation: X:207.83, Y:155.01, Z:40.23 [[ 2.84725032e-01 -9.57689578e-01 -4.19800957e-02 2.07832737e+02] [ 9.47577895e-01 2.87803066e-01 -1.38800316e-01 1.55010125e+02] [ 1.45009616e-01 -2.59486285e-04 9.89430212e-01 4.02272043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:155.07, Z:40.23 [[ 2.81620443e-01 -9.58608829e-01 -4.19409031e-02 2.07849321e+02] [ 9.48505427e-01 2.84725550e-01 -1.38812158e-01 1.55066314e+02] [ 1.45008207e-01 -6.88832721e-04 9.89430213e-01 4.02336394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters Centerline goodness : 0.992700 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:155.12, Z:40.24 [[ 2.77864323e-01 -9.59705369e-01 -4.19168565e-02 2.07862446e+02] [ 9.49613122e-01 2.81005494e-01 -1.38819419e-01 1.55121585e+02] [ 1.45004609e-01 -1.23183304e-03 9.89430213e-01 4.02397453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters Centerline goodness : 0.993118 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:155.18, Z:40.25 [[ 2.77162346e-01 -9.59909654e-01 -4.18866343e-02 2.07881224e+02] [ 9.49818345e-01 2.80306526e-01 -1.38828538e-01 1.55176223e+02] [ 1.45003950e-01 -1.30665052e-03 9.89430213e-01 4.02494838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters Centerline goodness : 0.996101 with order 1 Centerline is valid? [True, True] Translation: X:207.91, Y:155.22, Z:40.27 [[ 2.86774375e-01 -9.57083693e-01 -4.18480927e-02 2.07914321e+02] [ 9.46959683e-01 2.89811612e-01 -1.38840155e-01 1.55224178e+02] [ 1.45009711e-01 1.87342045e-04 9.89430214e-01 4.02737924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters Centerline goodness : 0.995659 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:155.28, Z:40.28 [[ 2.84368818e-01 -9.57802875e-01 -4.18094279e-02 2.07929474e+02] [ 9.47684834e-01 2.87425876e-01 -1.38851797e-01 1.55278107e+02] [ 1.45009762e-01 -1.37039252e-04 9.89430215e-01 4.02795274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters Centerline goodness : 0.992488 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:155.34, Z:40.27 [[ 2.70913749e-01 -9.61697209e-01 -4.17638406e-02 2.07929925e+02] [ 9.51620932e-01 2.74105767e-01 -1.38865508e-01 1.55339775e+02] [ 1.44994281e-01 -2.12276965e-03 9.89430216e-01 4.02708210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters Centerline goodness : 0.995881 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:155.39, Z:40.30 [[ 2.81194780e-01 -9.58743432e-01 -4.17196215e-02 2.07966723e+02] [ 9.48631607e-01 2.84272327e-01 -1.38878791e-01 1.55386416e+02] [ 1.45008863e-01 -5.24560420e-04 9.89430217e-01 4.02996495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters Centerline goodness : 0.995823 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:155.44, Z:40.30 [[ 2.79198864e-01 -9.59328212e-01 -4.16818421e-02 2.07980141e+02] [ 9.49221139e-01 2.82291980e-01 -1.38890129e-01 1.55442355e+02] [ 1.45007669e-01 -7.87319268e-04 9.89430218e-01 4.03043877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters Centerline goodness : 0.992386 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:155.50, Z:40.29 [[ 2.67092103e-01 -9.62770964e-01 -4.16398758e-02 2.07979879e+02] [ 9.52701724e-01 2.70306239e-01 -1.38902710e-01 1.55504804e+02] [ 1.44987014e-01 -2.57056462e-03 9.89430219e-01 4.02949303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters Centerline goodness : 0.992328 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:155.56, Z:40.30 [[ 2.64617617e-01 -9.63455817e-01 -4.15981384e-02 2.07993759e+02] [ 9.53392934e-01 2.67851598e-01 -1.38915208e-01 1.55561282e+02] [ 1.44980793e-01 -2.89995974e-03 9.89430220e-01 4.02998967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters Centerline goodness : 0.992624 with order 1 Centerline is valid? [True, True] Translation: X:208.01, Y:155.61, Z:40.31 [[ 2.67985872e-01 -9.62526083e-01 -4.15585355e-02 2.08010612e+02] [ 9.52450138e-01 2.71178922e-01 -1.38927055e-01 1.55614801e+02] [ 1.44990713e-01 -2.35194488e-03 9.89430221e-01 4.03103182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters Centerline goodness : 0.991814 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:155.67, Z:40.32 [[ 2.67771625e-01 -9.62586911e-01 -4.15306680e-02 2.08026419e+02] [ 9.52510403e-01 2.70962897e-01 -1.38935385e-01 1.55671301e+02] [ 1.44990654e-01 -2.35543943e-03 9.89430221e-01 4.03150100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters Centerline goodness : 0.991234 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:155.73, Z:40.33 [[ 2.70415180e-01 -9.61849136e-01 -4.14954279e-02 2.08042502e+02] [ 9.51762304e-01 2.73573667e-01 -1.38945910e-01 1.55725101e+02] [ 1.44997060e-01 -1.92070077e-03 9.89430222e-01 4.03255158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters Centerline goodness : 0.990843 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:155.78, Z:40.33 [[ 2.74037501e-01 -9.60824999e-01 -4.14580531e-02 2.08056293e+02] [ 9.50724670e-01 2.77152553e-01 -1.38957061e-01 1.55781517e+02] [ 1.45003623e-01 -1.33574818e-03 9.89430222e-01 4.03281444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters Centerline goodness : 0.991586 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:155.84, Z:40.34 [[ 2.78780292e-01 -9.59461407e-01 -4.14168818e-02 2.08072874e+02] [ 9.49344010e-01 2.81839451e-01 -1.38969331e-01 1.55836615e+02] [ 1.45008621e-01 -5.76957924e-04 9.89430223e-01 4.03359149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters Centerline goodness : 0.992153 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:155.89, Z:40.35 [[ 2.83177123e-01 -9.58174610e-01 -4.13779436e-02 2.08093462e+02] [ 9.48041614e-01 2.86184208e-01 -1.38980924e-01 1.55890481e+02] [ 1.45009707e-01 1.28205843e-04 9.89430224e-01 4.03470316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters Centerline goodness : 0.992089 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:155.94, Z:40.35 [[ 2.82161074e-01 -9.58475868e-01 -4.13417408e-02 2.08110007e+02] [ 9.48344504e-01 2.85173650e-01 -1.38991692e-01 1.55944438e+02] [ 1.45009758e-01 1.18324828e-05 9.89430225e-01 4.03545452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters Centerline goodness : 0.995413 with order 1 Centerline is valid? [True, True] Translation: X:208.14, Y:155.99, Z:40.38 [[ 2.93596835e-01 -9.55036843e-01 -4.12980316e-02 2.08143353e+02] [ 9.44868390e-01 2.96481744e-01 -1.39004678e-01 1.55990019e+02] [ 1.44998702e-01 1.79012910e-03 9.89430226e-01 4.03804451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters Centerline goodness : 0.992690 with order 1 Centerline is valid? [True, True] Translation: X:208.15, Y:156.05, Z:40.38 [[ 2.81306186e-01 -9.58730773e-01 -4.12569215e-02 2.08145421e+02] [ 9.48598442e-01 2.84315499e-01 -1.39016879e-01 1.56050885e+02] [ 1.45009742e-01 -2.99433407e-05 9.89430227e-01 4.03784977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters Centerline goodness : 0.992687 with order 1 Centerline is valid? [True, True] Translation: X:208.16, Y:156.11, Z:40.38 [[ 2.80425344e-01 -9.58990608e-01 -4.12145590e-02 2.08159960e+02] [ 9.48859218e-01 2.83437823e-01 -1.39029437e-01 1.56106631e+02] [ 1.45009690e-01 -1.19436374e-04 9.89430228e-01 4.03832586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:156.16, Z:40.39 [[ 2.80189329e-01 -9.59060855e-01 -4.11851439e-02 2.08175380e+02] [ 9.48928940e-01 2.83200036e-01 -1.39038151e-01 1.56161389e+02] [ 1.45009682e-01 -1.24768833e-04 9.89430228e-01 4.03925794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters Centerline goodness : 0.993743 with order 1 Centerline is valid? [True, True] Translation: X:208.20, Y:156.21, Z:40.41 [[ 2.88318768e-01 -9.56650135e-01 -4.11437512e-02 2.08204323e+02] [ 9.46491303e-01 2.91237362e-01 -1.39050399e-01 1.56208627e+02] [ 1.45005180e-01 1.14863692e-03 9.89430229e-01 4.04141110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters Centerline goodness : 0.993270 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:156.27, Z:40.41 [[ 2.76575261e-01 -9.60113659e-01 -4.10838949e-02 2.08206004e+02] [ 9.49988751e-01 2.79609443e-01 -1.39068082e-01 1.56269079e+02] [ 1.45008610e-01 -5.66446965e-04 9.89430231e-01 4.04132097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters Centerline goodness : 0.992934 with order 1 Centerline is valid? [True, True] Translation: X:208.22, Y:156.33, Z:40.42 [[ 2.74927538e-01 -9.60588554e-01 -4.10423982e-02 2.08221055e+02] [ 9.50467059e-01 2.77973079e-01 -1.39080328e-01 1.56325384e+02] [ 1.45007653e-01 -7.72435462e-04 9.89430232e-01 4.04191703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters Centerline goodness : 0.993041 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:156.38, Z:40.43 [[ 2.76151638e-01 -9.60239048e-01 -4.10029587e-02 2.08237522e+02] [ 9.50111971e-01 2.79178564e-01 -1.39091954e-01 1.56379752e+02] [ 1.45008673e-01 -5.46930947e-04 9.89430233e-01 4.04289316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters Centerline goodness : 0.993191 with order 1 Centerline is valid? [True, True] Translation: X:208.25, Y:156.43, Z:40.44 [[ 2.76583427e-01 -9.60116319e-01 -4.09665907e-02 2.08253926e+02] [ 9.49986312e-01 2.79600530e-01 -1.39102665e-01 1.56434549e+02] [ 1.45009019e-01 -4.44208601e-04 9.89430234e-01 4.04391212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters Centerline goodness : 0.992688 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:156.49, Z:40.45 [[ 2.74673660e-01 -9.60666085e-01 -4.09274268e-02 2.08269467e+02] [ 9.50540398e-01 2.77705230e-01 -1.39114187e-01 1.56490308e+02] [ 1.45008042e-01 -6.92169660e-04 9.89430234e-01 4.04452121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters Centerline goodness : 0.992622 with order 1 Centerline is valid? [True, True] Translation: X:208.28, Y:156.55, Z:40.45 [[ 2.73017803e-01 -9.61139690e-01 -4.08873436e-02 2.08282838e+02] [ 9.51017498e-01 2.76061016e-01 -1.39125967e-01 1.56546435e+02] [ 1.45006890e-01 -9.00713326e-04 9.89430235e-01 4.04488536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters Centerline goodness : 0.993358 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:156.60, Z:40.46 [[ 2.74881570e-01 -9.60610003e-01 -4.08478150e-02 2.08302724e+02] [ 9.50480220e-01 2.77899418e-01 -1.39137572e-01 1.56600599e+02] [ 1.45008527e-01 -5.78686062e-04 9.89430236e-01 4.04579755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:156.66, Z:40.47 [[ 2.72873892e-01 -9.61183766e-01 -4.08118383e-02 2.08317603e+02] [ 9.51058750e-01 2.75907691e-01 -1.39148124e-01 1.56655959e+02] [ 1.45007218e-01 -8.44565778e-04 9.89430237e-01 4.04687327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters Centerline goodness : 0.992583 with order 1 Centerline is valid? [True, True] Translation: X:208.33, Y:156.71, Z:40.48 [[ 2.71340782e-01 -9.61619339e-01 -4.07728828e-02 2.08332939e+02] [ 9.51497477e-01 2.74385086e-01 -1.39159538e-01 1.56710084e+02] [ 1.45005974e-01 -1.03563735e-03 9.89430238e-01 4.04771568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters Centerline goodness : 0.992117 with order 1 Centerline is valid? [True, True] Translation: X:208.35, Y:156.77, Z:40.48 [[ 2.72174585e-01 -9.61385519e-01 -4.07293387e-02 2.08347258e+02] [ 9.51259134e-01 2.75203807e-01 -1.39172281e-01 1.56766872e+02] [ 1.45007085e-01 -8.64997596e-04 9.89430239e-01 4.04807351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters Centerline goodness : 0.991762 with order 1 Centerline is valid? [True, True] Translation: X:208.36, Y:156.82, Z:40.49 [[ 2.72276570e-01 -9.61358283e-01 -4.06905491e-02 2.08363363e+02] [ 9.51229900e-01 2.75299103e-01 -1.39183622e-01 1.56821867e+02] [ 1.45007399e-01 -8.09627862e-04 9.89430239e-01 4.04874225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:156.88, Z:40.49 [[ 2.71247051e-01 -9.61650893e-01 -4.06521613e-02 2.08379161e+02] [ 9.51524090e-01 2.74274870e-01 -1.39194833e-01 1.56878272e+02] [ 1.45006702e-01 -9.25322916e-04 9.89430240e-01 4.04937534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters Centerline goodness : 0.991898 with order 1 Centerline is valid? [True, True] Translation: X:208.39, Y:156.94, Z:40.50 [[ 2.70366949e-01 -9.61900213e-01 -4.06164205e-02 2.08389493e+02] [ 9.51774636e-01 2.73398862e-01 -1.39205261e-01 1.56935561e+02] [ 1.45006054e-01 -1.02117712e-03 9.89430241e-01 4.04979142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:156.99, Z:40.51 [[ 2.68249276e-01 -9.62494469e-01 -4.05798476e-02 2.08406453e+02] [ 9.52373995e-01 2.71298178e-01 -1.39215922e-01 1.56991191e+02] [ 1.45003793e-01 -1.30262130e-03 9.89430242e-01 4.05066513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:208.42, Y:157.04, Z:40.52 [[ 2.63188208e-01 -9.63892182e-01 -4.05441599e-02 2.08423654e+02] [ 9.53786288e-01 2.66285091e-01 -1.39226315e-01 1.57044849e+02] [ 1.44995462e-01 -2.02773952e-03 9.89430242e-01 4.05230290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:157.10, Z:40.52 [[ 2.61796401e-01 -9.64272854e-01 -4.05031775e-02 2.08432099e+02] [ 9.54169622e-01 2.64901955e-01 -1.39238236e-01 1.57102151e+02] [ 1.44993022e-01 -2.19483240e-03 9.89430243e-01 4.05249462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters Centerline goodness : 0.991065 with order 1 Centerline is valid? [True, True] Translation: X:208.45, Y:157.16, Z:40.53 [[ 2.61266714e-01 -9.64418311e-01 -4.04601663e-02 2.08446163e+02] [ 9.54314878e-01 2.64371609e-01 -1.39250734e-01 1.57157528e+02] [ 1.44992476e-01 -2.23015703e-03 9.89430244e-01 4.05330025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters Centerline goodness : 0.989614 with order 1 Centerline is valid? [True, True] Translation: X:208.46, Y:157.22, Z:40.54 [[ 2.62895308e-01 -9.63977219e-01 -4.04224903e-02 2.08456610e+02] [ 9.53866896e-01 2.65977691e-01 -1.39261670e-01 1.57215327e+02] [ 1.44996558e-01 -1.94643585e-03 9.89430245e-01 4.05372401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters Centerline goodness : 0.989380 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:157.27, Z:40.55 [[ 2.66450450e-01 -9.63002242e-01 -4.03836527e-02 2.08470414e+02] [ 9.52878927e-01 2.69489891e-01 -1.39272931e-01 1.57270509e+02] [ 1.45003131e-01 -1.37139646e-03 9.89430246e-01 4.05455884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters Centerline goodness : 0.989853 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:157.33, Z:40.55 [[ 2.71585614e-01 -9.61567857e-01 -4.03548075e-02 2.08485780e+02] [ 9.51427238e-01 2.74566811e-01 -1.39281289e-01 1.57326432e+02] [ 1.45008501e-01 -5.67868804e-04 9.89430246e-01 4.05544664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters Centerline goodness : 0.989156 with order 1 Centerline is valid? [True, True] Translation: X:208.50, Y:157.38, Z:40.56 [[ 2.73575112e-01 -9.61005397e-01 -4.03148207e-02 2.08495247e+02] [ 9.50856941e-01 2.76529520e-01 -1.39292862e-01 1.57383014e+02] [ 1.45009430e-01 -2.26566749e-04 9.89430247e-01 4.05621690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters Centerline goodness : 0.991108 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:157.44, Z:40.57 [[ 2.81709166e-01 -9.58653775e-01 -4.02850495e-02 2.08510860e+02] [ 9.48479429e-01 2.84573141e-01 -1.39301472e-01 1.57436625e+02] [ 1.45005925e-01 1.03296061e-03 9.89430248e-01 4.05746933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters Centerline goodness : 0.990475 with order 1 Centerline is valid? [True, True] Translation: X:208.53, Y:157.49, Z:40.58 [[ 2.84784111e-01 -9.57746058e-01 -4.02554218e-02 2.08526736e+02] [ 9.47561377e-01 2.87611112e-01 -1.39310033e-01 1.57492359e+02] [ 1.45001542e-01 1.52880106e-03 9.89430248e-01 4.05803402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters Centerline goodness : 0.991555 with order 1 Centerline is valid? [True, True] Translation: X:208.55, Y:157.55, Z:40.60 [[ 2.83248255e-01 -9.58203043e-01 -4.02163365e-02 2.08545825e+02] [ 9.48021324e-01 2.86085898e-01 -1.39321315e-01 1.57545103e+02] [ 1.45003435e-01 1.33657492e-03 9.89430249e-01 4.05976587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters Centerline goodness : 0.991874 with order 1 Centerline is valid? [True, True] Translation: X:208.56, Y:157.60, Z:40.60 [[ 2.80501799e-01 -9.59012269e-01 -4.01772297e-02 2.08558232e+02] [ 9.48837122e-01 2.83362920e-01 -1.39332592e-01 1.57602843e+02] [ 1.45006402e-01 9.61395781e-04 9.89430250e-01 4.05991221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters Centerline goodness : 0.991313 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:157.66, Z:40.61 [[ 2.75053718e-01 -9.60590692e-01 -4.01369437e-02 2.08574973e+02] [ 9.50430274e-01 2.77966706e-01 -1.39344196e-01 1.57657465e+02] [ 1.45009472e-01 1.79772815e-04 9.89430251e-01 4.06106896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters Centerline goodness : 0.990090 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:157.71, Z:40.62 [[ 2.66924754e-01 -9.62882876e-01 -4.00966710e-02 2.08588104e+02] [ 9.52745720e-01 2.69917688e-01 -1.39355784e-01 1.57714207e+02] [ 1.45006099e-01 -1.00442332e-03 9.89430251e-01 4.06158427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters Centerline goodness : 0.989890 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:157.77, Z:40.62 [[ 2.60820553e-01 -9.64555868e-01 -4.00576667e-02 2.08601261e+02] [ 9.54436173e-01 2.63872001e-01 -1.39366995e-01 1.57771003e+02] [ 1.44997350e-01 -1.88270928e-03 9.89430252e-01 4.06222839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters Centerline goodness : 0.988625 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:157.83, Z:40.63 [[ 2.58879181e-01 -9.65080371e-01 -4.00180916e-02 2.08616472e+02] [ 9.54965103e-01 2.61945272e-01 -1.39378358e-01 1.57825010e+02] [ 1.44993867e-01 -2.13372574e-03 9.89430253e-01 4.06308522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters Centerline goodness : 0.994639 with order 1 Centerline is valid? [True, True] Translation: X:208.65, Y:157.87, Z:40.66 [[ 2.71069632e-01 -9.61728737e-01 -3.99886253e-02 2.08652096e+02] [ 9.51574250e-01 2.74003218e-01 -1.39386812e-01 1.57870672e+02] [ 1.45009314e-01 -2.68614349e-04 9.89430254e-01 4.06572390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters Centerline goodness : 0.994904 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:157.93, Z:40.66 [[ 2.67807807e-01 -9.62643737e-01 -3.99501492e-02 2.08665343e+02] [ 9.52497625e-01 2.70770228e-01 -1.39397839e-01 1.57925554e+02] [ 1.45007767e-01 -7.20592774e-04 9.89430254e-01 4.06646540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters Centerline goodness : 0.994690 with order 1 Centerline is valid? [True, True] Translation: X:208.68, Y:157.98, Z:40.67 [[ 2.67135155e-01 -9.62832332e-01 -3.99087708e-02 2.08679004e+02] [ 9.52686541e-01 2.70098674e-01 -1.39409684e-01 1.57980869e+02] [ 1.45007457e-01 -7.79321190e-04 9.89430255e-01 4.06731702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:208.69, Y:158.03, Z:40.68 [[ 2.67390261e-01 -9.62763368e-01 -3.98640798e-02 2.08692797e+02] [ 9.52614908e-01 2.70344620e-01 -1.39422463e-01 1.58034875e+02] [ 1.45007879e-01 -6.94908098e-04 9.89430256e-01 4.06798282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:208.71, Y:158.09, Z:40.69 [[ 2.67518835e-01 -9.62729531e-01 -3.98186144e-02 2.08706490e+02] [ 9.52578764e-01 2.70465255e-01 -1.39435446e-01 1.58091342e+02] [ 1.45008174e-01 -6.28758317e-04 9.89430257e-01 4.06874180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:158.16, Z:40.67 [[ 2.52466365e-01 -9.66787645e-01 -3.97791997e-02 2.08697681e+02] [ 9.56682338e-01 2.55565110e-01 -1.39446690e-01 1.58156733e+02] [ 1.44981512e-01 -2.85045875e-03 9.89430258e-01 4.06748617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters Centerline goodness : 0.994416 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:158.20, Z:40.70 [[ 2.68261212e-01 -9.62526174e-01 -3.97402443e-02 2.08734367e+02] [ 9.52369860e-01 2.71188448e-01 -1.39457791e-01 1.58202386e+02] [ 1.45008869e-01 -4.36294898e-04 9.89430259e-01 4.07035505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters Centerline goodness : 0.988718 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:158.27, Z:40.70 [[ 2.55309375e-01 -9.66043936e-01 -3.97018396e-02 2.08730848e+02] [ 9.55926178e-01 2.58367213e-01 -1.39468724e-01 1.58265112e+02] [ 1.44990568e-01 -2.34435527e-03 9.89430260e-01 4.06993406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters Centerline goodness : 0.988845 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:158.32, Z:40.70 [[ 2.56204596e-01 -9.65808573e-01 -3.96611358e-02 2.08742389e+02] [ 9.55686218e-01 2.59247180e-01 -1.39480298e-01 1.58322563e+02] [ 1.44993305e-01 -2.16810749e-03 9.89430261e-01 4.06991092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters Centerline goodness : 0.989989 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:158.37, Z:40.72 [[ 2.61893881e-01 -9.64282974e-01 -3.96224962e-02 2.08764384e+02] [ 9.54141216e-01 2.64871148e-01 -1.39491273e-01 1.58374716e+02] [ 1.45003916e-01 -1.27354582e-03 9.89430262e-01 4.07196364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters Centerline goodness : 0.989176 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:158.43, Z:40.73 [[ 2.60637583e-01 -9.64624778e-01 -3.95864642e-02 2.08777816e+02] [ 9.54485372e-01 2.63622848e-01 -1.39501498e-01 1.58431061e+02] [ 1.45002498e-01 -1.42536764e-03 9.89430262e-01 4.07252082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters Centerline goodness : 0.989087 with order 1 Centerline is valid? [True, True] Translation: X:208.79, Y:158.49, Z:40.73 [[ 2.60508349e-01 -9.64661281e-01 -3.95476066e-02 2.08792158e+02] [ 9.54520623e-01 2.63489354e-01 -1.39512513e-01 1.58485997e+02] [ 1.45002693e-01 -1.40483149e-03 9.89430263e-01 4.07329773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters Centerline goodness : 0.988366 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:158.54, Z:40.74 [[ 2.58846448e-01 -9.65110309e-01 -3.95045302e-02 2.08805305e+02] [ 9.54972961e-01 2.61838688e-01 -1.39524710e-01 1.58542578e+02] [ 1.45000550e-01 -1.61028255e-03 9.89430264e-01 4.07399869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters Centerline goodness : 0.988327 with order 1 Centerline is valid? [True, True] Translation: X:208.82, Y:158.60, Z:40.74 [[ 2.63072270e-01 -9.63968579e-01 -3.94659318e-02 2.08817982e+02] [ 9.53816599e-01 2.66014481e-01 -1.39535627e-01 1.58598068e+02] [ 1.45006470e-01 -9.35306608e-04 9.89430265e-01 4.07441042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters Centerline goodness : 0.988426 with order 1 Centerline is valid? [True, True] Translation: X:208.83, Y:158.65, Z:40.76 [[ 2.62207908e-01 -9.64204940e-01 -3.94442207e-02 2.08833260e+02] [ 9.54054689e-01 2.65156079e-01 -1.39541764e-01 1.58651831e+02] [ 1.45005733e-01 -1.04298949e-03 9.89430265e-01 4.07586472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters Centerline goodness : 0.986748 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:158.71, Z:40.76 [[ 2.62633473e-01 -9.64090092e-01 -3.94202082e-02 2.08845325e+02] [ 9.53937535e-01 2.65573687e-01 -1.39548548e-01 1.58708205e+02] [ 1.45006342e-01 -9.54296572e-04 9.89430265e-01 4.07646363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters Centerline goodness : 0.989021 with order 1 Centerline is valid? [True, True] Translation: X:208.86, Y:158.76, Z:40.78 [[ 2.67563010e-01 -9.62735261e-01 -3.93808748e-02 2.08862827e+02] [ 9.52566175e-01 2.70445536e-01 -1.39559647e-01 1.58761966e+02] [ 1.45009375e-01 -1.71890132e-04 9.89430266e-01 4.07781430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters Centerline goodness : 0.988761 with order 1 Centerline is valid? [True, True] Translation: X:208.87, Y:158.82, Z:40.79 [[ 2.69346967e-01 -9.62239332e-01 -3.93405619e-02 2.08873580e+02] [ 9.52063277e-01 2.72204793e-01 -1.39571010e-01 1.58818449e+02] [ 1.45009405e-01 1.38323890e-04 9.89430267e-01 4.07851115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters Centerline goodness : 0.989595 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:158.87, Z:40.80 [[ 2.71890586e-01 -9.61524794e-01 -3.93138595e-02 2.08890682e+02] [ 9.51340142e-01 2.74717616e-01 -1.39578531e-01 1.58873190e+02] [ 1.45008428e-01 5.49235883e-04 9.89430267e-01 4.07970998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters Centerline goodness : 0.989599 with order 1 Centerline is valid? [True, True] Translation: X:208.90, Y:158.93, Z:40.80 [[ 2.72695168e-01 -9.61298465e-01 -3.92760403e-02 2.08904035e+02] [ 9.51109933e-01 2.75508182e-01 -1.39589172e-01 1.58928023e+02] [ 1.45007727e-01 7.09460652e-04 9.89430268e-01 4.08036982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters Centerline goodness : 0.988342 with order 1 Centerline is valid? [True, True] Translation: X:208.92, Y:158.98, Z:40.81 [[ 2.73177474e-01 -9.61163250e-01 -3.92335954e-02 2.08919712e+02] [ 9.50971612e-01 2.75979212e-01 -1.39601101e-01 1.58983591e+02] [ 1.45007105e-01 8.25840671e-04 9.89430269e-01 4.08122259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters Centerline goodness : 0.988361 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:159.04, Z:40.82 [[ 2.70475064e-01 -9.61928801e-01 -3.91946540e-02 2.08933730e+02] [ 9.51743510e-01 2.73299783e-01 -1.39612034e-01 1.59040636e+02] [ 1.45008727e-01 4.58316194e-04 9.89430270e-01 4.08154278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters Centerline goodness : 0.987879 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:159.10, Z:40.82 [[ 2.68151944e-01 -9.62580560e-01 -3.91561076e-02 2.08949059e+02] [ 9.52400555e-01 2.70995653e-01 -1.39622844e-01 1.59095218e+02] [ 1.45009370e-01 1.47838434e-04 9.89430271e-01 4.08217481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters Centerline goodness : 0.988487 with order 1 Centerline is valid? [True, True] Translation: X:208.96, Y:159.15, Z:40.83 [[ 2.66436233e-01 -9.63058042e-01 -3.91272430e-02 2.08964417e+02] [ 9.52881946e-01 2.69293893e-01 -1.39630932e-01 1.59150965e+02] [ 1.45009420e-01 -8.09038503e-05 9.89430271e-01 4.08300380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters Centerline goodness : 0.988301 with order 1 Centerline is valid? [True, True] Translation: X:208.98, Y:159.21, Z:40.84 [[ 2.65673500e-01 -9.63270305e-01 -3.90884930e-02 2.08980606e+02] [ 9.53094895e-01 2.68533600e-01 -1.39641779e-01 1.59205258e+02] [ 1.45009353e-01 -1.55922875e-04 9.89430272e-01 4.08390156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters Centerline goodness : 0.988590 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:159.26, Z:40.85 [[ 2.64263876e-01 -9.63659721e-01 -3.90454435e-02 2.08997031e+02] [ 9.53486745e-01 2.67132623e-01 -1.39653816e-01 1.59260578e+02] [ 1.45009069e-01 -3.23854197e-04 9.89430273e-01 4.08461665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:209.02, Y:159.31, Z:40.86 [[ 2.66977984e-01 -9.62912947e-01 -3.90052948e-02 2.09017781e+02] [ 9.52730307e-01 2.69812233e-01 -1.39665028e-01 1.59314416e+02] [ 1.45009370e-01 1.25961205e-04 9.89430274e-01 4.08605103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters Centerline goodness : 0.989874 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:159.37, Z:40.87 [[ 2.70891052e-01 -9.61820991e-01 -3.89668973e-02 2.09035692e+02] [ 9.51625387e-01 2.73678299e-01 -1.39675741e-01 1.59367643e+02] [ 1.45007453e-01 7.55019590e-04 9.89430275e-01 4.08729396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters Centerline goodness : 0.988927 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:159.42, Z:40.88 [[ 2.71657261e-01 -9.61605882e-01 -3.89417554e-02 2.09051887e+02] [ 9.51407066e-01 2.74432732e-01 -1.39682750e-01 1.59422882e+02] [ 1.45006646e-01 8.96372004e-04 9.89430275e-01 4.08787360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters Centerline goodness : 0.989684 with order 1 Centerline is valid? [True, True] Translation: X:209.07, Y:159.48, Z:40.89 [[ 2.76085503e-01 -9.60345484e-01 -3.89017514e-02 2.09071392e+02] [ 9.50132435e-01 2.78808129e-01 -1.39693890e-01 1.59477627e+02] [ 1.45000521e-01 1.60564210e-03 9.89430276e-01 4.08892812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters Centerline goodness : 0.988512 with order 1 Centerline is valid? [True, True] Translation: X:209.09, Y:159.53, Z:40.90 [[ 2.78641217e-01 -9.59608649e-01 -3.88627442e-02 2.09087071e+02] [ 9.49386893e-01 2.81330967e-01 -1.39704741e-01 1.59531465e+02] [ 1.44995171e-01 2.03171924e-03 9.89430277e-01 4.08983541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters Centerline goodness : 0.989648 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:159.59, Z:40.91 [[ 2.78678256e-01 -9.59599662e-01 -3.88190489e-02 2.09102751e+02] [ 9.49376132e-01 2.81361251e-01 -1.39716882e-01 1.59586495e+02] [ 1.44994449e-01 2.08217850e-03 9.89430278e-01 4.09060645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters Centerline goodness : 0.989974 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:159.64, Z:40.92 [[ 2.78246705e-01 -9.59726510e-01 -3.87788269e-02 2.09119327e+02] [ 9.49502651e-01 2.80928442e-01 -1.39728045e-01 1.59639572e+02] [ 1.44994784e-01 2.05826910e-03 9.89430279e-01 4.09152902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters Centerline goodness : 0.988935 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:159.70, Z:40.92 [[ 2.73659863e-01 -9.61046377e-01 -3.87316585e-02 2.09135023e+02] [ 9.50833612e-01 2.76383542e-01 -1.39741119e-01 1.59695588e+02] [ 1.45002489e-01 1.41417266e-03 9.89430280e-01 4.09232286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters Centerline goodness : 0.990178 with order 1 Centerline is valid? [True, True] Translation: X:209.15, Y:159.75, Z:40.93 [[ 2.70020837e-01 -9.62076722e-01 -3.86927376e-02 2.09154554e+02] [ 9.51872810e-01 2.72777493e-01 -1.39751895e-01 1.59748987e+02] [ 1.45006553e-01 9.05358645e-04 9.89430281e-01 4.09328502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters Centerline goodness : 0.989554 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:159.80, Z:40.94 [[ 2.68244440e-01 -9.62575122e-01 -3.86530018e-02 2.09170096e+02] [ 9.52374749e-01 2.71014158e-01 -1.39762884e-01 1.59804448e+02] [ 1.45007786e-01 6.78473694e-04 9.89430281e-01 4.09388839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters Centerline goodness : 0.989181 with order 1 Centerline is valid? [True, True] Translation: X:209.18, Y:159.86, Z:40.95 [[ 2.59458562e-01 -9.64982046e-01 -3.86122577e-02 2.09184557e+02] [ 9.54805687e-01 2.62315249e-01 -1.39774140e-01 1.59859570e+02] [ 1.45008119e-01 -6.01606021e-04 9.89430282e-01 4.09480295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters Centerline goodness : 0.990074 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:159.91, Z:40.96 [[ 2.53836810e-01 -9.66477653e-01 -3.85722811e-02 2.09199300e+02] [ 9.56316439e-01 2.56746906e-01 -1.39785171e-01 1.59914969e+02] [ 1.45002558e-01 -1.40468476e-03 9.89430283e-01 4.09569912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:209.23, Y:159.96, Z:40.99 [[ 2.59725482e-01 -9.64913397e-01 -3.85332369e-02 2.09228925e+02] [ 9.54733047e-01 2.62567907e-01 -1.39795933e-01 1.59962250e+02] [ 1.45008560e-01 -4.80388600e-04 9.89430284e-01 4.09854913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:209.24, Y:160.02, Z:41.00 [[ 2.57428835e-01 -9.65530389e-01 -3.84897826e-02 2.09242148e+02] [ 9.55355061e-01 2.60289183e-01 -1.39807896e-01 1.60018304e+02] [ 1.45007247e-01 -7.80824642e-04 9.89430285e-01 4.09959046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters Centerline goodness : 0.994299 with order 1 Centerline is valid? [True, True] Translation: X:209.25, Y:160.07, Z:41.00 [[ 2.58349970e-01 -9.65285908e-01 -3.84500744e-02 2.09252483e+02] [ 9.55106248e-01 2.61194857e-01 -1.39818816e-01 1.60074024e+02] [ 1.45008095e-01 -6.01719264e-04 9.89430286e-01 4.10014842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:160.13, Z:41.01 [[ 2.60047861e-01 -9.64831731e-01 -3.84036605e-02 2.09264361e+02] [ 9.54645218e-01 2.62868107e-01 -1.39831564e-01 1.60129429e+02] [ 1.45009027e-01 -2.98971838e-04 9.89430287e-01 4.10087794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:160.19, Z:41.02 [[ 2.64133773e-01 -9.63722894e-01 -3.83605746e-02 2.09274600e+02] [ 9.53522823e-01 2.66904579e-01 -1.39843383e-01 1.60185702e+02] [ 1.45008883e-01 3.59677008e-04 9.89430288e-01 4.10180368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters Centerline goodness : 0.993984 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:160.24, Z:41.03 [[ 2.68000383e-01 -9.62656375e-01 -3.83209918e-02 2.09285046e+02] [ 9.52443729e-01 2.70724470e-01 -1.39854229e-01 1.60241511e+02] [ 1.45005995e-01 9.82398575e-04 9.89430289e-01 4.10252036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters Centerline goodness : 0.989860 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:160.31, Z:41.02 [[ 2.61160262e-01 -9.64536165e-01 -3.82792907e-02 2.09278250e+02] [ 9.54341456e-01 2.63950728e-01 -1.39865642e-01 1.60305221e+02] [ 1.45009317e-01 -4.16624617e-06 9.89430290e-01 4.10173591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:160.35, Z:41.04 [[ 2.78479439e-01 -9.59680760e-01 -3.82366553e-02 2.09307461e+02] [ 9.49435897e-01 2.81079737e-01 -1.39877297e-01 1.60354167e+02] [ 1.44985100e-01 2.64969801e-03 9.89430291e-01 4.10400791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters Centerline goodness : 0.990868 with order 1 Centerline is valid? [True, True] Translation: X:209.30, Y:160.42, Z:41.04 [[ 2.72564821e-01 -9.61378958e-01 -3.81957762e-02 2.09303854e+02] [ 9.51148756e-01 2.75222207e-01 -1.39888459e-01 1.60415009e+02] [ 1.44998147e-01 1.79880776e-03 9.89430292e-01 4.10350850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters Centerline goodness : 0.989896 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:160.47, Z:41.04 [[ 2.74289890e-01 -9.60889732e-01 -3.81572959e-02 2.09316044e+02] [ 9.50653335e-01 2.76923309e-01 -1.39898954e-01 1.60471895e+02] [ 1.44994114e-01 2.09850822e-03 9.89430292e-01 4.10405003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters Centerline goodness : 0.993797 with order 1 Centerline is valid? [True, True] Translation: X:209.35, Y:160.52, Z:41.07 [[ 2.89623083e-01 -9.56381503e-01 -3.81168119e-02 2.09347750e+02] [ 9.46102878e-01 2.92086530e-01 -1.39909984e-01 1.60519668e+02] [ 1.44940728e-01 4.45873543e-03 9.89430293e-01 4.10656598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters Centerline goodness : 0.993785 with order 1 Centerline is valid? [True, True] Translation: X:209.36, Y:160.58, Z:41.07 [[ 2.89634326e-01 -9.56379677e-01 -3.80771721e-02 2.09362048e+02] [ 9.46099637e-01 2.92091859e-01 -1.39920771e-01 1.60575594e+02] [ 1.44939414e-01 4.50105965e-03 9.89430294e-01 4.10731648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters Centerline goodness : 0.990302 with order 1 Centerline is valid? [True, True] Translation: X:209.36, Y:160.64, Z:41.07 [[ 2.76418347e-01 -9.60284338e-01 -3.80379771e-02 2.09361390e+02] [ 9.50037719e-01 2.79011698e-01 -1.39931426e-01 1.60637669e+02] [ 1.44986997e-01 2.54210040e-03 9.89430295e-01 4.10677366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters Centerline goodness : 0.990415 with order 1 Centerline is valid? [True, True] Translation: X:209.38, Y:160.69, Z:41.08 [[ 2.71702577e-01 -9.61630785e-01 -3.79992442e-02 2.09378106e+02] [ 9.51395563e-01 2.74340546e-01 -1.39941944e-01 1.60692312e+02] [ 1.44997214e-01 1.87027440e-03 9.89430296e-01 4.10772515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters Centerline goodness : 0.990084 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:160.75, Z:41.08 [[ 2.68548742e-01 -9.62517945e-01 -3.79575980e-02 2.09393633e+02] [ 9.52289846e-01 2.71214195e-01 -1.39953239e-01 1.60746653e+02] [ 1.45002143e-01 1.43763103e-03 9.89430297e-01 4.10827069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters Centerline goodness : 0.990317 with order 1 Centerline is valid? [True, True] Translation: X:209.41, Y:160.80, Z:41.10 [[ 2.59198389e-01 -9.65079632e-01 -3.79143776e-02 2.09412870e+02] [ 9.54876178e-01 2.61956674e-01 -1.39964947e-01 1.60799083e+02] [ 1.45009243e-01 7.51527819e-05 9.89430298e-01 4.10954766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters Centerline goodness : 0.994681 with order 1 Centerline is valid? [True, True] Translation: X:209.45, Y:160.85, Z:41.12 [[ 2.66894595e-01 -9.62981243e-01 -3.78734968e-02 2.09448388e+02] [ 9.52754541e-01 2.69565394e-01 -1.39976008e-01 1.60847426e+02] [ 1.45003654e-01 1.27469390e-03 9.89430298e-01 4.11165012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters Centerline goodness : 0.994502 with order 1 Centerline is valid? [True, True] Translation: X:209.46, Y:160.90, Z:41.12 [[ 2.63351341e-01 -9.63957628e-01 -3.78386407e-02 2.09464828e+02] [ 9.53739478e-01 2.66054671e-01 -1.39985430e-01 1.60901904e+02] [ 1.45007170e-01 7.77145242e-04 9.89430299e-01 4.11247773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters Centerline goodness : 0.993963 with order 1 Centerline is valid? [True, True] Translation: X:209.48, Y:160.96, Z:41.13 [[ 2.60492176e-01 -9.64735834e-01 -3.77967896e-02 2.09481393e+02] [ 9.54524121e-01 2.63219716e-01 -1.39996729e-01 1.60956567e+02] [ 1.45008721e-01 3.90105219e-04 9.89430300e-01 4.11335792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters Centerline goodness : 0.994967 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:161.01, Z:41.14 [[ 2.59981648e-01 -9.64875104e-01 -3.77568133e-02 2.09496807e+02] [ 9.54663285e-01 2.62708791e-01 -1.40007510e-01 1.61012449e+02] [ 1.45008807e-01 3.54339736e-04 9.89430301e-01 4.11415993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters Centerline goodness : 0.994464 with order 1 Centerline is valid? [True, True] Translation: X:209.51, Y:161.07, Z:41.15 [[ 2.60721849e-01 -9.64676893e-01 -3.77174996e-02 2.09510758e+02] [ 9.54461469e-01 2.63435450e-01 -1.40018100e-01 1.61067191e+02] [ 1.45008352e-01 5.05877938e-04 9.89430302e-01 4.11493354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters Centerline goodness : 0.995055 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:161.12, Z:41.16 [[ 2.63673921e-01 -9.63875905e-01 -3.76736417e-02 2.09523888e+02] [ 9.53650553e-01 2.66349864e-01 -1.40029900e-01 1.61122548e+02] [ 1.45005816e-01 9.94743488e-04 9.89430303e-01 4.11580417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters Centerline goodness : 0.995585 with order 1 Centerline is valid? [True, True] Translation: X:209.54, Y:161.18, Z:41.17 [[ 2.65716719e-01 -9.63316438e-01 -3.76306507e-02 2.09536646e+02] [ 9.53083818e-01 2.68364730e-01 -1.40041452e-01 1.61178076e+02] [ 1.45002972e-01 1.34619098e-03 9.89430304e-01 4.11661365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters Centerline goodness : 0.991117 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:161.24, Z:41.17 [[ 2.56850284e-01 -9.65719970e-01 -3.75881707e-02 2.09534585e+02] [ 9.55510472e-01 2.59586085e-01 -1.40052853e-01 1.61239589e+02] [ 1.45009203e-01 5.67244530e-05 9.89430305e-01 4.11677522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:161.29, Z:41.18 [[ 2.65667152e-01 -9.63333291e-01 -3.75490846e-02 2.09560888e+02] [ 9.53097748e-01 2.68303833e-01 -1.40063332e-01 1.61290070e+02] [ 1.45002234e-01 1.42227855e-03 9.89430305e-01 4.11841876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters Centerline goodness : 0.995303 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:161.34, Z:41.19 [[ 2.64231602e-01 -9.63728958e-01 -3.75254005e-02 2.09574786e+02] [ 9.53496463e-01 2.66880087e-01 -1.40069677e-01 1.61344391e+02] [ 1.45003986e-01 1.23049843e-03 9.89430306e-01 4.11918325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters Centerline goodness : 0.991846 with order 1 Centerline is valid? [True, True] Translation: X:209.58, Y:161.40, Z:41.20 [[ 2.52900081e-01 -9.66765704e-01 -3.74916349e-02 2.09578025e+02] [ 9.56563679e-01 2.55663612e-01 -1.40078714e-01 1.61403959e+02] [ 1.45008544e-01 -4.37217936e-04 9.89430306e-01 4.11977665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:209.60, Y:161.46, Z:41.21 [[ 2.55955294e-01 -9.65962842e-01 -3.74523057e-02 2.09601011e+02] [ 9.55750608e-01 2.58680854e-01 -1.40089229e-01 1.61455721e+02] [ 1.45009184e-01 6.15158988e-05 9.89430307e-01 4.12115495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters Centerline goodness : 0.991729 with order 1 Centerline is valid? [True, True] Translation: X:209.60, Y:161.52, Z:41.22 [[ 2.45869615e-01 -9.68580045e-01 -3.74276420e-02 2.09602556e+02] [ 9.58395793e-01 2.48697939e-01 -1.40095818e-01 1.61515109e+02] [ 1.45002191e-01 -1.42518979e-03 9.89430307e-01 4.12177081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters Centerline goodness : 0.991306 with order 1 Centerline is valid? [True, True] Translation: X:209.61, Y:161.57, Z:41.22 [[ 2.45171557e-01 -9.68758605e-01 -3.73854743e-02 2.09613103e+02] [ 9.58574699e-01 2.48001121e-01 -1.40107070e-01 1.61571653e+02] [ 1.45001569e-01 -1.48650124e-03 9.89430308e-01 4.12211939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:209.64, Y:161.62, Z:41.24 [[ 2.56240402e-01 -9.65891535e-01 -3.73416649e-02 2.09635784e+02] [ 9.55674234e-01 2.58946898e-01 -1.40118746e-01 1.61622954e+02] [ 1.45009018e-01 2.17616648e-04 9.89430309e-01 4.12356529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters Centerline goodness : 0.992377 with order 1 Centerline is valid? [True, True] Translation: X:209.64, Y:161.68, Z:41.24 [[ 2.48116723e-01 -9.68011485e-01 -3.73075920e-02 2.09637162e+02] [ 9.57815934e-01 2.50904029e-01 -1.40127817e-01 1.61682314e+02] [ 1.45005962e-01 -9.65751214e-04 9.89430310e-01 4.12407086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters Centerline goodness : 0.991931 with order 1 Centerline is valid? [True, True] Translation: X:209.65, Y:161.74, Z:41.25 [[ 2.51682918e-01 -9.67092047e-01 -3.72650093e-02 2.09649826e+02] [ 9.56884632e-01 2.54426457e-01 -1.40139141e-01 1.61738049e+02] [ 1.45008653e-01 -3.87686788e-04 9.89430311e-01 4.12503522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters Centerline goodness : 0.991676 with order 1 Centerline is valid? [True, True] Translation: X:209.66, Y:161.79, Z:41.26 [[ 2.57730075e-01 -9.65499692e-01 -3.72230310e-02 2.09659295e+02] [ 9.55273713e-01 2.60403588e-01 -1.40150290e-01 1.61794130e+02] [ 1.45008073e-01 5.62761639e-04 9.89430312e-01 4.12557485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters Centerline goodness : 0.990512 with order 1 Centerline is valid? [True, True] Translation: X:209.67, Y:161.85, Z:41.26 [[ 2.56431601e-01 -9.65846543e-01 -3.71925969e-02 2.09670637e+02] [ 9.55623010e-01 2.59114446e-01 -1.40158366e-01 1.61850283e+02] [ 1.45008613e-01 3.98932780e-04 9.89430312e-01 4.12635204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:161.90, Z:41.28 [[ 2.70188304e-01 -9.62090469e-01 -3.71511676e-02 2.09694143e+02] [ 9.51828203e-01 2.72718950e-01 -1.40169347e-01 1.61901759e+02] [ 1.44987420e-01 2.51058903e-03 9.89430313e-01 4.12790002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:161.96, Z:41.29 [[ 2.71870400e-01 -9.61617419e-01 -3.71271524e-02 2.09706734e+02] [ 9.51349887e-01 2.74379596e-01 -1.40175708e-01 1.61958159e+02] [ 1.44982335e-01 2.78871339e-03 9.89430314e-01 4.12878542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:209.72, Y:162.02, Z:41.30 [[ 2.74457635e-01 -9.60883727e-01 -3.70873302e-02 2.09718183e+02] [ 9.50608079e-01 2.76933380e-01 -1.40186243e-01 1.62015019e+02] [ 1.44973399e-01 3.21966899e-03 9.89430314e-01 4.12958235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:209.73, Y:162.07, Z:41.30 [[ 2.75829803e-01 -9.60492256e-01 -3.70478756e-02 2.09731107e+02] [ 9.50211708e-01 2.78285114e-01 -1.40196669e-01 1.62070871e+02] [ 1.44967687e-01 3.46709454e-03 9.89430315e-01 4.13039137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters Centerline goodness : 0.993470 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:162.13, Z:41.31 [[ 2.76588954e-01 -9.60275442e-01 -3.70084705e-02 2.09743107e+02] [ 9.49991589e-01 2.79030388e-01 -1.40207071e-01 1.62126806e+02] [ 1.44963895e-01 3.62199122e-03 9.89430316e-01 4.13117886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters Centerline goodness : 0.993348 with order 1 Centerline is valid? [True, True] Translation: X:209.76, Y:162.18, Z:41.32 [[ 2.76283310e-01 -9.60364986e-01 -3.69679123e-02 2.09755721e+02] [ 9.50080507e-01 2.78722099e-01 -1.40217764e-01 1.62182923e+02] [ 1.44964005e-01 3.61733498e-03 9.89430317e-01 4.13191043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:209.77, Y:162.24, Z:41.33 [[ 2.77157972e-01 -9.60114470e-01 -3.69278195e-02 2.09768996e+02] [ 9.49826394e-01 2.79581542e-01 -1.40228322e-01 1.62238465e+02] [ 1.44959578e-01 3.79037971e-03 9.89430318e-01 4.13275495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters Centerline goodness : 0.992977 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:162.29, Z:41.34 [[ 2.77976795e-01 -9.59879259e-01 -3.68878021e-02 2.09782146e+02] [ 9.49587752e-01 2.80385747e-01 -1.40238848e-01 1.62294723e+02] [ 1.44955175e-01 3.95494055e-03 9.89430319e-01 4.13357241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters Centerline goodness : 0.989114 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:162.36, Z:41.33 [[ 2.69756490e-01 -9.62223288e-01 -3.68480594e-02 2.09781863e+02] [ 9.51951357e-01 2.72247590e-01 -1.40249290e-01 1.62356203e+02] [ 1.44982928e-01 2.75559610e-03 9.89430320e-01 4.13340104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters Centerline goodness : 0.988821 with order 1 Centerline is valid? [True, True] Translation: X:209.80, Y:162.41, Z:41.35 [[ 2.70502683e-01 -9.62015263e-01 -3.68094015e-02 2.09796272e+02] [ 9.51740044e-01 2.72980182e-01 -1.40259435e-01 1.62411328e+02] [ 1.44979955e-01 2.90757223e-03 9.89430320e-01 4.13457930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters Centerline goodness : 0.993031 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:162.46, Z:41.36 [[ 2.84001637e-01 -9.58118562e-01 -3.67680783e-02 2.09824848e+02] [ 9.47808161e-01 2.86328382e-01 -1.40270267e-01 1.62461169e+02] [ 1.44923291e-01 4.98790080e-03 9.89430321e-01 4.13617903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:162.52, Z:41.36 [[ 2.73521906e-01 -9.61164291e-01 -3.67283609e-02 2.09823139e+02] [ 9.50878542e-01 2.75955310e-01 -1.40280666e-01 1.62523730e+02] [ 1.44968153e-01 3.44562485e-03 9.89430322e-01 4.13553919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters Centerline goodness : 0.992612 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:162.57, Z:41.38 [[ 2.85858733e-01 -9.57569141e-01 -3.66895720e-02 2.09857400e+02] [ 9.47251688e-01 2.88153999e-01 -1.40290811e-01 1.62571205e+02] [ 1.44910398e-01 5.34909433e-03 9.89430323e-01 4.13783710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters Centerline goodness : 0.993140 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:162.63, Z:41.39 [[ 2.84778751e-01 -9.57892502e-01 -3.66471996e-02 2.09874350e+02] [ 9.47576261e-01 2.87079452e-01 -1.40301878e-01 1.62625001e+02] [ 1.44914775e-01 5.22897730e-03 9.89430324e-01 4.13876509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters Centerline goodness : 0.986781 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:162.69, Z:41.38 [[ 2.66015519e-01 -9.63273559e-01 -3.66032065e-02 2.09873387e+02] [ 9.53002664e-01 2.68510866e-01 -1.40313355e-01 1.62686533e+02] [ 1.44988503e-01 2.44257667e-03 9.89430325e-01 4.13848819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters Centerline goodness : 0.986042 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:162.74, Z:41.40 [[ 2.62878924e-01 -9.64135761e-01 -3.65637174e-02 2.09892235e+02] [ 9.53871629e-01 2.65401941e-01 -1.40323645e-01 1.62740464e+02] [ 1.44995126e-01 2.01103613e-03 9.89430326e-01 4.13955842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters Centerline goodness : 0.986086 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:162.80, Z:41.40 [[ 2.65276111e-01 -9.63480497e-01 -3.65228203e-02 2.09908401e+02] [ 9.53208677e-01 2.67767635e-01 -1.40334289e-01 1.62795360e+02] [ 1.44988979e-01 2.41346508e-03 9.89430327e-01 4.13996069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:209.94, Y:162.84, Z:41.42 [[ 2.74553918e-01 -9.60879272e-01 -3.64852151e-02 2.09944896e+02] [ 9.50582632e-01 2.76940795e-01 -1.40344065e-01 1.62842644e+02] [ 1.44957947e-01 3.84980106e-03 9.89430327e-01 4.14238343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters Centerline goodness : 0.992535 with order 1 Centerline is valid? [True, True] Translation: X:209.96, Y:162.90, Z:41.43 [[ 2.71114696e-01 -9.61856862e-01 -3.64444509e-02 2.09962991e+02] [ 9.51567429e-01 2.73532448e-01 -1.40354650e-01 1.62896662e+02] [ 1.44969823e-01 3.37285573e-03 9.89430328e-01 4.14317605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters Centerline goodness : 0.993451 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:162.95, Z:41.44 [[ 2.69729268e-01 -9.62247848e-01 -3.64033098e-02 2.09980010e+02] [ 9.51960492e-01 2.72155837e-01 -1.40365320e-01 1.62951300e+02] [ 1.44973600e-01 3.20612217e-03 9.89430329e-01 4.14421108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters Centerline goodness : 0.994063 with order 1 Centerline is valid? [True, True] Translation: X:210.00, Y:163.00, Z:41.46 [[ 2.65723495e-01 -9.63363245e-01 -3.63631942e-02 2.09998419e+02] [ 9.53084672e-01 2.68187000e-01 -1.40375712e-01 1.63004700e+02] [ 1.44984937e-01 2.64392166e-03 9.89430330e-01 4.14575357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:210.01, Y:163.06, Z:41.46 [[ 2.65736219e-01 -9.63361305e-01 -3.63215831e-02 2.10013117e+02] [ 9.53081250e-01 2.68193527e-01 -1.40386478e-01 1.63060207e+02] [ 1.44984114e-01 2.68835183e-03 9.89430331e-01 4.14562542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:210.03, Y:163.11, Z:41.47 [[ 2.61277219e-01 -9.64581384e-01 -3.62900716e-02 2.10029944e+02] [ 9.54311688e-01 2.63777468e-01 -1.40394623e-01 1.63113751e+02] [ 1.44994543e-01 2.04987719e-03 9.89430331e-01 4.14733333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:163.17, Z:41.47 [[ 2.60603850e-01 -9.64764562e-01 -3.62625667e-02 2.10047760e+02] [ 9.54495638e-01 2.63107265e-01 -1.40401727e-01 1.63168991e+02] [ 1.44995555e-01 1.97676890e-03 9.89430332e-01 4.14743576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:163.22, Z:41.49 [[ 2.59550423e-01 -9.65050155e-01 -3.62184477e-02 2.10065700e+02] [ 9.54782401e-01 2.62058630e-01 -1.40413107e-01 1.63222466e+02] [ 1.44997048e-01 1.86354495e-03 9.89430333e-01 4.14945150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters Centerline goodness : 0.993192 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:163.28, Z:41.50 [[ 2.59391923e-01 -9.65094258e-01 -3.61787739e-02 2.10081488e+02] [ 9.54825508e-01 2.61896044e-01 -1.40423329e-01 1.63277908e+02] [ 1.44996826e-01 1.88026108e-03 9.89430334e-01 4.15029490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.416875 meters Centerline goodness : 0.993687 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:163.33, Z:41.51 [[ 2.60042971e-01 -9.64920577e-01 -3.61376989e-02 2.10097235e+02] [ 9.54648690e-01 2.62534188e-01 -1.40433899e-01 1.63333213e+02] [ 1.44994940e-01 2.02004145e-03 9.89430334e-01 4.15119846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters Centerline goodness : 0.994104 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:163.39, Z:41.52 [[ 2.59177183e-01 -9.65155086e-01 -3.60949949e-02 2.10112557e+02] [ 9.54883928e-01 2.61671401e-01 -1.40444874e-01 1.63387417e+02] [ 1.44996112e-01 1.93357626e-03 9.89430335e-01 4.15188776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters Centerline goodness : 0.994281 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:163.44, Z:41.52 [[ 2.56542122e-01 -9.65860472e-01 -3.60511819e-02 2.10127036e+02] [ 9.55594598e-01 2.59057992e-01 -1.40456120e-01 1.63443855e+02] [ 1.45000361e-01 1.58259635e-03 9.89430336e-01 4.15179590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters Centerline goodness : 0.989904 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:163.51, Z:41.52 [[ 2.42526703e-01 -9.69476218e-01 -3.60091876e-02 2.10126648e+02] [ 9.59246275e-01 2.45184906e-01 -1.40466885e-01 1.63505009e+02] [ 1.45008214e-01 -4.74708519e-04 9.89430337e-01 4.15166717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters Centerline goodness : 0.986542 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:163.55, Z:41.53 [[ 2.58496479e-01 -9.65342385e-01 -3.59673516e-02 2.10161665e+02] [ 9.55068486e-01 2.60979370e-01 -1.40477597e-01 1.63552919e+02] [ 1.44995715e-01 1.96168007e-03 9.89430338e-01 4.15327054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:163.61, Z:41.55 [[ 2.54801515e-01 -9.66326748e-01 -3.58999227e-02 2.10170449e+02] [ 9.56060022e-01 2.57313891e-01 -1.40494827e-01 1.63606475e+02] [ 1.45001458e-01 1.47581395e-03 9.89430341e-01 4.15512497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters Centerline goodness : 0.985911 with order 1 Centerline is valid? [True, True] Translation: X:210.19, Y:163.66, Z:41.55 [[ 2.54503971e-01 -9.66407657e-01 -3.58325037e-02 2.10188009e+02] [ 9.56139311e-01 2.57009707e-01 -1.40512020e-01 1.63662657e+02] [ 1.45001194e-01 1.50000177e-03 9.89430343e-01 4.15479076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:210.20, Y:163.72, Z:41.57 [[ 2.50995310e-01 -9.67327020e-01 -3.57741620e-02 2.10198601e+02] [ 9.57065740e-01 2.53529818e-01 -1.40526873e-01 1.63717445e+02] [ 1.45005258e-01 1.03336116e-03 9.89430345e-01 4.15662495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters Centerline goodness : 0.996285 with order 1 Centerline is valid? [True, True] Translation: X:210.21, Y:163.77, Z:41.57 [[ 2.50012015e-01 -9.67584097e-01 -3.57072378e-02 2.10213204e+02] [ 9.57322994e-01 2.52547231e-01 -1.40543876e-01 1.63773706e+02] [ 1.45005784e-01 9.54297893e-04 9.89430347e-01 4.15737035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters Centerline goodness : 0.987712 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:163.83, Z:41.57 [[ 2.50641451e-01 -9.67422797e-01 -3.56650299e-02 2.10229604e+02] [ 9.57158539e-01 2.53163859e-01 -1.40554586e-01 1.63829194e+02] [ 1.45004808e-01 1.09171754e-03 9.89430348e-01 4.15738816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters Centerline goodness : 0.996415 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:163.88, Z:41.59 [[ 2.48718264e-01 -9.67921237e-01 -3.56048232e-02 2.10241729e+02] [ 9.57659852e-01 2.51252323e-01 -1.40569836e-01 1.63882684e+02] [ 1.45006324e-01 8.64975908e-04 9.89430350e-01 4.15890112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:210.26, Y:163.94, Z:41.59 [[ 2.48973582e-01 -9.67858069e-01 -3.55374968e-02 2.10255644e+02] [ 9.57593610e-01 2.51495156e-01 -1.40586855e-01 1.63938768e+02] [ 1.45005631e-01 9.71933130e-04 9.89430352e-01 4.15933821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:210.27, Y:163.99, Z:41.60 [[ 2.46525430e-01 -9.68485964e-01 -3.54985786e-02 2.10271243e+02] [ 9.58226514e-01 2.49067302e-01 -1.40596682e-01 1.63994235e+02] [ 1.45007448e-01 6.44978283e-04 9.89430353e-01 4.16040302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters Centerline goodness : 0.995732 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:164.05, Z:41.61 [[ 2.44626720e-01 -9.68968745e-01 -3.54589849e-02 2.10285427e+02] [ 9.58712863e-01 2.47182950e-01 -1.40606667e-01 1.64050606e+02] [ 1.45008322e-01 4.01162827e-04 9.89430354e-01 4.16113622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters Centerline goodness : 0.996141 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:164.11, Z:41.62 [[ 2.41384596e-01 -9.69782869e-01 -3.54212271e-02 2.10302271e+02] [ 9.59534213e-01 2.43969638e-01 -1.40616178e-01 1.64105718e+02] [ 1.45008865e-01 -4.52999594e-05 9.89430355e-01 4.16233838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters Centerline goodness : 0.995811 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:164.16, Z:41.63 [[ 2.40464874e-01 -9.70012640e-01 -3.53853459e-02 2.10315021e+02] [ 9.59765125e-01 2.43054432e-01 -1.40625207e-01 1.64160742e+02] [ 1.45008793e-01 -1.46198176e-04 9.89430356e-01 4.16291112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters Centerline goodness : 0.992684 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:164.22, Z:41.62 [[ 2.30210517e-01 -9.72498810e-01 -3.53437637e-02 2.10316865e+02] [ 9.62277621e-01 2.32902107e-01 -1.40635657e-01 1.64221802e+02] [ 1.44999647e-01 -1.63470545e-03 9.89430356e-01 4.16225099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters Centerline goodness : 0.992372 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:164.28, Z:41.63 [[ 2.30103501e-01 -9.72525678e-01 -3.53013263e-02 2.10329128e+02] [ 9.62303172e-01 2.32790080e-01 -1.40646309e-01 1.64277421e+02] [ 1.44999946e-01 -1.60737017e-03 9.89430357e-01 4.16297293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters Centerline goodness : 0.995478 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:164.33, Z:41.65 [[ 2.38566006e-01 -9.70485568e-01 -3.52707008e-02 2.10358207e+02] [ 9.60238924e-01 2.41159000e-01 -1.40653989e-01 1.64326588e+02] [ 1.45008513e-01 -3.13039520e-04 9.89430358e-01 4.16531039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters Centerline goodness : 0.995421 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:164.38, Z:41.66 [[ 2.37385390e-01 -9.70776512e-01 -3.52298166e-02 2.10373235e+02] [ 9.60531526e-01 2.39984922e-01 -1.40664229e-01 1.64381470e+02] [ 1.45008154e-01 -4.47716752e-04 9.89430359e-01 4.16627157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters Centerline goodness : 0.996055 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:164.44, Z:41.67 [[ 2.36164443e-01 -9.71075852e-01 -3.51858600e-02 2.10387560e+02] [ 9.60832522e-01 2.38770489e-01 -1.40675223e-01 1.64436861e+02] [ 1.45007657e-01 -5.85232882e-04 9.89430360e-01 4.16707066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters Centerline goodness : 0.991773 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:164.50, Z:41.66 [[ 2.22544293e-01 -9.74289027e-01 -3.51415750e-02 2.10382758e+02] [ 9.64081471e-01 2.25287118e-01 -1.40686285e-01 1.64500166e+02] [ 1.44986048e-01 -2.57041144e-03 9.89430361e-01 4.16577771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters Centerline goodness : 0.995269 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:164.55, Z:41.69 [[ 2.34917442e-01 -9.71381381e-01 -3.50999780e-02 2.10415361e+02] [ 9.61138233e-01 2.37524200e-01 -1.40696663e-01 1.64547882e+02] [ 1.45007213e-01 -6.83830743e-04 9.89430362e-01 4.16852568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters Centerline goodness : 0.990680 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:164.61, Z:41.67 [[ 2.16415561e-01 -9.75671544e-01 -3.50619877e-02 2.10408146e+02] [ 9.65478281e-01 2.19211027e-01 -1.40706129e-01 1.64612077e+02] [ 1.44968941e-01 -3.40059163e-03 9.89430362e-01 4.16717796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters Centerline goodness : 0.995404 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:164.66, Z:41.70 [[ 2.32458992e-01 -9.71975522e-01 -3.50200172e-02 2.10441453e+02] [ 9.61736035e-01 2.35080083e-01 -1.40716575e-01 1.64658530e+02] [ 1.45005575e-01 -9.69179350e-04 9.89430363e-01 4.17036188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters Centerline goodness : 0.995565 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:164.71, Z:41.71 [[ 2.31688551e-01 -9.72160097e-01 -3.50022993e-02 2.10453855e+02] [ 9.61922032e-01 2.34315192e-01 -1.40720982e-01 1.64714995e+02] [ 1.45004894e-01 -1.06604249e-03 9.89430364e-01 4.17130884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters Centerline goodness : 0.995156 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:164.77, Z:41.72 [[ 2.30835844e-01 -9.72364372e-01 -3.49619978e-02 2.10466238e+02] [ 9.62127116e-01 2.33465631e-01 -1.40730994e-01 1.64771107e+02] [ 1.45004229e-01 -1.15212824e-03 9.89430364e-01 4.17216776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:164.83, Z:41.73 [[ 2.30152329e-01 -9.72527812e-01 -3.49221880e-02 2.10479221e+02] [ 9.62290926e-01 2.32783551e-01 -1.40740872e-01 1.64825339e+02] [ 1.45003723e-01 -1.21346506e-03 9.89430365e-01 4.17291243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:164.88, Z:41.74 [[ 2.28668959e-01 -9.72879332e-01 -3.48756776e-02 2.10492391e+02] [ 9.62644733e-01 2.31309060e-01 -1.40752397e-01 1.64881356e+02] [ 1.45002158e-01 -1.38718336e-03 9.89430366e-01 4.17377867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:164.94, Z:41.75 [[ 2.26243396e-01 -9.73447681e-01 -3.48358618e-02 2.10504756e+02] [ 9.63218197e-01 2.28903242e-01 -1.40762250e-01 1.64935295e+02] [ 1.44998728e-01 -1.70800638e-03 9.89430367e-01 4.17456667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters Centerline goodness : 0.992195 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:165.00, Z:41.74 [[ 2.12194901e-01 -9.76607921e-01 -3.47892707e-02 2.10500157e+02] [ 9.66415975e-01 2.14995142e-01 -1.40773765e-01 1.64998967e+02] [ 1.44960298e-01 -3.74943183e-03 9.89430368e-01 4.17371826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:165.05, Z:41.76 [[ 2.25297183e-01 -9.73670119e-01 -3.47516727e-02 2.10530117e+02] [ 9.63440057e-01 2.27954800e-01 -1.40783046e-01 1.65047074e+02] [ 1.44998055e-01 -1.76312988e-03 9.89430369e-01 4.17644280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters Centerline goodness : 0.985932 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:165.10, Z:41.77 [[ 2.28206003e-01 -9.72993872e-01 -3.47123171e-02 2.10542127e+02] [ 9.62754455e-01 2.30827342e-01 -1.40792749e-01 1.65102643e+02] [ 1.45003034e-01 -1.28968740e-03 9.89430370e-01 4.17716613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters Centerline goodness : 0.986539 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:165.16, Z:41.78 [[ 2.29298527e-01 -9.72738914e-01 -3.46581938e-02 2.10552580e+02] [ 9.62494568e-01 2.31900531e-01 -1.40806071e-01 1.65157428e+02] [ 1.45004798e-01 -1.07169858e-03 9.89430371e-01 4.17797350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:165.21, Z:41.79 [[ 2.29398710e-01 -9.72717567e-01 -3.45943183e-02 2.10561799e+02] [ 9.62470612e-01 2.31990413e-01 -1.40821763e-01 1.65213090e+02] [ 1.45005353e-01 -9.91683939e-04 9.89430374e-01 4.17881544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters Centerline goodness : 0.995336 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:165.27, Z:41.80 [[ 2.29652185e-01 -9.72659981e-01 -3.45316621e-02 2.10572616e+02] [ 9.62410066e-01 2.32232146e-01 -1.40837126e-01 1.65268044e+02] [ 1.45005998e-01 -8.90065470e-04 9.89430376e-01 4.17953986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters Centerline goodness : 0.996116 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:165.32, Z:41.81 [[ 2.32512895e-01 -9.71981678e-01 -3.44872677e-02 2.10586130e+02] [ 9.61722620e-01 2.35056255e-01 -1.40847996e-01 1.65323468e+02] [ 1.45008120e-01 -4.18210032e-04 9.89430377e-01 4.18095864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters Centerline goodness : 0.995709 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:165.38, Z:41.81 [[ 2.31920356e-01 -9.72124655e-01 -3.44471198e-02 2.10595488e+02] [ 9.61865707e-01 2.34464152e-01 -1.40857815e-01 1.65380698e+02] [ 1.45007969e-01 -4.65708797e-04 9.89430378e-01 4.18113405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters Centerline goodness : 0.991803 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:165.44, Z:41.81 [[ 2.20121825e-01 -9.74864994e-01 -3.44183923e-02 2.10591119e+02] [ 9.64636547e-01 2.22785616e-01 -1.40864834e-01 1.65443016e+02] [ 1.44992118e-01 -2.19381476e-03 9.89430378e-01 4.18095451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters Centerline goodness : 0.995814 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:165.49, Z:41.83 [[ 2.34077401e-01 -9.71609938e-01 -3.43787544e-02 2.10618464e+02] [ 9.61342941e-01 2.36588510e-01 -1.40874507e-01 1.65493571e+02] [ 1.45008689e-01 -7.42342374e-05 9.89430379e-01 4.18286021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters Centerline goodness : 0.995694 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:165.55, Z:41.84 [[ 2.39314056e-01 -9.70334227e-01 -3.43550717e-02 2.10628609e+02] [ 9.60053016e-01 2.41766318e-01 -1.40880283e-01 1.65549792e+02] [ 1.45006859e-01 7.31941590e-04 9.89430379e-01 4.18361211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters Centerline goodness : 0.995939 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:165.60, Z:41.84 [[ 2.45009437e-01 -9.68913365e-01 -3.43113122e-02 2.10639299e+02] [ 9.58616453e-01 2.47394906e-01 -1.40890939e-01 1.65604254e+02] [ 1.44999558e-01 1.62822142e-03 9.89430380e-01 4.18427751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters Centerline goodness : 0.996679 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:165.66, Z:41.85 [[ 2.52564923e-01 -9.66972595e-01 -3.42776988e-02 2.10650846e+02] [ 9.56656284e-01 2.54865050e-01 -1.40899117e-01 1.65659145e+02] [ 1.44981772e-01 2.79419875e-03 9.89430381e-01 4.18490839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:165.71, Z:41.86 [[ 2.54026828e-01 -9.66591159e-01 -3.42330495e-02 2.10664451e+02] [ 9.56269945e-01 2.56304847e-01 -1.40909964e-01 1.65714801e+02] [ 1.44976422e-01 3.05887490e-03 9.89430382e-01 4.18607686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters Centerline goodness : 0.996118 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:165.77, Z:41.87 [[ 2.58977693e-01 -9.65277775e-01 -3.41960819e-02 2.10679382e+02] [ 9.54943861e-01 2.61197388e-01 -1.40918935e-01 1.65770826e+02] [ 1.44957843e-01 3.83952222e-03 9.89430382e-01 4.18671330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters Centerline goodness : 0.991632 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:165.83, Z:41.86 [[ 2.45164856e-01 -9.68879536e-01 -3.41560858e-02 2.10674146e+02] [ 9.58577045e-01 2.47526101e-01 -1.40928629e-01 1.65834519e+02] [ 1.44997387e-01 1.80950733e-03 9.89430383e-01 4.18594440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:165.89, Z:41.87 [[ 2.44137266e-01 -9.69140299e-01 -3.41185706e-02 2.10693779e+02] [ 9.58839063e-01 2.46503980e-01 -1.40937711e-01 1.65889178e+02] [ 1.44998779e-01 1.69392912e-03 9.89430384e-01 4.18695887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters Centerline goodness : 0.991160 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:165.94, Z:41.88 [[ 2.39442401e-01 -9.70312197e-01 -3.40819230e-02 2.10709062e+02] [ 9.60021293e-01 2.41853636e-01 -1.40946573e-01 1.65944535e+02] [ 1.45005016e-01 1.02921396e-03 9.89430385e-01 4.18764095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters Centerline goodness : 0.996132 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:165.99, Z:41.90 [[ 2.49244148e-01 -9.67842171e-01 -3.40424224e-02 2.10748039e+02] [ 9.57526122e-01 2.51545425e-01 -1.40956113e-01 1.65989997e+02] [ 1.44986486e-01 2.53597748e-03 9.89430386e-01 4.19018757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters Centerline goodness : 0.995937 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:166.04, Z:41.91 [[ 2.45963640e-01 -9.68682250e-01 -3.40086193e-02 2.10764425e+02] [ 9.58372944e-01 2.48294937e-01 -1.40964268e-01 1.66044289e+02] [ 1.44993752e-01 2.07914384e-03 9.89430386e-01 4.19083270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters Centerline goodness : 0.991152 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:166.11, Z:41.90 [[ 2.28875978e-01 -9.72862861e-01 -3.39652970e-02 2.10765497e+02] [ 9.62594651e-01 2.31382088e-01 -1.40974706e-01 1.66105775e+02] [ 1.45008017e-01 -4.29089545e-04 9.89430387e-01 4.19032892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters Centerline goodness : 0.995899 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:166.15, Z:41.93 [[ 2.39213511e-01 -9.70374086e-01 -3.39268289e-02 2.10801324e+02] [ 9.60078496e-01 2.41604645e-01 -1.40983963e-01 1.66153493e+02] [ 1.45004064e-01 1.15284994e-03 9.89430388e-01 4.19255222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters Centerline goodness : 0.995789 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:166.21, Z:41.94 [[ 2.37497309e-01 -9.70796978e-01 -3.38859224e-02 2.10818754e+02] [ 9.60504244e-01 2.39900704e-01 -1.40993794e-01 1.66207780e+02] [ 1.45005606e-01 9.38074602e-04 9.89430389e-01 4.19350306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters Centerline goodness : 0.995573 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:166.26, Z:41.94 [[ 2.37458025e-01 -9.70808087e-01 -3.38429464e-02 2.10833894e+02] [ 9.60513995e-01 2.39855595e-01 -1.41004109e-01 1.66263211e+02] [ 1.45005350e-01 9.75933672e-04 9.89430390e-01 4.19449841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters Centerline goodness : 0.991291 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:166.33, Z:41.93 [[ 2.22704006e-01 -9.74299894e-01 -3.38029820e-02 2.10827542e+02] [ 9.64041920e-01 2.25251673e-01 -1.41013690e-01 1.66326905e+02] [ 1.45003801e-01 -1.18317810e-03 9.89430391e-01 4.19297840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters Centerline goodness : 0.991702 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:166.38, Z:41.94 [[ 2.22107845e-01 -9.74437441e-01 -3.37605985e-02 2.10842398e+02] [ 9.64179503e-01 2.24655654e-01 -1.41023836e-01 1.66382523e+02] [ 1.45003415e-01 -1.22877677e-03 9.89430392e-01 4.19382101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters Centerline goodness : 0.996536 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:166.43, Z:41.97 [[ 2.31588031e-01 -9.72229320e-01 -3.37214155e-02 2.10877495e+02] [ 9.61945703e-01 2.34030126e-01 -1.41033205e-01 1.66427988e+02] [ 1.45008444e-01 2.23431482e-04 9.89430392e-01 4.19663351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:166.49, Z:41.96 [[ 2.14143891e-01 -9.76221051e-01 -3.36875939e-02 2.10873493e+02] [ 9.65981555e-01 2.16764831e-01 -1.41041283e-01 1.66490361e+02] [ 1.44989755e-01 -2.33846512e-03 9.89430393e-01 4.19605337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:166.54, Z:41.99 [[ 2.24092338e-01 -9.73986861e-01 -3.36484688e-02 2.10904021e+02] [ 9.63719772e-01 2.26603010e-01 -1.41050617e-01 1.66538836e+02] [ 1.45006292e-01 -8.19332154e-04 9.89430394e-01 4.19880475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters Centerline goodness : 0.996276 with order 1 Centerline is valid? [True, True] Translation: X:210.92, Y:166.59, Z:42.00 [[ 2.23351359e-01 -9.74158008e-01 -3.36206051e-02 2.10916507e+02] [ 9.63891844e-01 2.25865806e-01 -1.41057258e-01 1.66594195e+02] [ 1.45005803e-01 -9.01296715e-04 9.89430394e-01 4.19984001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:166.65, Z:42.01 [[ 2.22895523e-01 -9.74263896e-01 -3.35774812e-02 2.10928157e+02] [ 9.63997380e-01 2.25408530e-01 -1.41067523e-01 1.66649059e+02] [ 1.45005645e-01 -9.25284609e-04 9.89430395e-01 4.20072431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters Centerline goodness : 0.996038 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:166.70, Z:42.02 [[ 2.23675495e-01 -9.74086134e-01 -3.35481218e-02 2.10938359e+02] [ 9.63816574e-01 2.26176029e-01 -1.41074505e-01 1.66704455e+02] [ 1.45006500e-01 -7.79326115e-04 9.89430396e-01 4.20153593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:210.95, Y:166.76, Z:42.02 [[ 2.25209096e-01 -9.73734215e-01 -3.35043479e-02 2.10949203e+02] [ 9.63459200e-01 2.27687114e-01 -1.41084900e-01 1.66761236e+02] [ 1.45007703e-01 -5.06469340e-04 9.89430397e-01 4.20235584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters Centerline goodness : 0.996642 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:166.82, Z:42.03 [[ 2.29821542e-01 -9.72657297e-01 -3.34640168e-02 2.10957547e+02] [ 9.62369274e-01 2.32244984e-01 -1.41094466e-01 1.66817021e+02] [ 1.45008412e-01 2.21806181e-04 9.89430397e-01 4.20301860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters Centerline goodness : 0.992822 with order 1 Centerline is valid? [True, True] Translation: X:210.95, Y:166.88, Z:42.02 [[ 2.21046049e-01 -9.74690697e-01 -3.34169068e-02 2.10947372e+02] [ 9.64423265e-01 2.23555295e-01 -1.41105623e-01 1.66882034e+02] [ 1.45004864e-01 -1.03720189e-03 9.89430399e-01 4.20202753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:166.93, Z:42.05 [[ 2.39914963e-01 -9.70219910e-01 -3.33786875e-02 2.10975112e+02] [ 9.59904485e-01 2.42218974e-01 -1.41114663e-01 1.66931003e+02] [ 1.44997207e-01 1.81516737e-03 9.89430399e-01 4.20471893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters Centerline goodness : 0.991480 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:167.00, Z:42.04 [[ 2.27477357e-01 -9.73212558e-01 -3.33372144e-02 2.10964446e+02] [ 9.62926045e-01 2.29907194e-01 -1.41124460e-01 1.66995210e+02] [ 1.45008562e-01 1.34724117e-06 9.89430400e-01 4.20364472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:167.04, Z:42.07 [[ 2.50979441e-01 -9.67419725e-01 -3.32925709e-02 2.10992511e+02] [ 9.57076017e-01 2.53152942e-01 -1.41134991e-01 1.67043330e+02] [ 1.44964887e-01 3.55846010e-03 9.89430401e-01 4.20653424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters Centerline goodness : 0.991836 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:167.11, Z:42.05 [[ 2.38227315e-01 -9.70639694e-01 -3.32615373e-02 2.10980117e+02] [ 9.60324474e-01 2.40532231e-01 -1.41142305e-01 1.67109496e+02] [ 1.44998795e-01 1.68208402e-03 9.89430402e-01 4.20482778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters Centerline goodness : 0.991862 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:167.17, Z:42.06 [[ 2.45229042e-01 -9.68895871e-01 -3.32191009e-02 2.10991732e+02] [ 9.58562947e-01 2.47453243e-01 -1.41152292e-01 1.67165463e+02] [ 1.44982047e-01 2.77204219e-03 9.89430403e-01 4.20598898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters Centerline goodness : 0.992446 with order 1 Centerline is valid? [True, True] Translation: X:211.00, Y:167.22, Z:42.06 [[ 2.47112286e-01 -9.68418737e-01 -3.31763054e-02 2.11002582e+02] [ 9.58080182e-01 2.49310159e-01 -1.41162350e-01 1.67223240e+02] [ 1.44975455e-01 3.09739034e-03 9.89430404e-01 4.20630693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters Centerline goodness : 0.992117 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:167.28, Z:42.07 [[ 2.49631932e-01 -9.67773676e-01 -3.31362493e-02 2.11015427e+02] [ 9.57428212e-01 2.51797050e-01 -1.41171752e-01 1.67278250e+02] [ 1.44965916e-01 3.51539733e-03 9.89430404e-01 4.20715673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters Centerline goodness : 0.993073 with order 1 Centerline is valid? [True, True] Translation: X:211.03, Y:167.33, Z:42.08 [[ 2.51417933e-01 -9.67311853e-01 -3.31180036e-02 2.11031686e+02] [ 9.56961859e-01 2.53561289e-01 -1.41176033e-01 1.67331834e+02] [ 1.44958693e-01 3.80151998e-03 9.89430405e-01 4.20828155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:167.39, Z:42.09 [[ 2.45810978e-01 -9.68752844e-01 -3.30891365e-02 2.11048117e+02] [ 9.58414543e-01 2.48010041e-01 -1.41182798e-01 1.67387226e+02] [ 1.44977675e-01 2.99117200e-03 9.89430405e-01 4.20910942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters Centerline goodness : 0.994002 with order 1 Centerline is valid? [True, True] Translation: X:211.07, Y:167.44, Z:42.10 [[ 2.43044202e-01 -9.69452046e-01 -3.30491502e-02 2.11065316e+02] [ 9.59118813e-01 2.45266951e-01 -1.41192158e-01 1.67442716e+02] [ 1.44984891e-01 2.61787363e-03 9.89430406e-01 4.20987082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters Centerline goodness : 0.992397 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:167.50, Z:42.10 [[ 2.37273782e-01 -9.70881895e-01 -3.30075632e-02 2.11080754e+02] [ 9.60560729e-01 2.39551904e-01 -1.41201880e-01 1.67499007e+02] [ 1.44997373e-01 1.79773501e-03 9.89430407e-01 4.21043867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:211.10, Y:167.55, Z:42.11 [[ 2.30780429e-01 -9.72447239e-01 -3.29660577e-02 2.11101451e+02] [ 9.62140158e-01 2.33121446e-01 -1.41211569e-01 1.67553739e+02] [ 1.45005896e-01 8.70898539e-04 9.89430408e-01 4.21111987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters Centerline goodness : 0.993159 with order 1 Centerline is valid? [True, True] Translation: X:211.12, Y:167.61, Z:42.12 [[ 2.25184221e-01 -9.73759625e-01 -3.29281061e-02 2.11123845e+02] [ 9.63464896e-01 2.27578971e-01 -1.41220419e-01 1.67607064e+02] [ 1.45008486e-01 7.55356851e-05 9.89430408e-01 4.21221468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters Centerline goodness : 0.995734 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:167.65, Z:42.15 [[ 2.33349328e-01 -9.71836701e-01 -3.28864503e-02 2.11159423e+02] [ 9.61520883e-01 2.35651534e-01 -1.41230119e-01 1.67654379e+02] [ 1.45002355e-01 1.33494451e-03 9.89430409e-01 4.21473144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters Centerline goodness : 0.995911 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:167.71, Z:42.16 [[ 2.25886708e-01 -9.73599006e-01 -3.28659415e-02 2.11180414e+02] [ 9.63300467e-01 2.28265012e-01 -1.41234891e-01 1.67707621e+02] [ 1.45008294e-01 2.43307770e-04 9.89430410e-01 4.21565594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:167.77, Z:42.15 [[ 2.10482311e-01 -9.77046528e-01 -3.28219224e-02 2.11183972e+02] [ 9.66785262e-01 2.13016603e-01 -1.41245120e-01 1.67766169e+02] [ 1.44994669e-01 -2.00215153e-03 9.89430411e-01 4.21513462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters Centerline goodness : 0.996118 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:167.81, Z:42.18 [[ 2.20903760e-01 -9.74744413e-01 -3.27850367e-02 2.11220455e+02] [ 9.64455412e-01 2.23322987e-01 -1.41253681e-01 1.67814569e+02] [ 1.45007889e-01 -4.16236699e-04 9.89430411e-01 4.21752077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters Centerline goodness : 0.993215 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:167.88, Z:42.16 [[ 2.06716476e-01 -9.77852176e-01 -3.27630903e-02 2.11218513e+02] [ 9.67598622e-01 2.09281787e-01 -1.41258772e-01 1.67876526e+02] [ 1.44986915e-01 -2.50100561e-03 9.89430412e-01 4.21641282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:167.93, Z:42.18 [[ 2.13861099e-01 -9.76315920e-01 -3.27208535e-02 2.11235202e+02] [ 9.66042404e-01 2.16345256e-01 -1.41268555e-01 1.67930480e+02] [ 1.45001740e-01 -1.39788360e-03 9.89430413e-01 4.21761501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:167.98, Z:42.19 [[ 2.22483731e-01 -9.74388527e-01 -3.26800710e-02 2.11253901e+02] [ 9.64092080e-01 2.24871057e-01 -1.41277989e-01 1.67984214e+02] [ 1.45008453e-01 -7.45435348e-05 9.89430413e-01 4.21900118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters Centerline goodness : 0.994592 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:168.04, Z:42.20 [[ 2.32158611e-01 -9.72130216e-01 -3.26377520e-02 2.11269412e+02] [ 9.61809187e-01 2.34437318e-01 -1.41287765e-01 1.68038458e+02] [ 1.45001612e-01 1.40988149e-03 9.89430414e-01 4.22011669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters Centerline goodness : 0.995050 with order 1 Centerline is valid? [True, True] Translation: X:211.28, Y:168.09, Z:42.21 [[ 2.39150964e-01 -9.70435220e-01 -3.25929390e-02 2.11284809e+02] [ 9.60096667e-01 2.41348787e-01 -1.41298102e-01 1.68094158e+02] [ 1.44986921e-01 2.49920502e-03 9.89430415e-01 4.22107230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:211.30, Y:168.15, Z:42.22 [[ 2.41126160e-01 -9.69947731e-01 -3.25511143e-02 2.11297839e+02] [ 9.59603445e-01 2.43296840e-01 -1.41307736e-01 1.68150680e+02] [ 1.44980701e-01 2.83683039e-03 9.89430416e-01 4.22155970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters Centerline goodness : 0.994378 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:168.21, Z:42.22 [[ 2.36297728e-01 -9.71136719e-01 -3.25093350e-02 2.11311980e+02] [ 9.60802056e-01 2.38513765e-01 -1.41317348e-01 1.68206260e+02] [ 1.44992389e-01 2.15793221e-03 9.89430417e-01 4.22232237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters Centerline goodness : 0.994373 with order 1 Centerline is valid? [True, True] Translation: X:211.33, Y:168.26, Z:42.23 [[ 2.31690470e-01 -9.72247594e-01 -3.24675421e-02 2.11325081e+02] [ 9.61922225e-01 2.33949410e-01 -1.41326949e-01 1.68261188e+02] [ 1.45000548e-01 1.51285687e-03 9.89430418e-01 4.22303762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:211.34, Y:168.32, Z:42.24 [[ 2.30243415e-01 -9.72592673e-01 -3.24262680e-02 2.11338141e+02] [ 9.62269358e-01 2.32511721e-01 -1.41336418e-01 1.68317199e+02] [ 1.45002252e-01 1.33897565e-03 9.89430419e-01 4.22380089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters Centerline goodness : 0.994505 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:168.37, Z:42.24 [[ 2.29314092e-01 -9.72813553e-01 -3.23857904e-02 2.11350707e+02] [ 9.62491114e-01 2.31586378e-01 -1.41345693e-01 1.68373089e+02] [ 1.45003114e-01 1.24152371e-03 9.89430420e-01 4.22449589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters Centerline goodness : 0.994701 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:168.43, Z:42.26 [[ 2.31027694e-01 -9.72409528e-01 -3.23406133e-02 2.11365721e+02] [ 9.62081672e-01 2.33275224e-01 -1.41356029e-01 1.68428322e+02] [ 1.45000213e-01 1.54284616e-03 9.89430421e-01 4.22550921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters Centerline goodness : 0.995449 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:168.48, Z:42.26 [[ 2.32091951e-01 -9.72157383e-01 -3.23009020e-02 2.11379752e+02] [ 9.61825826e-01 2.34322402e-01 -1.41365103e-01 1.68482914e+02] [ 1.44997954e-01 1.74186087e-03 9.89430422e-01 4.22648541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters Centerline goodness : 0.994947 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:168.54, Z:42.27 [[ 2.31539916e-01 -9.72290507e-01 -3.22558040e-02 2.11392458e+02] [ 9.61958802e-01 2.33769677e-01 -1.41375393e-01 1.68538962e+02] [ 1.44998381e-01 1.70529205e-03 9.89430423e-01 4.22746806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters Centerline goodness : 0.995219 with order 1 Centerline is valid? [True, True] Translation: X:211.41, Y:168.59, Z:42.28 [[ 2.33335286e-01 -9.71862577e-01 -3.22145335e-02 2.11406582e+02] [ 9.61525490e-01 2.35539958e-01 -1.41384796e-01 1.68593597e+02] [ 1.44994402e-01 2.01496672e-03 9.89430424e-01 4.22844541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters Centerline goodness : 0.995599 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:168.65, Z:42.29 [[ 2.30648438e-01 -9.72505165e-01 -3.21714518e-02 2.11421858e+02] [ 9.62172860e-01 2.32875408e-01 -1.41394599e-01 1.68648988e+02] [ 1.44998917e-01 1.65794557e-03 9.89430425e-01 4.22929886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters Centerline goodness : 0.994772 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:168.71, Z:42.30 [[ 2.23902786e-01 -9.74081795e-01 -3.21278417e-02 2.11431571e+02] [ 9.63763765e-01 2.26194982e-01 -1.41404507e-01 1.68706977e+02] [ 1.45006713e-01 6.97213514e-04 9.89430426e-01 4.22968132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters Centerline goodness : 0.994714 with order 1 Centerline is valid? [True, True] Translation: X:211.45, Y:168.76, Z:42.31 [[ 2.21595745e-01 -9.74610595e-01 -3.20860478e-02 2.11445272e+02] [ 9.64296662e-01 2.23906301e-01 -1.41413990e-01 1.68762486e+02] [ 1.45007841e-01 3.96269754e-04 9.89430427e-01 4.23059094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:211.46, Y:168.82, Z:42.31 [[ 2.18566142e-01 -9.75295889e-01 -3.20432419e-02 2.11457705e+02] [ 9.64987778e-01 2.20902530e-01 -1.41423689e-01 1.68819444e+02] [ 1.45008376e-01 -1.09066390e-05 9.89430427e-01 4.23120172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters Centerline goodness : 0.994748 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:168.87, Z:42.32 [[ 2.18802187e-01 -9.75243836e-01 -3.20166149e-02 2.11469921e+02] [ 9.64934287e-01 2.21132218e-01 -1.41429717e-01 1.68874660e+02] [ 1.45008365e-01 5.12019336e-05 9.89430428e-01 4.23204038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters Centerline goodness : 0.995123 with order 1 Centerline is valid? [True, True] Translation: X:211.49, Y:168.93, Z:42.33 [[ 2.16362288e-01 -9.75789028e-01 -3.19864607e-02 2.11486021e+02] [ 9.65484340e-01 2.18713727e-01 -1.41436537e-01 1.68929464e+02] [ 1.45008099e-01 -2.80894203e-04 9.89430428e-01 4.23310550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:168.98, Z:42.34 [[ 2.14828451e-01 -9.76129249e-01 -3.19441219e-02 2.11498428e+02] [ 9.65826862e-01 2.17189947e-01 -1.41446098e-01 1.68984653e+02] [ 1.45007616e-01 -4.65844894e-04 9.89430429e-01 4.23400447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters Centerline goodness : 0.996958 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:169.03, Z:42.36 [[ 2.20502853e-01 -9.74864326e-01 -3.19067104e-02 2.11523876e+02] [ 9.64547169e-01 2.22798953e-01 -1.41454537e-01 1.69033548e+02] [ 1.45007764e-01 4.15601815e-04 9.89430430e-01 4.23637499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters Centerline goodness : 0.993000 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:169.10, Z:42.34 [[ 1.99983172e-01 -9.79281207e-01 -3.18598412e-02 2.11513976e+02] [ 9.69012887e-01 2.02488647e-01 -1.41465093e-01 1.69099295e+02] [ 1.44985363e-01 -2.58195872e-03 9.89430431e-01 4.23431941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:211.53, Y:169.15, Z:42.36 [[ 2.02045394e-01 -9.78858721e-01 -3.18317790e-02 2.11533539e+02] [ 9.68584169e-01 2.04525180e-01 -1.41471407e-01 1.69152894e+02] [ 1.44990921e-01 -2.24811102e-03 9.89430432e-01 4.23603912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:211.54, Y:169.21, Z:42.37 [[ 1.93341264e-01 -9.80616284e-01 -3.17940254e-02 2.11542763e+02] [ 9.70362804e-01 1.95906788e-01 -1.41479891e-01 1.69210323e+02] [ 1.44966151e-01 -3.49783862e-03 9.89430432e-01 4.23664917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters Centerline goodness : 0.996608 with order 1 Centerline is valid? [True, True] Translation: X:211.57, Y:169.26, Z:42.40 [[ 2.00780669e-01 -9.79121527e-01 -3.17514932e-02 2.11570771e+02] [ 9.68847380e-01 2.03262129e-01 -1.41489436e-01 1.69258765e+02] [ 1.44989229e-01 -2.35400736e-03 9.89430433e-01 4.23951368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:169.31, Z:42.40 [[ 1.97743253e-01 -9.79740467e-01 -3.17210129e-02 2.11580911e+02] [ 9.69472989e-01 2.00252163e-01 -1.41496269e-01 1.69314612e+02] [ 1.44981823e-01 -2.77273255e-03 9.89430434e-01 4.24026889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters Centerline goodness : 0.996490 with order 1 Centerline is valid? [True, True] Translation: X:211.59, Y:169.37, Z:42.41 [[ 1.96341183e-01 -9.80023801e-01 -3.16778949e-02 2.11590330e+02] [ 9.69758397e-01 1.98858558e-01 -1.41505922e-01 1.69370606e+02] [ 1.44978592e-01 -2.93646445e-03 9.89430435e-01 4.24108468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters Centerline goodness : 0.996580 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:169.43, Z:42.42 [[ 1.98239957e-01 -9.79642919e-01 -3.16333836e-02 2.11597656e+02] [ 9.69371095e-01 2.00731008e-01 -1.41515872e-01 1.69427504e+02] [ 1.44984823e-01 -2.61038726e-03 9.89430436e-01 4.24192289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:169.48, Z:42.43 [[ 2.01956459e-01 -9.78884939e-01 -3.15890103e-02 2.11606054e+02] [ 9.68602209e-01 2.04402094e-01 -1.41525776e-01 1.69483377e+02] [ 1.44994311e-01 -2.01514052e-03 9.89430437e-01 4.24271926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters Centerline goodness : 0.996203 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:169.54, Z:42.44 [[ 2.10542860e-01 -9.77075539e-01 -3.15451191e-02 2.11611648e+02] [ 9.66770284e-01 2.12891765e-01 -1.41535559e-01 1.69540437e+02] [ 1.45006629e-01 -6.97582440e-04 9.89430438e-01 4.24356848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:169.60, Z:42.43 [[ 2.02915010e-01 -9.78689517e-01 -3.15012482e-02 2.11602974e+02] [ 9.68401402e-01 2.05337884e-01 -1.41545323e-01 1.69604329e+02] [ 1.44997323e-01 -1.78418243e-03 9.89430439e-01 4.24267013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters Centerline goodness : 0.993676 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:169.66, Z:42.44 [[ 2.09860564e-01 -9.77225005e-01 -3.14616320e-02 2.11611865e+02] [ 9.66918636e-01 2.12204572e-01 -1.41554128e-01 1.69661081e+02] [ 1.45006535e-01 -7.14209205e-04 9.89430440e-01 4.24367851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:169.72, Z:42.45 [[ 2.14223611e-01 -9.76279144e-01 -3.14209625e-02 2.11622652e+02] [ 9.65961097e-01 2.16515662e-01 -1.41563155e-01 1.69717972e+02] [ 1.45008286e-01 -2.52571967e-05 9.89430440e-01 4.24451709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters Centerline goodness : 0.993616 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:169.78, Z:42.45 [[ 2.16050366e-01 -9.75877837e-01 -3.13797046e-02 2.11631503e+02] [ 9.65554204e-01 2.18317117e-01 -1.41572300e-01 1.69776127e+02] [ 1.45007996e-01 2.87941417e-04 9.89430441e-01 4.24499262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters Centerline goodness : 0.993399 with order 1 Centerline is valid? [True, True] Translation: X:211.64, Y:169.83, Z:42.46 [[ 2.13204125e-01 -9.76504895e-01 -3.13399315e-02 2.11642098e+02] [ 9.66186633e-01 2.15495201e-01 -1.41581104e-01 1.69833199e+02] [ 1.45008246e-01 -9.45474896e-05 9.89430442e-01 4.24570189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters Centerline goodness : 0.993563 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:169.89, Z:42.47 [[ 2.14445596e-01 -9.76234334e-01 -3.12987459e-02 2.11657514e+02] [ 9.65911852e-01 2.16717577e-01 -1.41590208e-01 1.69887911e+02] [ 1.45008211e-01 1.31567067e-04 9.89430443e-01 4.24703220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters Centerline goodness : 0.995896 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:169.94, Z:42.50 [[ 2.26459878e-01 -9.73518755e-01 -3.12595081e-02 2.11684398e+02] [ 9.63167878e-01 2.28598771e-01 -1.41598870e-01 1.69937731e+02] [ 1.44995041e-01 1.95830882e-03 9.89430444e-01 4.24963109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:170.00, Z:42.48 [[ 2.07842186e-01 -9.77664099e-01 -3.12175547e-02 2.11675907e+02] [ 9.67354546e-01 2.10172127e-01 -1.41608119e-01 1.70001889e+02] [ 1.45006234e-01 -7.66302343e-04 9.89430445e-01 4.24793586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters Centerline goodness : 0.993584 with order 1 Centerline is valid? [True, True] Translation: X:211.69, Y:170.06, Z:42.49 [[ 2.10047480e-01 -9.77194067e-01 -3.11738840e-02 2.11690827e+02] [ 9.66877872e-01 2.12347825e-01 -1.41617733e-01 1.70057278e+02] [ 1.45007715e-01 -3.94890777e-04 9.89430446e-01 4.24910079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters Centerline goodness : 0.996299 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:170.11, Z:42.52 [[ 2.24729280e-01 -9.73923759e-01 -3.11329778e-02 2.11719966e+02] [ 9.63572884e-01 2.26868171e-01 -1.41626725e-01 1.70105379e+02] [ 1.44996714e-01 1.82877871e-03 9.89430447e-01 4.25209458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters Centerline goodness : 0.996096 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:170.16, Z:42.53 [[ 2.23545660e-01 -9.74197486e-01 -3.10901232e-02 2.11731718e+02] [ 9.63847926e-01 2.25690898e-01 -1.41636132e-01 1.70160677e+02] [ 1.44998321e-01 1.69599183e-03 9.89430447e-01 4.25292618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:170.22, Z:42.52 [[ 2.11189292e-01 -9.76952046e-01 -3.10448662e-02 2.11729224e+02] [ 9.66629042e-01 2.13458876e-01 -1.41646051e-01 1.70223761e+02] [ 1.45008202e-01 -9.47400225e-05 9.89430449e-01 4.25189345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:170.28, Z:42.53 [[ 2.10374571e-01 -9.77129008e-01 -3.10071310e-02 2.11739786e+02] [ 9.66806695e-01 2.12647292e-01 -1.41654311e-01 1.70279927e+02] [ 1.45008119e-01 -1.77436826e-04 9.89430449e-01 4.25268346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters Centerline goodness : 0.994154 with order 1 Centerline is valid? [True, True] Translation: X:211.75, Y:170.34, Z:42.53 [[ 2.09348049e-01 -9.77350756e-01 -3.09660066e-02 2.11750637e+02] [ 9.67029520e-01 2.11625651e-01 -1.41663301e-01 1.70337414e+02] [ 1.45007935e-01 -2.88106931e-04 9.89430450e-01 4.25326217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:170.39, Z:42.54 [[ 2.10245618e-01 -9.77158873e-01 -3.09405472e-02 2.11762864e+02] [ 9.66834739e-01 2.12510048e-01 -1.41668861e-01 1.70393663e+02] [ 1.45008162e-01 -1.29138610e-04 9.89430451e-01 4.25404734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:170.45, Z:42.55 [[ 2.10262407e-01 -9.77156582e-01 -3.08987618e-02 2.11774762e+02] [ 9.66831084e-01 2.12520602e-01 -1.41677974e-01 1.70450593e+02] [ 1.45008189e-01 -8.43313968e-05 9.89430451e-01 4.25475178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters Centerline goodness : 0.993728 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:170.51, Z:42.56 [[ 2.12285408e-01 -9.76720417e-01 -3.08566322e-02 2.11787134e+02] [ 9.66388945e-01 2.14516105e-01 -1.41687149e-01 1.70505188e+02] [ 1.45007976e-01 2.58606072e-04 9.89430452e-01 4.25556587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:170.55, Z:42.59 [[ 2.27486463e-01 -9.73293257e-01 -3.08244259e-02 2.11816558e+02] [ 9.62927330e-01 2.29551136e-01 -1.41694156e-01 1.70552751e+02] [ 1.44985748e-01 2.55182018e-03 9.89430453e-01 4.25851198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters Centerline goodness : 0.994290 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:170.62, Z:42.57 [[ 2.16406600e-01 -9.75817892e-01 -3.07835061e-02 2.11815502e+02] [ 9.65474857e-01 2.18583047e-01 -1.41703045e-01 1.70615266e+02] [ 1.45005119e-01 9.44773087e-04 9.89430454e-01 4.25724081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:170.66, Z:42.60 [[ 2.30270330e-01 -9.72641039e-01 -3.07405843e-02 2.11843447e+02] [ 9.62266861e-01 2.32293127e-01 -1.41712356e-01 1.70664060e+02] [ 1.44976080e-01 3.05150540e-03 9.89430455e-01 4.26012783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters Centerline goodness : 0.996006 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:170.72, Z:42.61 [[ 2.29775268e-01 -9.72759054e-01 -3.07107198e-02 2.11857014e+02] [ 9.62385058e-01 2.31798996e-01 -1.41718828e-01 1.70717877e+02] [ 1.44976987e-01 3.00794382e-03 9.89430455e-01 4.26089997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters Centerline goodness : 0.994397 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:170.78, Z:42.60 [[ 2.18736046e-01 -9.75302073e-01 -3.06660710e-02 2.11860990e+02] [ 9.64950339e-01 2.20870727e-01 -1.41728489e-01 1.70777566e+02] [ 1.45001326e-01 1.40989363e-03 9.89430456e-01 4.26025998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:170.83, Z:42.61 [[ 2.15576353e-01 -9.76006815e-01 -3.06191603e-02 2.11877269e+02] [ 9.65660624e-01 2.17737735e-01 -1.41738623e-01 1.70832729e+02] [ 1.45004808e-01 9.87777906e-04 9.89430457e-01 4.26128315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters Centerline goodness : 0.996576 with order 1 Centerline is valid? [True, True] Translation: X:211.91, Y:170.88, Z:42.64 [[ 2.18503871e-01 -9.75356933e-01 -3.05763288e-02 2.11905232e+02] [ 9.65003026e-01 2.20627976e-01 -1.41747862e-01 1.70882665e+02] [ 1.45000753e-01 1.46620673e-03 9.89430458e-01 4.26353637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:211.91, Y:170.94, Z:42.63 [[ 2.03745231e-01 -9.78547195e-01 -3.05494276e-02 2.11910621e+02] [ 9.68225697e-01 2.06021602e-01 -1.41753660e-01 1.70942334e+02] [ 1.45006488e-01 -6.97108733e-04 9.89430459e-01 4.26281884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:211.93, Y:171.00, Z:42.64 [[ 1.95952723e-01 -9.80138714e-01 -3.05062442e-02 2.11926805e+02] [ 9.69834229e-01 1.98304903e-01 -1.41762952e-01 1.70998002e+02] [ 1.44996896e-01 -1.80716334e-03 9.89430460e-01 4.26361664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:171.05, Z:42.64 [[ 1.94686789e-01 -9.80392313e-01 -3.04625323e-02 2.11942208e+02] [ 9.70089426e-01 1.97045956e-01 -1.41772345e-01 1.71052232e+02] [ 1.44995036e-01 -1.95017784e-03 9.89430461e-01 4.26449265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters Centerline goodness : 0.995187 with order 1 Centerline is valid? [True, True] Translation: X:211.96, Y:171.11, Z:42.65 [[ 1.90953867e-01 -9.81126800e-01 -3.04437576e-02 2.11955733e+02] [ 9.70832335e-01 1.93349519e-01 -1.41776376e-01 1.71108588e+02] [ 1.44986888e-01 -2.48303687e-03 9.89430461e-01 4.26511495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters Centerline goodness : 0.995583 with order 1 Centerline is valid? [True, True] Translation: X:211.97, Y:171.17, Z:42.66 [[ 1.91879797e-01 -9.80947415e-01 -3.04024983e-02 2.11968407e+02] [ 9.70649315e-01 1.94259769e-01 -1.41785224e-01 1.71165344e+02] [ 1.44989831e-01 -2.30444416e-03 9.89430462e-01 4.26588567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:171.22, Z:42.67 [[ 1.95529327e-01 -9.80227745e-01 -3.03619746e-02 2.11981218e+02] [ 9.69919530e-01 1.97865095e-01 -1.41793901e-01 1.71220873e+02] [ 1.44997891e-01 -1.72380599e-03 9.89430463e-01 4.26679263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters Centerline goodness : 0.995161 with order 1 Centerline is valid? [True, True] Translation: X:211.99, Y:171.28, Z:42.67 [[ 2.02312412e-01 -9.78851594e-01 -3.03190657e-02 2.11990973e+02] [ 9.68526090e-01 2.04570526e-01 -1.41803076e-01 1.71277342e+02] [ 1.45006554e-01 -6.76284026e-04 9.89430463e-01 4.26749791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:212.02, Y:171.33, Z:42.70 [[ 2.17756564e-01 -9.75533274e-01 -3.02805241e-02 2.12017176e+02] [ 9.65172244e-01 2.19845614e-01 -1.41811305e-01 1.71326779e+02] [ 1.44998687e-01 1.65442114e-03 9.89430464e-01 4.27002441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters Centerline goodness : 0.995047 with order 1 Centerline is valid? [True, True] Translation: X:212.02, Y:171.39, Z:42.69 [[ 2.12173630e-01 -9.76764065e-01 -3.02375919e-02 2.12015546e+02] [ 9.66413861e-01 2.14315671e-01 -1.41820459e-01 1.71388485e+02] [ 1.45005518e-01 8.68533630e-04 9.89430465e-01 4.26941733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters Centerline goodness : 0.995469 with order 1 Centerline is valid? [True, True] Translation: X:212.03, Y:171.45, Z:42.70 [[ 2.11898489e-01 -9.76825045e-01 -3.01970515e-02 2.12027718e+02] [ 9.66474227e-01 2.14037560e-01 -1.41829091e-01 1.71445153e+02] [ 1.45005511e-01 8.68698045e-04 9.89430466e-01 4.27007915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:171.50, Z:42.71 [[ 2.09863206e-01 -9.77265568e-01 -3.01569856e-02 2.12038178e+02] [ 9.66918017e-01 2.12018019e-01 -1.41837610e-01 1.71502960e+02] [ 1.45006836e-01 6.07162826e-04 9.89430467e-01 4.27063231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters Centerline goodness : 0.995540 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:171.56, Z:42.71 [[ 2.08737504e-01 -9.77507796e-01 -3.01191384e-02 2.12048561e+02] [ 9.67161586e-01 2.10898741e-01 -1.41845646e-01 1.71558106e+02] [ 1.45007313e-01 4.78432446e-04 9.89430468e-01 4.27144782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters Centerline goodness : 0.995205 with order 1 Centerline is valid? [True, True] Translation: X:212.06, Y:171.61, Z:42.72 [[ 2.05932546e-01 -9.78103915e-01 -3.00752136e-02 2.12058932e+02] [ 9.67762600e-01 2.08117084e-01 -1.41854959e-01 1.71614701e+02] [ 1.45008056e-01 1.06885958e-04 9.89430469e-01 4.27213835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters Centerline goodness : 0.995334 with order 1 Centerline is valid? [True, True] Translation: X:212.07, Y:171.67, Z:42.73 [[ 2.02503638e-01 -9.78820831e-01 -3.00342558e-02 2.12069861e+02] [ 9.68485963e-01 2.04718466e-01 -1.41863630e-01 1.71671788e+02] [ 1.45007643e-01 -3.59853929e-04 9.89430469e-01 4.27291962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters Centerline goodness : 0.995211 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:171.73, Z:42.74 [[ 2.00777625e-01 -9.79177652e-01 -2.99911796e-02 2.12081336e+02] [ 9.68845358e-01 2.03004429e-01 -1.41872736e-01 1.71728197e+02] [ 1.45006955e-01 -5.71944080e-04 9.89430470e-01 4.27383374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters Centerline goodness : 0.994442 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:171.78, Z:42.74 [[ 1.97917314e-01 -9.79760945e-01 -2.99537542e-02 2.12090993e+02] [ 9.69434016e-01 2.00168863e-01 -1.41880638e-01 1.71784054e+02] [ 1.45004917e-01 -9.57553471e-04 9.89430471e-01 4.27446459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters Centerline goodness : 0.996589 with order 1 Centerline is valid? [True, True] Translation: X:212.12, Y:171.83, Z:42.77 [[ 2.03322817e-01 -9.78654042e-01 -2.99349053e-02 2.12117143e+02] [ 9.68314261e-01 2.05514591e-01 -1.41884615e-01 1.71834784e+02] [ 1.45008011e-01 -1.38016281e-04 9.89430471e-01 4.27684988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters Centerline goodness : 0.994207 with order 1 Centerline is valid? [True, True] Translation: X:212.11, Y:171.90, Z:42.76 [[ 1.83509090e-01 -9.82563335e-01 -2.98949300e-02 2.12113510e+02] [ 9.72268604e-01 1.85903547e-01 -1.41893037e-01 1.71896853e+02] [ 1.44976469e-01 -3.02723976e-03 9.89430472e-01 4.27594400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters Centerline goodness : 0.996736 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:171.95, Z:42.79 [[ 1.94371640e-01 -9.80473645e-01 -2.98512424e-02 2.12140267e+02] [ 9.70151652e-01 1.96645699e-01 -1.41902227e-01 1.71946441e+02] [ 1.45001513e-01 -1.37846348e-03 9.89430473e-01 4.27852262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters Centerline goodness : 0.994054 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:172.01, Z:42.77 [[ 1.72823430e-01 -9.84501736e-01 -2.98059220e-02 2.12133243e+02] [ 9.74230509e-01 1.75316775e-01 -1.41911746e-01 1.72009907e+02] [ 1.44937839e-01 -4.51216373e-03 9.89430474e-01 4.27715257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters Centerline goodness : 0.993555 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:172.07, Z:42.78 [[ 1.74859272e-01 -9.84143490e-01 -2.97628342e-02 2.12144026e+02] [ 9.73865637e-01 1.77325159e-01 -1.41920783e-01 1.72065449e+02] [ 1.44948114e-01 -4.16883679e-03 9.89430475e-01 4.27809797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:172.11, Z:42.81 [[ 1.92249754e-01 -9.80895859e-01 -2.97211477e-02 2.12170703e+02] [ 9.70574642e-01 1.94527322e-01 -1.41929512e-01 1.72113781e+02] [ 1.44999646e-01 -1.56067850e-03 9.89430476e-01 4.28081299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters Centerline goodness : 0.996466 with order 1 Centerline is valid? [True, True] Translation: X:212.18, Y:172.17, Z:42.82 [[ 1.96965111e-01 -9.79960920e-01 -2.96873797e-02 2.12181616e+02] [ 9.69627816e-01 1.99188122e-01 -1.41936575e-01 1.72168991e+02] [ 1.45005670e-01 -8.29155918e-04 9.89430477e-01 4.28215184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters Centerline goodness : 0.996594 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:172.23, Z:42.82 [[ 2.00493494e-01 -9.79246106e-01 -2.96550551e-02 2.12190327e+02] [ 9.68904073e-01 2.02674587e-01 -1.41943329e-01 1.72226074e+02] [ 1.45007778e-01 -2.74189742e-04 9.89430477e-01 4.28238588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:172.28, Z:42.83 [[ 2.07686241e-01 -9.77747210e-01 -2.96111339e-02 2.12198842e+02] [ 9.67388131e-01 2.09784878e-01 -1.41952491e-01 1.72282289e+02] [ 1.45005620e-01 8.36119704e-04 9.89430478e-01 4.28304947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters Centerline goodness : 0.993549 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:172.35, Z:42.82 [[ 1.94708672e-01 -9.80415417e-01 -2.95659213e-02 2.12189672e+02] [ 9.70083650e-01 1.96937880e-01 -1.41961907e-01 1.72345862e+02] [ 1.45004292e-01 -1.04020239e-03 9.89430479e-01 4.28167850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters Centerline goodness : 0.994577 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:172.40, Z:42.83 [[ 2.04600065e-01 -9.78400354e-01 -2.95222001e-02 2.12204254e+02] [ 9.68045303e-01 2.06718474e-01 -1.41970999e-01 1.72401322e+02] [ 1.45007260e-01 4.68448537e-04 9.89430480e-01 4.28253965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:172.46, Z:42.84 [[ 2.08956414e-01 -9.77480567e-01 -2.94780884e-02 2.12216956e+02] [ 9.67114904e-01 2.11022268e-01 -1.41980158e-01 1.72455844e+02] [ 1.45003378e-01 1.15896601e-03 9.89430481e-01 4.28370496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters Centerline goodness : 0.994855 with order 1 Centerline is valid? [True, True] Translation: X:212.23, Y:172.51, Z:42.85 [[ 2.10343996e-01 -9.77183825e-01 -2.94478553e-02 2.12230376e+02] [ 9.66814371e-01 2.12390738e-01 -1.41986428e-01 1.72511356e+02] [ 1.45001292e-01 1.39538291e-03 9.89430482e-01 4.28491356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters Centerline goodness : 0.994755 with order 1 Centerline is valid? [True, True] Translation: X:212.24, Y:172.57, Z:42.85 [[ 2.08139033e-01 -9.77657076e-01 -2.94072169e-02 2.12235028e+02] [ 9.67291090e-01 2.10203261e-01 -1.41994844e-01 1.72569612e+02] [ 1.45003757e-01 1.10933068e-03 9.89430483e-01 4.28503950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:172.62, Z:42.88 [[ 2.25166612e-01 -9.73877688e-01 -2.93640124e-02 2.12264627e+02] [ 9.63476125e-01 2.27043352e-01 -1.42003778e-01 1.72617897e+02] [ 1.44961215e-01 3.68298478e-03 9.89430484e-01 4.28798093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters Centerline goodness : 0.996835 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:172.67, Z:42.89 [[ 2.25618852e-01 -9.73774352e-01 -2.93197158e-02 2.12276563e+02] [ 9.63370759e-01 2.27484307e-01 -1.42012924e-01 1.72673015e+02] [ 1.44958318e-01 3.79503604e-03 9.89430485e-01 4.28873470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters Centerline goodness : 0.995016 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:172.73, Z:42.88 [[ 2.10772952e-01 -9.77096588e-01 -2.92749035e-02 2.12275169e+02] [ 9.66721324e-01 2.12790010e-01 -1.42022161e-01 1.72734582e+02] [ 1.44998776e-01 1.63375674e-03 9.89430486e-01 4.28756063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters Centerline goodness : 0.994455 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:172.79, Z:42.88 [[ 2.11249165e-01 -9.76995104e-01 -2.92293957e-02 2.12288284e+02] [ 9.66617578e-01 2.13254550e-01 -1.42031527e-01 1.72789468e+02] [ 1.44997408e-01 1.75039363e-03 9.89430487e-01 4.28849343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters Centerline goodness : 0.994993 with order 1 Centerline is valid? [True, True] Translation: X:212.30, Y:172.85, Z:42.89 [[ 2.11983040e-01 -9.76837012e-01 -2.92000552e-02 2.12299509e+02] [ 9.66457163e-01 2.13976364e-01 -1.42037559e-01 1.72846380e+02] [ 1.44995666e-01 1.88895100e-03 9.89430487e-01 4.28921675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters Centerline goodness : 0.994481 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:172.90, Z:42.90 [[ 2.11292095e-01 -9.76987867e-01 -2.91609164e-02 2.12311822e+02] [ 9.66608336e-01 2.13287071e-01 -1.42045594e-01 1.72901135e+02] [ 1.44996468e-01 1.82592619e-03 9.89430488e-01 4.29005151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:212.33, Y:172.96, Z:42.91 [[ 2.07507543e-01 -9.77799980e-01 -2.91173130e-02 2.12326232e+02] [ 9.67427012e-01 2.09536360e-01 -1.42054531e-01 1.72956092e+02] [ 1.45002054e-01 1.30851159e-03 9.89430489e-01 4.29141061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:212.34, Y:173.01, Z:42.92 [[ 2.04629104e-01 -9.78407696e-01 -2.90742241e-02 2.12337450e+02] [ 9.68039503e-01 2.06682182e-01 -1.42063350e-01 1.73012194e+02] [ 1.45004999e-01 9.25298487e-04 9.89430490e-01 4.29229491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters Centerline goodness : 0.994348 with order 1 Centerline is valid? [True, True] Translation: X:212.35, Y:173.07, Z:42.93 [[ 1.96432362e-01 -9.80087358e-01 -2.90361415e-02 2.12349599e+02] [ 9.69735575e-01 1.98566634e-01 -1.42071133e-01 1.73068485e+02] [ 1.45007730e-01 -2.50011088e-04 9.89430491e-01 4.29308518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters Centerline goodness : 0.994486 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:173.13, Z:42.94 [[ 1.89837217e-01 -9.81387353e-01 -2.89947155e-02 2.12359758e+02] [ 9.71048881e-01 1.92035055e-01 -1.42079587e-01 1.73125498e+02] [ 1.45003112e-01 -1.18329260e-03 9.89430491e-01 4.29376702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters Centerline goodness : 0.996236 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:173.18, Z:42.96 [[ 1.96418938e-01 -9.80092500e-01 -2.89532820e-02 2.12387026e+02] [ 9.69738278e-01 1.98541340e-01 -1.42088030e-01 1.73175160e+02] [ 1.45007836e-01 -1.68325771e-04 9.89430492e-01 4.29639604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:173.23, Z:42.97 [[ 1.86047787e-01 -9.82115175e-01 -2.89137445e-02 2.12397046e+02] [ 9.71782734e-01 1.88273800e-01 -1.42096075e-01 1.73230733e+02] [ 1.44998413e-01 -1.66121734e-03 9.89430493e-01 4.29713584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:212.41, Y:173.29, Z:42.98 [[ 1.80463146e-01 -9.83157932e-01 -2.88709680e-02 2.12406617e+02] [ 9.72836944e-01 1.82741665e-01 -1.42104766e-01 1.73286306e+02] [ 1.44987357e-01 -2.44207109e-03 9.89430494e-01 4.29793262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters Centerline goodness : 0.997028 with order 1 Centerline is valid? [True, True] Translation: X:212.41, Y:173.34, Z:42.99 [[ 1.76160385e-01 -9.83939268e-01 -2.88276758e-02 2.12414237e+02] [ 9.73626941e-01 1.78477784e-01 -1.42113548e-01 1.73342996e+02] [ 1.44976200e-01 -3.03262436e-03 9.89430495e-01 4.29871167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:173.40, Z:43.00 [[ 1.75783511e-01 -9.84007972e-01 -2.87831270e-02 2.12422497e+02] [ 9.73695088e-01 1.78098428e-01 -1.42122571e-01 1.73398899e+02] [ 1.44975972e-01 -3.04318494e-03 9.89430496e-01 4.29954302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:173.45, Z:43.00 [[ 1.80541467e-01 -9.83147437e-01 -2.87384220e-02 2.12427369e+02] [ 9.72822061e-01 1.82800009e-01 -1.42131610e-01 1.73454593e+02] [ 1.44989712e-01 -2.29672159e-03 9.89430497e-01 4.30017279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters Centerline goodness : 0.995382 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:173.52, Z:42.99 [[ 1.71619831e-01 -9.84745356e-01 -2.86917718e-02 2.12416987e+02] [ 9.74439350e-01 1.73965172e-01 -1.42141027e-01 1.73518405e+02] [ 1.44964085e-01 -3.56417244e-03 9.89430498e-01 4.29891469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:212.44, Y:173.57, Z:43.02 [[ 1.94866696e-01 -9.80411196e-01 -2.86506101e-02 2.12439278e+02] [ 9.70051386e-01 1.96961616e-01 -1.42149323e-01 1.73568017e+02] [ 1.45007858e-01 -9.23950828e-05 9.89430499e-01 4.30171795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters Centerline goodness : 0.995512 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:173.63, Z:43.00 [[ 1.82787565e-01 -9.82736156e-01 -2.86068718e-02 2.12430431e+02] [ 9.72401552e-01 1.85003482e-01 -1.42158125e-01 1.73631844e+02] [ 1.44996300e-01 -1.83262914e-03 9.89430500e-01 4.30039880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters Centerline goodness : 0.997415 with order 1 Centerline is valid? [True, True] Translation: X:212.46, Y:173.68, Z:43.03 [[ 1.99576982e-01 -9.79465726e-01 -2.85642970e-02 2.12458016e+02] [ 9.69093506e-01 2.01609554e-01 -1.42166679e-01 1.73680666e+02] [ 1.45006225e-01 6.91721979e-04 9.89430501e-01 4.30334883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters Centerline goodness : 0.997174 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:173.74, Z:43.04 [[ 2.03524538e-01 -9.78654288e-01 -2.85227434e-02 2.12466813e+02] [ 9.68272802e-01 2.05509237e-01 -1.42175016e-01 1.73735876e+02] [ 1.45001876e-01 1.31830775e-03 9.89430502e-01 4.30407431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters Centerline goodness : 0.995212 with order 1 Centerline is valid? [True, True] Translation: X:212.46, Y:173.80, Z:43.03 [[ 1.91257497e-01 -9.81126740e-01 -2.84761275e-02 2.12457283e+02] [ 9.70769536e-01 1.93365244e-01 -1.42184352e-01 1.73799554e+02] [ 1.45007163e-01 -4.49933811e-04 9.89430503e-01 4.30293270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters Centerline goodness : 0.994990 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:173.86, Z:43.04 [[ 1.91811914e-01 -9.81019626e-01 -2.84373655e-02 2.12467516e+02] [ 9.70660095e-01 1.93908190e-01 -1.42192104e-01 1.73856821e+02] [ 1.45007483e-01 -3.28876278e-04 9.89430504e-01 4.30366471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters Centerline goodness : 0.996942 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:173.90, Z:43.07 [[ 2.09770568e-01 -9.77338154e-01 -2.83979202e-02 2.12498241e+02] [ 9.66940872e-01 2.11670770e-01 -1.42199982e-01 1.73904810e+02] [ 1.44988477e-01 2.37026128e-03 9.89430505e-01 4.30669122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:173.96, Z:43.07 [[ 2.09419562e-01 -9.77414635e-01 -2.83562705e-02 2.12509076e+02] [ 9.67016930e-01 2.11317440e-01 -1.42208287e-01 1.73960009e+02] [ 1.44988635e-01 2.36020341e-03 9.89430505e-01 4.30733954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:212.52, Y:174.02, Z:43.08 [[ 2.07273494e-01 -9.77873388e-01 -2.83078894e-02 2.12520445e+02] [ 9.67478577e-01 2.09187158e-01 -1.42217917e-01 1.74016415e+02] [ 1.44992763e-01 2.09072798e-03 9.89430507e-01 4.30830480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:174.07, Z:43.09 [[ 2.03696953e-01 -9.78625851e-01 -2.82665090e-02 2.12531655e+02] [ 9.68236979e-01 2.05642594e-01 -1.42226141e-01 1.74070843e+02] [ 1.44998977e-01 1.60235226e-03 9.89430508e-01 4.30915402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters Centerline goodness : 0.997257 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:174.13, Z:43.10 [[ 2.01841493e-01 -9.79011240e-01 -2.82312607e-02 2.12542799e+02] [ 9.68625108e-01 2.03801704e-01 -1.42233137e-01 1.74126032e+02] [ 1.45001419e-01 1.36304087e-03 9.89430508e-01 4.30996651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:174.19, Z:43.10 [[ 1.86437441e-01 -9.82062415e-01 -2.81867561e-02 2.12537685e+02] [ 9.71707039e-01 1.88554119e-01 -1.42241957e-01 1.74187121e+02] [ 1.45005208e-01 -8.70042898e-04 9.89430509e-01 4.30998890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:212.57, Y:174.24, Z:43.11 [[ 1.96585812e-01 -9.80082544e-01 -2.81464997e-02 2.12566735e+02] [ 9.69704699e-01 1.98589419e-01 -1.42249922e-01 1.74237839e+02] [ 1.45006263e-01 6.70523503e-04 9.89430510e-01 4.31147612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters Centerline goodness : 0.994947 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:174.30, Z:43.11 [[ 1.80021881e-01 -9.83260994e-01 -2.81058746e-02 2.12560721e+02] [ 9.72917195e-01 1.82194421e-01 -1.42257949e-01 1.74300703e+02] [ 1.44997426e-01 -1.73514523e-03 9.89430511e-01 4.31064213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters Centerline goodness : 0.996507 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:174.35, Z:43.13 [[ 1.93836198e-01 -9.80632358e-01 -2.80661075e-02 2.12591004e+02] [ 9.70257896e-01 1.95857242e-01 -1.42265794e-01 1.74349173e+02] [ 1.45007391e-01 3.44898254e-04 9.89430512e-01 4.31325138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters Centerline goodness : 0.996098 with order 1 Centerline is valid? [True, True] Translation: X:212.60, Y:174.40, Z:43.14 [[ 1.93683338e-01 -9.80663494e-01 -2.80334773e-02 2.12601775e+02] [ 9.70288426e-01 1.95701265e-01 -1.42272224e-01 1.74404522e+02] [ 1.45007363e-01 3.55200580e-04 9.89430512e-01 4.31412076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters Centerline goodness : 0.996269 with order 1 Centerline is valid? [True, True] Translation: X:212.61, Y:174.46, Z:43.15 [[ 1.93433471e-01 -9.80714063e-01 -2.79896404e-02 2.12611698e+02] [ 9.70338273e-01 1.95447681e-01 -1.42280847e-01 1.74460424e+02] [ 1.45007338e-01 3.62458735e-04 9.89430513e-01 4.31487580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters Centerline goodness : 0.995629 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:174.52, Z:43.16 [[ 1.92679367e-01 -9.80863760e-01 -2.79454002e-02 2.12622555e+02] [ 9.70488275e-01 1.94695137e-01 -1.42289536e-01 1.74516759e+02] [ 1.45007483e-01 2.95574574e-04 9.89430514e-01 4.31564661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters Centerline goodness : 0.995746 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:174.57, Z:43.16 [[ 1.91717363e-01 -9.81053406e-01 -2.79046151e-02 2.12633874e+02] [ 9.70678749e-01 1.93737392e-01 -1.42297534e-01 1.74572647e+02] [ 1.45007648e-01 1.94491222e-04 9.89430515e-01 4.31632210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters Centerline goodness : 0.995049 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:174.63, Z:43.17 [[ 1.92157131e-01 -9.80968644e-01 -2.78595820e-02 2.12645226e+02] [ 9.70591818e-01 1.94165976e-01 -1.42306351e-01 1.74628774e+02] [ 1.45007451e-01 3.04897755e-04 9.89430516e-01 4.31700341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:212.64, Y:174.69, Z:43.16 [[ 1.79922091e-01 -9.83287527e-01 -2.78151130e-02 2.12640431e+02] [ 9.72935204e-01 1.82053611e-01 -1.42315042e-01 1.74691590e+02] [ 1.45000448e-01 -1.45668269e-03 9.89430517e-01 4.31562542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters Centerline goodness : 0.993514 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:174.75, Z:43.16 [[ 1.81113381e-01 -9.83069945e-01 -2.77745495e-02 2.12652216e+02] [ 9.72713848e-01 1.83226485e-01 -1.42322958e-01 1.74748415e+02] [ 1.45002456e-01 -1.24009674e-03 9.89430518e-01 4.31641285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters Centerline goodness : 0.995394 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:174.80, Z:43.19 [[ 1.97923900e-01 -9.79824981e-01 -2.77332977e-02 2.12681413e+02] [ 9.69433099e-01 1.99853332e-01 -1.42330996e-01 1.74796687e+02] [ 1.45002058e-01 1.28512908e-03 9.89430519e-01 4.31934274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters Centerline goodness : 0.994016 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:174.86, Z:43.18 [[ 1.84779569e-01 -9.82389844e-01 -2.76894590e-02 2.12675717e+02] [ 9.72023477e-01 1.86841695e-01 -1.42339525e-01 1.74859439e+02] [ 1.45006449e-01 -6.13368158e-04 9.89430520e-01 4.31797044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters Centerline goodness : 0.995716 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:174.91, Z:43.21 [[ 1.99976587e-01 -9.79410516e-01 -2.76478858e-02 2.12705762e+02] [ 9.69012346e-01 2.01871828e-01 -1.42347599e-01 1.74907654e+02] [ 1.44998065e-01 1.67504437e-03 9.89430521e-01 4.32100535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters Centerline goodness : 0.995413 with order 1 Centerline is valid? [True, True] Translation: X:212.72, Y:174.96, Z:43.22 [[ 2.00344529e-01 -9.79336502e-01 -2.76058835e-02 2.12717459e+02] [ 9.68936513e-01 2.02229760e-01 -1.42355745e-01 1.74962980e+02] [ 1.44996908e-01 1.77184608e-03 9.89430522e-01 4.32179451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters Centerline goodness : 0.995898 with order 1 Centerline is valid? [True, True] Translation: X:212.73, Y:175.02, Z:43.23 [[ 1.99943947e-01 -9.79419595e-01 -2.75622017e-02 2.12729020e+02] [ 9.69019227e-01 2.01827083e-01 -1.42364202e-01 1.75018514e+02] [ 1.44997088e-01 1.75655711e-03 9.89430523e-01 4.32261894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters Centerline goodness : 0.991864 with order 1 Centerline is valid? [True, True] Translation: X:212.72, Y:175.08, Z:43.21 [[ 1.85388098e-01 -9.82279995e-01 -2.75184386e-02 2.12724396e+02] [ 9.71907474e-01 1.87419017e-01 -1.42372661e-01 1.75081737e+02] [ 1.45007295e-01 -3.51179308e-04 9.89430524e-01 4.32092446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:175.13, Z:43.24 [[ 1.99300323e-01 -9.79553203e-01 -2.74755026e-02 2.12754577e+02] [ 9.69151795e-01 2.01177693e-01 -1.42380946e-01 1.75129124e+02] [ 1.44997170e-01 1.74863588e-03 9.89430525e-01 4.32408860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters Centerline goodness : 0.991325 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:175.19, Z:43.23 [[ 1.81026817e-01 -9.83095081e-01 -2.74472784e-02 2.12750444e+02] [ 9.72729617e-01 1.83093445e-01 -1.42386387e-01 1.75191848e+02] [ 1.45004773e-01 -9.23026166e-04 9.89430525e-01 4.32250319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:212.76, Y:175.25, Z:43.24 [[ 1.81696779e-01 -9.82972681e-01 -2.74041608e-02 2.12763654e+02] [ 9.72604573e-01 1.83750097e-01 -1.42394685e-01 1.75246265e+02] [ 1.45005603e-01 -7.80756425e-04 9.89430526e-01 4.32403735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters Centerline goodness : 0.994495 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:175.30, Z:43.26 [[ 1.90376188e-01 -9.81329850e-01 -2.73611637e-02 2.12794057e+02] [ 9.70942826e-01 1.92331563e-01 -1.42402947e-01 1.75296591e+02] [ 1.45006678e-01 5.44004605e-04 9.89430527e-01 4.32643290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters Centerline goodness : 0.986747 with order 1 Centerline is valid? [True, True] Translation: X:212.78, Y:175.36, Z:43.25 [[ 1.72581297e-01 -9.84616291e-01 -2.73213531e-02 2.12784104e+02] [ 9.74265174e-01 1.74718617e-01 -1.42410584e-01 1.75360017e+02] [ 1.44993330e-01 -2.04083950e-03 9.89430528e-01 4.32470149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:175.41, Z:43.28 [[ 1.88281066e-01 -9.81736315e-01 -2.72772595e-02 2.12815342e+02] [ 9.71351179e-01 1.90246438e-01 -1.42419030e-01 1.75407401e+02] [ 1.45007335e-01 3.19008652e-04 9.89430529e-01 4.32768529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters Centerline goodness : 0.985867 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:175.47, Z:43.26 [[ 1.73785789e-01 -9.84406879e-01 -2.72322520e-02 2.12802549e+02] [ 9.74050522e-01 1.75897555e-01 -1.42427635e-01 1.75471321e+02] [ 1.44996831e-01 -1.77369031e-03 9.89430530e-01 4.32616043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters Centerline goodness : 0.985705 with order 1 Centerline is valid? [True, True] Translation: X:212.81, Y:175.53, Z:43.27 [[ 1.73946631e-01 -9.84379657e-01 -2.71893275e-02 2.12809518e+02] [ 9.74021693e-01 1.76050496e-01 -1.42435829e-01 1.75528614e+02] [ 1.44997627e-01 -1.70676213e-03 9.89430531e-01 4.32654068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters Centerline goodness : 0.987312 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:175.58, Z:43.27 [[ 1.79082112e-01 -9.83459518e-01 -2.71472589e-02 2.12817686e+02] [ 9.73089512e-01 1.81125793e-01 -1.42443847e-01 1.75584044e+02] [ 1.45004826e-01 -9.07567989e-04 9.89430532e-01 4.32728114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters Centerline goodness : 0.987044 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:175.64, Z:43.28 [[ 1.80569229e-01 -9.83188779e-01 -2.71031225e-02 2.12829703e+02] [ 9.72814446e-01 1.82590830e-01 -1.42452245e-01 1.75639030e+02] [ 1.45006230e-01 -6.43817173e-04 9.89430533e-01 4.32839205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters Centerline goodness : 0.988693 with order 1 Centerline is valid? [True, True] Translation: X:212.84, Y:175.69, Z:43.30 [[ 1.82100536e-01 -9.82907538e-01 -2.70585850e-02 2.12843092e+02] [ 9.72528825e-01 1.84099519e-01 -1.42460704e-01 1.75692063e+02] [ 1.45007172e-01 -3.73083320e-04 9.89430534e-01 4.32983214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters Centerline goodness : 0.989922 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:175.75, Z:43.31 [[ 1.93565828e-01 -9.80715366e-01 -2.70118632e-02 2.12855848e+02] [ 9.70312796e-01 1.95436693e-01 -1.42469563e-01 1.75745964e+02] [ 1.45001198e-01 1.36728226e-03 9.89430535e-01 4.33081764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters Centerline goodness : 0.989425 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:175.80, Z:43.32 [[ 1.90182586e-01 -9.81378316e-01 -2.69663658e-02 2.12864419e+02] [ 9.70981052e-01 1.92082710e-01 -1.42478174e-01 1.75800444e+02] [ 1.45004763e-01 9.13037380e-04 9.89430536e-01 4.33157852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters Centerline goodness : 0.989451 with order 1 Centerline is valid? [True, True] Translation: X:212.88, Y:175.86, Z:43.33 [[ 1.95039320e-01 -9.80425662e-01 -2.69292708e-02 2.12880239e+02] [ 9.70018162e-01 1.96882550e-01 -1.42485185e-01 1.75855158e+02] [ 1.44998035e-01 1.66833168e-03 9.89430536e-01 4.33301334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters Centerline goodness : 0.990611 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:175.91, Z:43.34 [[ 1.97494579e-01 -9.79935043e-01 -2.68924379e-02 2.12892240e+02] [ 9.69522026e-01 1.99306379e-01 -1.42492136e-01 1.75909502e+02] [ 1.44992872e-01 2.06861354e-03 9.89430537e-01 4.33447464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters Centerline goodness : 0.990445 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:175.96, Z:43.36 [[ 1.96431794e-01 -9.80149780e-01 -2.68506816e-02 2.12905178e+02] [ 9.69737674e-01 1.98248816e-01 -1.42500004e-01 1.75964546e+02] [ 1.44994464e-01 1.95341408e-03 9.89430538e-01 4.33555449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters Centerline goodness : 0.990786 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:176.02, Z:43.36 [[ 1.94141830e-01 -9.80607132e-01 -2.68067746e-02 2.12918285e+02] [ 9.70198172e-01 1.95976788e-01 -1.42508264e-01 1.76019310e+02] [ 1.44998125e-01 1.65893140e-03 9.89430539e-01 4.33644395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters Centerline goodness : 0.991334 with order 1 Centerline is valid? [True, True] Translation: X:212.93, Y:176.07, Z:43.37 [[ 1.90232676e-01 -9.81374172e-01 -2.67631023e-02 2.12929674e+02] [ 9.70971466e-01 1.92102756e-01 -1.42516465e-01 1.76074976e+02] [ 1.45003244e-01 1.12507992e-03 9.89430540e-01 4.33733044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters Centerline goodness : 0.990280 with order 1 Centerline is valid? [True, True] Translation: X:212.94, Y:176.13, Z:43.38 [[ 1.85027486e-01 -9.82370080e-01 -2.67180717e-02 2.12940855e+02] [ 9.71976227e-01 1.86946155e-01 -1.42524907e-01 1.76130411e+02] [ 1.45007045e-01 4.01694715e-04 9.89430541e-01 4.33838747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters Centerline goodness : 0.990136 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:176.19, Z:43.39 [[ 1.84283983e-01 -9.82511058e-01 -2.66727496e-02 2.12952577e+02] [ 9.72117444e-01 1.86203942e-01 -1.42533388e-01 1.76186477e+02] [ 1.45007201e-01 3.37575288e-04 9.89430542e-01 4.33934364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters Centerline goodness : 0.989166 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:176.24, Z:43.39 [[ 1.77587037e-01 -9.83744679e-01 -2.66317742e-02 2.12955555e+02] [ 9.73363249e-01 1.79571813e-01 -1.42541044e-01 1.76244206e+02] [ 1.45006310e-01 -6.08948635e-04 9.89430543e-01 4.33918302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters Centerline goodness : 0.987492 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:176.30, Z:43.40 [[ 1.73978775e-01 -9.84390519e-01 -2.65836707e-02 2.12960474e+02] [ 9.74015082e-01 1.75994639e-01 -1.42550015e-01 1.76301658e+02] [ 1.45003467e-01 -1.09221926e-03 9.89430544e-01 4.33954607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters Centerline goodness : 0.992462 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:176.35, Z:43.43 [[ 1.90728926e-01 -9.81283828e-01 -2.65429043e-02 2.12989691e+02] [ 9.70874501e-01 1.92561762e-01 -1.42557605e-01 1.76351606e+02] [ 1.45000621e-01 1.42002996e-03 9.89430545e-01 4.34270877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters Centerline goodness : 0.992597 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:176.41, Z:43.43 [[ 1.93680431e-01 -9.80706559e-01 -2.65054004e-02 2.12994436e+02] [ 9.70290824e-01 1.95476491e-01 -1.42564578e-01 1.76407458e+02] [ 1.44995199e-01 1.89402216e-03 9.89430546e-01 4.34327430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters Centerline goodness : 0.992315 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:176.47, Z:43.44 [[ 1.97925541e-01 -9.79859919e-01 -2.64578882e-02 2.12999758e+02] [ 9.69435346e-01 1.99669567e-01 -1.42573395e-01 1.76465076e+02] [ 1.44984791e-01 2.56970437e-03 9.89430547e-01 4.34392822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters Centerline goodness : 0.988746 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:176.53, Z:43.43 [[ 1.89275740e-01 -9.81568468e-01 -2.64203976e-02 2.12992759e+02] [ 9.71158725e-01 1.91106195e-01 -1.42580343e-01 1.76526762e+02] [ 1.45001470e-01 1.32860018e-03 9.89430548e-01 4.34307807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters Centerline goodness : 0.988255 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:176.58, Z:43.43 [[ 1.94277997e-01 -9.80591752e-01 -2.63794431e-02 2.13000857e+02] [ 9.70171798e-01 1.96049399e-01 -1.42587919e-01 1.76584000e+02] [ 1.44992212e-01 2.10910368e-03 9.89430548e-01 4.34328324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters Centerline goodness : 0.988670 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:176.64, Z:43.44 [[ 1.92930446e-01 -9.80858908e-01 -2.63371529e-02 2.13008002e+02] [ 9.70440347e-01 1.94710016e-01 -1.42595730e-01 1.76641056e+02] [ 1.44994400e-01 1.95242203e-03 9.89430549e-01 4.34394694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters Centerline goodness : 0.987873 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:176.70, Z:43.45 [[ 1.88721301e-01 -9.81678586e-01 -2.62949591e-02 2.13015976e+02] [ 9.71266683e-01 1.90539417e-01 -1.42603511e-01 1.76696132e+02] [ 1.45001039e-01 1.37290242e-03 9.89430550e-01 4.34523150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters Centerline goodness : 0.986711 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:176.75, Z:43.46 [[ 1.79232012e-01 -9.83456444e-01 -2.62546916e-02 2.13021645e+02] [ 9.73061510e-01 1.81144756e-01 -1.42610924e-01 1.76754397e+02] [ 1.45007532e-01 1.30129887e-05 9.89430551e-01 4.34553042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters Centerline goodness : 0.987290 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:176.81, Z:43.47 [[ 1.78388514e-01 -9.83610897e-01 -2.62133810e-02 2.13032308e+02] [ 9.73216502e-01 1.80304183e-01 -1.42618517e-01 1.76809197e+02] [ 1.45007510e-01 -6.97896192e-05 9.89430552e-01 4.34660632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters Centerline goodness : 0.992120 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:176.86, Z:43.49 [[ 1.89090812e-01 -9.81610289e-01 -2.61898134e-02 2.13061132e+02] [ 9.71195054e-01 1.90889734e-01 -1.42622845e-01 1.76858551e+02] [ 1.44999419e-01 1.53325235e-03 9.89430552e-01 4.34891038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters Centerline goodness : 0.992653 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:176.92, Z:43.50 [[ 1.85715091e-01 -9.82255728e-01 -2.61455374e-02 2.13068898e+02] [ 9.71845610e-01 1.87543379e-01 -1.42630961e-01 1.76915134e+02] [ 1.45003501e-01 1.07929613e-03 9.89430553e-01 4.34979675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters Centerline goodness : 0.993083 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:176.97, Z:43.51 [[ 1.82573496e-01 -9.82845647e-01 -2.61027422e-02 2.13075945e+02] [ 9.72440319e-01 1.84428850e-01 -1.42638793e-01 1.76971036e+02] [ 1.45006015e-01 6.58704146e-04 9.89430554e-01 4.35071006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters Centerline goodness : 0.987541 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:177.03, Z:43.50 [[ 1.65463786e-01 -9.85871494e-01 -2.60601592e-02 2.13062846e+02] [ 9.75498779e-01 1.67493547e-01 -1.42646573e-01 1.77034749e+02] [ 1.44996098e-01 -1.81881148e-03 9.89430555e-01 4.34953594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters Centerline goodness : 0.989193 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:177.09, Z:43.51 [[ 1.66719204e-01 -9.85661011e-01 -2.60207468e-02 2.13075001e+02] [ 9.75284612e-01 1.68730050e-01 -1.42653762e-01 1.77089778e+02] [ 1.44998733e-01 -1.59451237e-03 9.89430556e-01 4.35110442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters Centerline goodness : 0.988885 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:177.15, Z:43.52 [[ 1.61970076e-01 -9.86453561e-01 -2.59820264e-02 2.13083356e+02] [ 9.76085858e-01 1.64025275e-01 -1.42660814e-01 1.77146096e+02] [ 1.44989977e-01 -2.25390577e-03 9.89430557e-01 4.35205831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters Centerline goodness : 0.988938 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:177.20, Z:43.52 [[ 1.65263397e-01 -9.85908236e-01 -2.59414654e-02 2.13091684e+02] [ 9.75532586e-01 1.67278094e-01 -1.42668189e-01 1.77202188e+02] [ 1.44997182e-01 -1.72891537e-03 9.89430558e-01 4.35236244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:177.25, Z:43.55 [[ 1.81960141e-01 -9.82964478e-01 -2.59102613e-02 2.13119981e+02] [ 9.72555354e-01 1.83794054e-01 -1.42673856e-01 1.77252661e+02] [ 1.45005484e-01 7.61791705e-04 9.89430558e-01 4.35510089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters Centerline goodness : 0.992401 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:177.31, Z:43.56 [[ 1.84841590e-01 -9.82427667e-01 -2.58740176e-02 2.13129393e+02] [ 9.72012301e-01 1.86639710e-01 -1.42680429e-01 1.77308163e+02] [ 1.45002320e-01 1.22341389e-03 9.89430559e-01 4.35602350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters Centerline goodness : 0.993198 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:177.36, Z:43.57 [[ 1.90727290e-01 -9.81303207e-01 -2.58285975e-02 2.13139129e+02] [ 9.70876154e-01 1.92456342e-01 -1.42688650e-01 1.77364487e+02] [ 1.44991708e-01 2.13825028e-03 9.89430560e-01 4.35685327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters Centerline goodness : 0.988653 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:177.43, Z:43.56 [[ 1.82796153e-01 -9.82812681e-01 -2.57837273e-02 2.13128458e+02] [ 9.72398800e-01 1.84602843e-01 -1.42696758e-01 1.77426960e+02] [ 1.45003933e-01 1.01235305e-03 9.89430561e-01 4.35571104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters Centerline goodness : 0.989358 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:177.48, Z:43.57 [[ 1.86407115e-01 -9.82135303e-01 -2.57416920e-02 2.13140443e+02] [ 9.71713818e-01 1.88169410e-01 -1.42704341e-01 1.77482004e+02] [ 1.44998770e-01 1.58754665e-03 9.89430562e-01 4.35699850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters Centerline goodness : 0.989499 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:177.54, Z:43.58 [[ 1.89984916e-01 -9.81450602e-01 -2.56991855e-02 2.13147978e+02] [ 9.71021745e-01 1.91703043e-01 -1.42711995e-01 1.77539038e+02] [ 1.44991386e-01 2.15865851e-03 9.89430563e-01 4.35789595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters Centerline goodness : 0.990751 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:177.59, Z:43.59 [[ 1.95772220e-01 -9.80313631e-01 -2.56597487e-02 2.13161168e+02] [ 9.69873911e-01 1.97423047e-01 -1.42719086e-01 1.77592853e+02] [ 1.44975291e-01 3.05371145e-03 9.89430563e-01 4.35914226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters Centerline goodness : 0.990717 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:177.65, Z:43.60 [[ 1.96563111e-01 -9.80156206e-01 -2.56272315e-02 2.13173516e+02] [ 9.69714415e-01 1.98200782e-01 -1.42724925e-01 1.77648649e+02] [ 1.44972058e-01 3.20335940e-03 9.89430564e-01 4.36024051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters Centerline goodness : 0.990658 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:177.70, Z:43.62 [[ 1.92002981e-01 -9.81060707e-01 -2.55879607e-02 2.13185282e+02] [ 9.70625724e-01 1.93683481e-01 -1.42731965e-01 1.77703650e+02] [ 1.44984688e-01 2.56863000e-03 9.89430565e-01 4.36154708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters Centerline goodness : 0.989415 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:177.76, Z:43.62 [[ 1.92412082e-01 -9.80981721e-01 -2.55431593e-02 2.13194466e+02] [ 9.70544994e-01 1.94081713e-01 -1.42739982e-01 1.77760079e+02] [ 1.44982774e-01 2.67411170e-03 9.89430566e-01 4.36164173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:177.82, Z:43.63 [[ 1.82123055e-01 -9.82945096e-01 -2.54976759e-02 2.13208306e+02] [ 9.72525311e-01 1.83895343e-01 -1.42748107e-01 1.77815106e+02] [ 1.45002455e-01 1.20058618e-03 9.89430567e-01 4.36252136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters Centerline goodness : 0.989357 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:177.87, Z:43.63 [[ 1.78779746e-01 -9.83559820e-01 -2.54535446e-02 2.13218908e+02] [ 9.73145013e-01 1.80581048e-01 -1.42755976e-01 1.77871654e+02] [ 1.45005469e-01 7.51886959e-04 9.89430568e-01 4.36326098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters Centerline goodness : 0.990038 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:177.93, Z:43.64 [[ 1.79915277e-01 -9.83353784e-01 -2.54131635e-02 2.13231535e+02] [ 9.72935900e-01 1.81698691e-01 -1.42763164e-01 1.77926420e+02] [ 1.45004236e-01 9.59895127e-04 9.89430569e-01 4.36420653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters Centerline goodness : 0.987900 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:177.98, Z:43.64 [[ 1.79921636e-01 -9.83353370e-01 -2.53841363e-02 2.13238301e+02] [ 9.72934754e-01 1.81700769e-01 -1.42768325e-01 1.77984926e+02] [ 1.45004031e-01 9.90002156e-04 9.89430569e-01 4.36444179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters Centerline goodness : 0.988336 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:178.04, Z:43.65 [[ 1.76004974e-01 -9.84062979e-01 -2.53436877e-02 2.13249446e+02] [ 9.73650506e-01 1.77819706e-01 -1.42775505e-01 1.78040761e+02] [ 1.45006696e-01 4.53304709e-04 9.89430570e-01 4.36528482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:178.09, Z:43.68 [[ 1.95623792e-01 -9.80352512e-01 -2.53038399e-02 2.13283238e+02] [ 9.69904982e-01 1.97224402e-01 -1.42782567e-01 1.78089443e+02] [ 1.44967783e-01 3.38934679e-03 9.89430571e-01 4.36781233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters Centerline goodness : 0.990842 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:178.15, Z:43.68 [[ 1.96912035e-01 -9.80095641e-01 -2.52623244e-02 2.13297251e+02] [ 9.69645101e-01 1.98492868e-01 -1.42789912e-01 1.78146628e+02] [ 1.44962162e-01 3.62156295e-03 9.89430572e-01 4.36753839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters Centerline goodness : 0.992538 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:178.20, Z:43.69 [[ 1.91592945e-01 -9.81150581e-01 -2.52127273e-02 2.13306977e+02] [ 9.70707642e-01 1.93223225e-01 -1.42798669e-01 1.78201080e+02] [ 1.44978682e-01 2.88503044e-03 9.89430573e-01 4.36921504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters Centerline goodness : 0.987601 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:178.26, Z:43.69 [[ 1.71503071e-01 -9.84862298e-01 -2.51585157e-02 2.13299199e+02] [ 9.74453467e-01 1.73338552e-01 -1.42808220e-01 1.78261246e+02] [ 1.45007372e-01 -2.37546010e-05 9.89430574e-01 4.36913850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters Centerline goodness : 0.987211 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:178.32, Z:43.70 [[ 1.67383823e-01 -9.85571810e-01 -2.51169813e-02 2.13309345e+02] [ 9.75169660e-01 1.69256789e-01 -1.42815525e-01 1.78318100e+02] [ 1.45006175e-01 -5.88309722e-04 9.89430575e-01 4.36976957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters Centerline goodness : 0.988054 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:178.37, Z:43.70 [[ 1.65192350e-01 -9.85942487e-01 -2.50778616e-02 2.13319646e+02] [ 9.75543495e-01 1.67082771e-01 -1.42822394e-01 1.78374837e+02] [ 1.45004745e-01 -8.71377859e-04 9.89430576e-01 4.37040233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters Centerline goodness : 0.987805 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:178.43, Z:43.71 [[ 1.65326844e-01 -9.85920968e-01 -2.50375792e-02 2.13330380e+02] [ 9.75520660e-01 1.67210011e-01 -1.42829455e-01 1.78429717e+02] [ 1.45005088e-01 -8.11132665e-04 9.89430577e-01 4.37125042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters Centerline goodness : 0.988018 with order 1 Centerline is valid? [True, True] Translation: X:213.34, Y:178.49, Z:43.72 [[ 1.63198561e-01 -9.86276250e-01 -2.50077828e-02 2.13340487e+02] [ 9.75879242e-01 1.65099856e-01 -1.42834672e-01 1.78486502e+02] [ 1.45003226e-01 -1.09416313e-03 9.89430577e-01 4.37191953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters Centerline goodness : 0.987901 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:178.54, Z:43.73 [[ 1.64617240e-01 -9.86041505e-01 -2.49662698e-02 2.13352412e+02] [ 9.75640685e-01 1.66497563e-01 -1.42841928e-01 1.78541942e+02] [ 1.45004893e-01 -8.43864566e-04 9.89430578e-01 4.37298493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters Centerline goodness : 0.988224 with order 1 Centerline is valid? [True, True] Translation: X:213.36, Y:178.60, Z:43.74 [[ 1.70180194e-01 -9.85097562e-01 -2.49298112e-02 2.13363748e+02] [ 9.74685371e-01 1.71996493e-01 -1.42848291e-01 1.78596791e+02] [ 1.45007343e-01 1.12274967e-05 9.89430579e-01 4.37395825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:213.37, Y:178.65, Z:43.75 [[ 1.72700938e-01 -9.84659843e-01 -2.48873313e-02 2.13368492e+02] [ 9.74241982e-01 1.74484419e-01 -1.42855691e-01 1.78652816e+02] [ 1.45006714e-01 4.25028933e-04 9.89430580e-01 4.37463576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters Centerline goodness : 0.988133 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:178.71, Z:43.75 [[ 1.75244764e-01 -9.84211437e-01 -2.48419028e-02 2.13377770e+02] [ 9.73787894e-01 1.76994726e-01 -1.42863591e-01 1.78709603e+02] [ 1.45004866e-01 8.45352099e-04 9.89430581e-01 4.37538234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters Centerline goodness : 0.988541 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:178.77, Z:43.76 [[ 1.82672339e-01 -9.82860977e-01 -2.48015452e-02 2.13390136e+02] [ 9.72423579e-01 1.84337669e-01 -1.42870597e-01 1.78766060e+02] [ 1.44993793e-01 1.98089876e-03 9.89430582e-01 4.37646812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters Centerline goodness : 0.987181 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:178.82, Z:43.78 [[ 1.84897818e-01 -9.82445714e-01 -2.47631903e-02 2.13397978e+02] [ 9.72003697e-01 1.86533929e-01 -1.42877245e-01 1.78821735e+02] [ 1.44988312e-01 2.34777828e-03 9.89430582e-01 4.37769296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters Centerline goodness : 0.988274 with order 1 Centerline is valid? [True, True] Translation: X:213.41, Y:178.88, Z:43.78 [[ 1.88351750e-01 -9.81790463e-01 -2.47205218e-02 2.13407604e+02] [ 9.71341809e-01 1.89944921e-01 -1.42884627e-01 1.78877335e+02] [ 1.44978302e-01 2.90049315e-03 9.89430583e-01 4.37823115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters Centerline goodness : 0.988998 with order 1 Centerline is valid? [True, True] Translation: X:213.42, Y:178.93, Z:43.79 [[ 1.89461427e-01 -9.81578098e-01 -2.46739895e-02 2.13416293e+02] [ 9.71126628e-01 1.91036015e-01 -1.42892662e-01 1.78933963e+02] [ 1.44973928e-01 3.11107943e-03 9.89430584e-01 4.37908583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters Centerline goodness : 0.989236 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:178.99, Z:43.80 [[ 1.90899455e-01 -9.81300449e-01 -2.46338472e-02 2.13425934e+02] [ 9.70845815e-01 1.92452885e-01 -1.42899582e-01 1.78989665e+02] [ 1.44968279e-01 3.36378485e-03 9.89430585e-01 4.37966484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters Centerline goodness : 0.988130 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:179.05, Z:43.80 [[ 1.89454082e-01 -9.81581635e-01 -2.45895078e-02 2.13431195e+02] [ 9.71128335e-01 1.91016456e-01 -1.42907211e-01 1.79047380e+02] [ 1.44972095e-01 3.19478678e-03 9.89430586e-01 4.38041795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters Centerline goodness : 0.989814 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:179.10, Z:43.81 [[ 1.90468930e-01 -9.81386237e-01 -2.45487566e-02 2.13442097e+02] [ 9.70930448e-01 1.92014563e-01 -1.42914212e-01 1.79103979e+02] [ 1.44967759e-01 3.38558166e-03 9.89430587e-01 4.38124337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters Centerline goodness : 0.989011 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:179.16, Z:43.82 [[ 1.91347521e-01 -9.81216317e-01 -2.45084583e-02 2.13452458e+02] [ 9.70758290e-01 1.92877927e-01 -1.42921122e-01 1.79159619e+02] [ 1.44963678e-01 3.55581334e-03 9.89430588e-01 4.38214941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters Centerline goodness : 0.989573 with order 1 Centerline is valid? [True, True] Translation: X:213.46, Y:179.22, Z:43.83 [[ 1.85954986e-01 -9.82253481e-01 -2.44712511e-02 2.13462132e+02] [ 9.71803198e-01 1.87537400e-01 -1.42927493e-01 1.79216455e+02] [ 1.44980302e-01 2.79683974e-03 9.89430589e-01 4.38293219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters Centerline goodness : 0.989082 with order 1 Centerline is valid? [True, True] Translation: X:213.47, Y:179.27, Z:43.84 [[ 1.86082227e-01 -9.82230399e-01 -2.44304639e-02 2.13471300e+02] [ 9.71779016e-01 1.87657355e-01 -1.42934464e-01 1.79272173e+02] [ 1.44979132e-01 2.85655133e-03 9.89430589e-01 4.38372270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters Centerline goodness : 0.989739 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:179.33, Z:43.85 [[ 1.85151121e-01 -9.82406789e-01 -2.44123521e-02 2.13485443e+02] [ 9.71956505e-01 1.86733521e-01 -1.42937558e-01 1.79327786e+02] [ 1.44981431e-01 2.73730461e-03 9.89430590e-01 4.38484882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters Centerline goodness : 0.988378 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:179.39, Z:43.86 [[ 1.77720930e-01 -9.83779070e-01 -2.43723747e-02 2.13492709e+02] [ 9.73340122e-01 1.79376458e-01 -1.42944374e-01 1.79385536e+02] [ 1.44997513e-01 1.68159691e-03 9.89430590e-01 4.38558786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters Centerline goodness : 0.988866 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:179.44, Z:43.86 [[ 1.74547589e-01 -9.84347725e-01 -2.43453462e-02 2.13502994e+02] [ 9.73913535e-01 1.76232846e-01 -1.42948977e-01 1.79440853e+02] [ 1.45001950e-01 1.24113708e-03 9.89430591e-01 4.38631000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters Centerline goodness : 0.987895 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:179.50, Z:43.87 [[ 1.66140866e-01 -9.85802549e-01 -2.43011612e-02 2.13514484e+02] [ 9.75382033e-01 1.67908700e-01 -1.42956488e-01 1.79495350e+02] [ 1.45007247e-01 4.79986941e-05 9.89430592e-01 4.38745403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters Centerline goodness : 0.988222 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:179.55, Z:43.88 [[ 1.57938114e-01 -9.87150805e-01 -2.42660143e-02 2.13524210e+02] [ 9.76744444e-01 1.59787445e-01 -1.42962454e-01 1.79552745e+02] [ 1.45002906e-01 -1.12247426e-03 9.89430592e-01 4.38816218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters Centerline goodness : 0.987934 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:179.61, Z:43.89 [[ 1.51339754e-01 -9.88184873e-01 -2.42267494e-02 2.13533967e+02] [ 9.77790053e-01 1.53252885e-01 -1.42969108e-01 1.79608861e+02] [ 1.44992729e-01 -2.05176491e-03 9.89430593e-01 4.38893143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters Centerline goodness : 0.988157 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:179.67, Z:43.90 [[ 1.43411938e-01 -9.89367157e-01 -2.42001043e-02 2.13544163e+02] [ 9.78987270e-01 1.45404501e-01 -1.42973618e-01 1.79665935e+02] [ 1.44972206e-01 -3.18747041e-03 9.89430594e-01 4.38972735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters Centerline goodness : 0.988026 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:179.72, Z:43.91 [[ 1.40842434e-01 -9.89737141e-01 -2.41619843e-02 2.13554408e+02] [ 9.79361394e-01 1.42856440e-01 -1.42980060e-01 1.79720527e+02] [ 1.44964371e-01 -3.52565504e-03 9.89430594e-01 4.39114105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters Centerline goodness : 0.988747 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:179.78, Z:43.92 [[ 1.37181137e-01 -9.90252279e-01 -2.41196851e-02 2.13564111e+02] [ 9.79882847e-01 1.39227399e-01 -1.42987195e-01 1.79777511e+02] [ 1.44951517e-01 -4.01931967e-03 9.89430595e-01 4.39173192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters Centerline goodness : 0.988230 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:179.83, Z:43.93 [[ 1.35662626e-01 -9.90462393e-01 -2.40811207e-02 2.13574804e+02] [ 9.80095006e-01 1.37719223e-01 -1.42993690e-01 1.79833439e+02] [ 1.44946305e-01 -4.20288666e-03 9.89430596e-01 4.39318951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters Centerline goodness : 0.989387 with order 1 Centerline is valid? [True, True] Translation: X:213.58, Y:179.89, Z:43.94 [[ 1.38117269e-01 -9.90124031e-01 -2.40420993e-02 2.13583900e+02] [ 9.79750478e-01 1.40142530e-01 -1.43000250e-01 1.79890545e+02] [ 1.44957305e-01 -3.80445420e-03 9.89430597e-01 4.39362929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters Centerline goodness : 0.989680 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:179.95, Z:43.94 [[ 1.47449378e-01 -9.88778305e-01 -2.40030180e-02 2.13590230e+02] [ 9.78385067e-01 1.49371061e-01 -1.43006810e-01 1.79947607e+02] [ 1.44987388e-01 -2.39792917e-03 9.89430598e-01 4.39387688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters Centerline goodness : 0.993285 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:180.00, Z:43.96 [[ 1.66752718e-01 -9.85707567e-01 -2.39608810e-02 2.13619188e+02] [ 9.75277740e-01 1.68464723e-01 -1.43013870e-01 1.79997132e+02] [ 1.45006417e-01 4.79437631e-04 9.89430598e-01 4.39633045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters Centerline goodness : 0.989928 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:180.06, Z:43.96 [[ 1.60460429e-01 -9.86752456e-01 -2.39173680e-02 2.13604960e+02] [ 9.76332691e-01 1.62232636e-01 -1.43021147e-01 1.80059503e+02] [ 1.45006646e-01 -4.02073581e-04 9.89430599e-01 4.39606306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters Centerline goodness : 0.990418 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:180.12, Z:43.97 [[ 1.62202636e-01 -9.86468535e-01 -2.38774738e-02 2.13611699e+02] [ 9.76044686e-01 1.63950656e-01 -1.43027807e-01 1.80116241e+02] [ 1.45007159e-01 -1.05994008e-04 9.89430600e-01 4.39703023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters Centerline goodness : 0.989868 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:180.18, Z:43.97 [[ 1.68249328e-01 -9.85456204e-01 -2.38376738e-02 2.13616145e+02] [ 9.75020900e-01 1.69927612e-01 -1.43034440e-01 1.80175065e+02] [ 1.45004855e-01 8.23218163e-04 9.89430601e-01 4.39732475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters Centerline goodness : 0.993510 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:180.23, Z:44.00 [[ 1.83917545e-01 -9.82653558e-01 -2.37975255e-02 2.13643269e+02] [ 9.72192015e-01 1.85423634e-01 -1.43041120e-01 1.80225701e+02] [ 1.44972489e-01 3.17200728e-03 9.89430602e-01 4.39975957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters Centerline goodness : 0.988972 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:180.29, Z:43.99 [[ 1.68547383e-01 -9.85407001e-01 -2.37659866e-02 2.13628414e+02] [ 9.74969527e-01 1.70212105e-01 -1.43046360e-01 1.80288711e+02] [ 1.45004143e-01 9.38976899e-04 9.89430602e-01 4.39886021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters Centerline goodness : 0.989727 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:180.34, Z:44.00 [[ 1.67035415e-01 -9.85665434e-01 -2.37238598e-02 2.13633704e+02] [ 9.75229545e-01 1.68710035e-01 -1.43053346e-01 1.80344411e+02] [ 1.45005192e-01 7.58766103e-04 9.89430603e-01 4.39992885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters Centerline goodness : 0.989455 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:180.40, Z:44.01 [[ 1.61529314e-01 -9.86583755e-01 -2.36807021e-02 2.13640150e+02] [ 9.76156341e-01 1.63255918e-01 -1.43060490e-01 1.80401788e+02] [ 1.45007170e-01 -7.60465911e-06 9.89430604e-01 4.40052710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters Centerline goodness : 0.989718 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:180.46, Z:44.01 [[ 1.62213826e-01 -9.86472453e-01 -2.36384215e-02 2.13644697e+02] [ 9.76042835e-01 1.63927063e-01 -1.43067476e-01 1.80458584e+02] [ 1.45007101e-01 1.35410690e-04 9.89430605e-01 4.40098011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters Centerline goodness : 0.989610 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:180.51, Z:44.02 [[ 1.59432354e-01 -9.86926507e-01 -2.36092053e-02 2.13652614e+02] [ 9.76501053e-01 1.61170749e-01 -1.43072297e-01 1.80514991e+02] [ 1.45006956e-01 -2.44060706e-04 9.89430606e-01 4.40206498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters Centerline goodness : 0.994320 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:180.56, Z:44.05 [[ 1.75302676e-01 -9.84232435e-01 -2.35687540e-02 2.13683228e+02] [ 9.73779461e-01 1.76867102e-01 -1.43078961e-01 1.80563686e+02] [ 1.44991491e-01 2.13135614e-03 9.89430606e-01 4.40507966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters Centerline goodness : 0.990785 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:180.63, Z:44.05 [[ 1.56608930e-01 -9.87380395e-01 -2.35286561e-02 2.13671019e+02] [ 9.76957985e-01 1.58365465e-01 -1.43085554e-01 1.80626576e+02] [ 1.45005998e-01 -5.78032880e-04 9.89430607e-01 4.40450333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:180.68, Z:44.07 [[ 1.73444554e-01 -9.84563491e-01 -2.34886884e-02 2.13698529e+02] [ 9.74111734e-01 1.75017074e-01 -1.43092115e-01 1.80676848e+02] [ 1.44994194e-01 1.93794113e-03 9.89430608e-01 4.40667975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters Centerline goodness : 0.991859 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:180.74, Z:44.06 [[ 1.59750130e-01 -9.86878697e-01 -2.34591684e-02 2.13688871e+02] [ 9.76449091e-01 1.61463415e-01 -1.43096955e-01 1.80739441e+02] [ 1.45007134e-01 -4.69266004e-05 9.89430608e-01 4.40612252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters Centerline goodness : 0.991789 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:180.80, Z:44.07 [[ 1.58117271e-01 -9.87142557e-01 -2.34200966e-02 2.13699758e+02] [ 9.76714861e-01 1.59842144e-01 -1.43103349e-01 1.80795678e+02] [ 1.45006925e-01 -2.47645330e-04 9.89430609e-01 4.40738695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters Centerline goodness : 0.994776 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:180.85, Z:44.09 [[ 1.74361863e-01 -9.84404080e-01 -2.33783807e-02 2.13724412e+02] [ 9.73948480e-01 1.75908612e-01 -1.43110164e-01 1.80847320e+02] [ 1.44990688e-01 2.18361650e-03 9.89430610e-01 4.40929184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters Centerline goodness : 0.992048 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:180.91, Z:44.09 [[ 1.62132843e-01 -9.86492904e-01 -2.33386361e-02 2.13714931e+02] [ 9.76056379e-01 1.63803452e-01 -1.43116646e-01 1.80909880e+02] [ 1.45006504e-01 4.24084030e-04 9.89430611e-01 4.40850693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:180.97, Z:44.09 [[ 1.64717246e-01 -9.86065637e-01 -2.32978152e-02 2.13726261e+02] [ 9.75623841e-01 1.66354577e-01 -1.43123291e-01 1.80966567e+02] [ 1.45004657e-01 8.44970319e-04 9.89430612e-01 4.40939825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters Centerline goodness : 0.995392 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:181.02, Z:44.12 [[ 1.77097071e-01 -9.83918570e-01 -2.32567359e-02 2.13751828e+02] [ 9.73456163e-01 1.78597067e-01 -1.43129966e-01 1.81017511e+02] [ 1.44981816e-01 2.70848480e-03 9.89430613e-01 4.41179460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters Centerline goodness : 0.991267 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:181.08, Z:44.11 [[ 1.60898924e-01 -9.86697824e-01 -2.32150768e-02 2.13742710e+02] [ 9.76260523e-01 1.62564662e-01 -1.43136722e-01 1.81077482e+02] [ 1.45006644e-01 3.66581546e-04 9.89430614e-01 4.41110658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters Centerline goodness : 0.995128 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:181.13, Z:44.14 [[ 1.76891665e-01 -9.83957628e-01 -2.31673109e-02 2.13769351e+02] [ 9.73493678e-01 1.78380842e-01 -1.43144453e-01 1.81127786e+02] [ 1.44980681e-01 2.76782998e-03 9.89430615e-01 4.41353078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters Centerline goodness : 0.992049 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:181.19, Z:44.13 [[ 1.63227984e-01 -9.86317315e-01 -2.31253103e-02 2.13762587e+02] [ 9.75874073e-01 1.64856048e-01 -1.43151238e-01 1.81189212e+02] [ 1.45004892e-01 7.98897324e-04 9.89430616e-01 4.41289589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters Centerline goodness : 0.991923 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:181.25, Z:44.14 [[ 1.58047760e-01 -9.87161627e-01 -2.30830520e-02 2.13770555e+02] [ 9.76726091e-01 1.59724498e-01 -1.43158052e-01 1.81245750e+02] [ 1.45007065e-01 7.99903311e-05 9.89430616e-01 4.41353529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters Centerline goodness : 0.995429 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:181.30, Z:44.16 [[ 1.71321340e-01 -9.84945726e-01 -2.30416159e-02 2.13801465e+02] [ 9.74487683e-01 1.72851435e-01 -1.43164721e-01 1.81296015e+02] [ 1.44992257e-01 2.07340093e-03 9.89430617e-01 4.41647153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:181.36, Z:44.16 [[ 1.54276120e-01 -9.87759918e-01 -2.30048515e-02 2.13794856e+02] [ 9.77329005e-01 1.55981370e-01 -1.43170629e-01 1.81357259e+02] [ 1.45006537e-01 -3.95499555e-04 9.89430618e-01 4.41582853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters Centerline goodness : 0.995150 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:181.41, Z:44.18 [[ 1.66003677e-01 -9.85857642e-01 -2.29671161e-02 2.13819448e+02] [ 9.75406373e-01 1.67579368e-01 -1.43176682e-01 1.81408936e+02] [ 1.45000641e-01 1.36558426e-03 9.89430619e-01 4.41784455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters Centerline goodness : 0.995514 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:181.46, Z:44.19 [[ 1.63424881e-01 -9.86289013e-01 -2.29410381e-02 2.13828964e+02] [ 9.75841321e-01 1.65024112e-01 -1.43180860e-01 1.81464422e+02] [ 1.45003534e-01 1.01250208e-03 9.89430619e-01 4.41877253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters Centerline goodness : 0.995368 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:181.52, Z:44.20 [[ 1.62989343e-01 -9.86362116e-01 -2.28965300e-02 2.13838607e+02] [ 9.75914142e-01 1.64586727e-01 -1.43187978e-01 1.81521297e+02] [ 1.45003661e-01 9.93066967e-04 9.89430620e-01 4.41967485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters Centerline goodness : 0.992688 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:181.58, Z:44.19 [[ 1.52352371e-01 -9.88061922e-01 -2.28559077e-02 2.13832776e+02] [ 9.77630804e-01 1.54056347e-01 -1.43194462e-01 1.81582403e+02] [ 1.45006093e-01 -5.28623624e-04 9.89430621e-01 4.41936342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters Centerline goodness : 0.993268 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:181.64, Z:44.20 [[ 1.55147402e-01 -9.87627822e-01 -2.28159563e-02 2.13841297e+02] [ 9.77190997e-01 1.56816065e-01 -1.43200827e-01 1.81639138e+02] [ 1.45007030e-01 -7.83106982e-05 9.89430622e-01 4.42020312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters Centerline goodness : 0.992469 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:181.70, Z:44.21 [[ 1.55879591e-01 -9.87513448e-01 -2.27759303e-02 2.13849270e+02] [ 9.77074467e-01 1.57534711e-01 -1.43207193e-01 1.81696372e+02] [ 1.45007029e-01 6.92987406e-05 9.89430623e-01 4.42059116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters Centerline goodness : 0.992886 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:181.75, Z:44.21 [[ 1.57490019e-01 -9.87258831e-01 -2.27352932e-02 2.13858923e+02] [ 9.76816243e-01 1.59122216e-01 -1.43213644e-01 1.81752803e+02] [ 1.45006625e-01 3.46515913e-04 9.89430623e-01 4.42140859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:181.81, Z:44.22 [[ 1.59279337e-01 -9.86972678e-01 -2.26941676e-02 2.13868520e+02] [ 9.76526229e-01 1.60886635e-01 -1.43220161e-01 1.81809058e+02] [ 1.45005574e-01 6.50562506e-04 9.89430624e-01 4.42248678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters Centerline goodness : 0.993139 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:181.87, Z:44.23 [[ 1.59334576e-01 -9.86964696e-01 -2.26535116e-02 2.13878073e+02] [ 9.76517252e-01 1.60935389e-01 -1.43226592e-01 1.81865954e+02] [ 1.45005341e-01 6.99403293e-04 9.89430625e-01 4.42336532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:181.92, Z:44.24 [[ 1.58282493e-01 -9.87134896e-01 -2.26130412e-02 2.13888914e+02] [ 9.76688261e-01 1.59888569e-01 -1.43232981e-01 1.81921572e+02] [ 1.45005841e-01 5.85381447e-04 9.89430626e-01 4.42448448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters Centerline goodness : 0.992969 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:181.98, Z:44.25 [[ 1.57820986e-01 -9.87209750e-01 -2.25708911e-02 2.13898723e+02] [ 9.76762927e-01 1.59425830e-01 -1.43239623e-01 1.81978171e+02] [ 1.45005936e-01 5.59808842e-04 9.89430627e-01 4.42507869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:182.03, Z:44.26 [[ 1.57782149e-01 -9.87216928e-01 -2.25284338e-02 2.13907287e+02] [ 9.76769224e-01 1.59381244e-01 -1.43246300e-01 1.82034065e+02] [ 1.45005782e-01 5.96628342e-04 9.89430628e-01 4.42588759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:182.09, Z:44.26 [[ 1.56009024e-01 -9.87499703e-01 -2.24838187e-02 2.13915278e+02] [ 9.77053887e-01 1.57620406e-01 -1.43253303e-01 1.82090652e+02] [ 1.45006503e-01 3.80905481e-04 9.89430629e-01 4.42647866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:182.15, Z:44.27 [[ 1.57766967e-01 -9.87221377e-01 -2.24396229e-02 2.13927132e+02] [ 9.76771735e-01 1.59353336e-01 -1.43260226e-01 1.82146221e+02] [ 1.45005386e-01 6.83341988e-04 9.89430630e-01 4.42737887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters Centerline goodness : 0.992959 with order 1 Centerline is valid? [True, True] Translation: X:213.94, Y:182.20, Z:44.29 [[ 1.59529692e-01 -9.86939055e-01 -2.23959682e-02 2.13939147e+02] [ 9.76485649e-01 1.61091060e-01 -1.43267050e-01 1.82201558e+02] [ 1.45003637e-01 9.86006762e-04 9.89430631e-01 4.42856124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters Centerline goodness : 0.995962 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:182.25, Z:44.31 [[ 1.71858405e-01 -9.84867954e-01 -2.23562348e-02 2.13963654e+02] [ 9.74395055e-01 1.73283159e-01 -1.43273250e-01 1.82252807e+02] [ 1.44979192e-01 2.83890762e-03 9.89430632e-01 4.43093512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters Centerline goodness : 0.993680 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:182.31, Z:44.31 [[ 1.60179575e-01 -9.86835615e-01 -2.23153145e-02 2.13960132e+02] [ 9.76379450e-01 1.61722351e-01 -1.43279624e-01 1.82313541e+02] [ 1.45002321e-01 1.16225478e-03 9.89430632e-01 4.43059445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters Centerline goodness : 0.995231 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:182.37, Z:44.32 [[ 1.63813875e-01 -9.86239751e-01 -2.22748433e-02 2.13973254e+02] [ 9.75777131e-01 1.65312241e-01 -1.43285915e-01 1.82369596e+02] [ 1.44996570e-01 1.73693825e-03 9.89430633e-01 4.43183844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:182.43, Z:44.32 [[ 1.59641215e-01 -9.86924666e-01 -2.22347875e-02 2.13978048e+02] [ 9.76467622e-01 1.61178004e-01 -1.43292131e-01 1.82427951e+02] [ 1.45002297e-01 1.16377990e-03 9.89430634e-01 4.43220099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:182.48, Z:44.33 [[ 1.60515354e-01 -9.86783801e-01 -2.21935196e-02 2.13987907e+02] [ 9.76324526e-01 1.62036887e-01 -1.43298522e-01 1.82484170e+02] [ 1.45000829e-01 1.33353544e-03 9.89430635e-01 4.43277350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:182.54, Z:44.34 [[ 1.63437441e-01 -9.86305035e-01 -2.21490466e-02 2.14001026e+02] [ 9.75840383e-01 1.64921527e-01 -1.43305396e-01 1.82539592e+02] [ 1.44995688e-01 1.80753310e-03 9.89430636e-01 4.43411333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:182.60, Z:44.35 [[ 1.62724682e-01 -9.86423793e-01 -2.21083465e-02 2.14011978e+02] [ 9.75959375e-01 1.64210418e-01 -1.43311675e-01 1.82596724e+02] [ 1.44996467e-01 1.74349865e-03 9.89430637e-01 4.43482197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters Centerline goodness : 0.994023 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:182.65, Z:44.36 [[ 1.62422028e-01 -9.86474585e-01 -2.20675906e-02 2.14022427e+02] [ 9.76009784e-01 1.63905054e-01 -1.43317951e-01 1.82652903e+02] [ 1.44996505e-01 1.73980784e-03 9.89430638e-01 4.43560304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters Centerline goodness : 0.994926 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:182.71, Z:44.37 [[ 1.61619592e-01 -9.86607291e-01 -2.20263791e-02 2.14034933e+02] [ 9.76142849e-01 1.63105143e-01 -1.43324284e-01 1.82708936e+02] [ 1.44997399e-01 1.66311980e-03 9.89430638e-01 4.43691761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters Centerline goodness : 0.994957 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:182.76, Z:44.38 [[ 1.65585057e-01 -9.85950468e-01 -2.19832764e-02 2.14047324e+02] [ 9.75479277e-01 1.67022259e-01 -1.43330895e-01 1.82763871e+02] [ 1.44988860e-01 2.28922387e-03 9.89430639e-01 4.43770440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters Centerline goodness : 0.996497 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:182.82, Z:44.39 [[ 1.73876134e-01 -9.84523081e-01 -2.19406722e-02 2.14067933e+02] [ 9.74039372e-01 1.75218970e-01 -1.43337417e-01 1.82816277e+02] [ 1.44963417e-01 3.55187738e-03 9.89430640e-01 4.43940444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:182.87, Z:44.40 [[ 1.74755994e-01 -9.84368081e-01 -2.19048658e-02 2.14078186e+02] [ 9.73882515e-01 1.76084249e-01 -1.43342889e-01 1.82872400e+02] [ 1.44959266e-01 3.71726316e-03 9.89430641e-01 4.44035514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters Centerline goodness : 0.994482 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:182.93, Z:44.40 [[ 1.59124060e-01 -9.87016559e-01 -2.18596948e-02 2.14074546e+02] [ 9.76552441e-01 1.60611867e-01 -1.43349777e-01 1.82933558e+02] [ 1.44999530e-01 1.46326023e-03 9.89430642e-01 4.44006252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:182.99, Z:44.41 [[ 1.62007723e-01 -9.86548253e-01 -2.18183887e-02 2.14085195e+02] [ 9.76078999e-01 1.63458942e-01 -1.43356064e-01 1.82990369e+02] [ 1.44994085e-01 1.92831835e-03 9.89430643e-01 4.44091674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters Centerline goodness : 0.994615 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:183.05, Z:44.42 [[ 1.62006611e-01 -9.86549307e-01 -2.17789636e-02 2.14092264e+02] [ 9.76079263e-01 1.63452114e-01 -1.43362053e-01 1.83046656e+02] [ 1.44993552e-01 1.96760564e-03 9.89430644e-01 4.44151863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters Centerline goodness : 0.994352 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:183.10, Z:44.43 [[ 1.61025238e-01 -9.86710930e-01 -2.17350813e-02 2.14102591e+02] [ 9.76241445e-01 1.62474781e-01 -1.43368706e-01 1.83102673e+02] [ 1.44994872e-01 1.86729282e-03 9.89430645e-01 4.44251326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters Centerline goodness : 0.996558 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:183.15, Z:44.45 [[ 1.74289865e-01 -9.84455370e-01 -2.16948687e-02 2.14130660e+02] [ 9.73966598e-01 1.75592525e-01 -1.43374791e-01 1.83152927e+02] [ 1.44955540e-01 3.85869549e-03 9.89430645e-01 4.44484847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters Centerline goodness : 0.995083 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:183.21, Z:44.44 [[ 1.59315382e-01 -9.86990218e-01 -2.16545256e-02 2.14125391e+02] [ 9.76521629e-01 1.60771361e-01 -1.43380884e-01 1.83214881e+02] [ 1.44996958e-01 1.69666763e-03 9.89430646e-01 4.44419521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters Centerline goodness : 0.996805 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:183.27, Z:44.46 [[ 1.68797214e-01 -9.85413757e-01 -2.16154400e-02 2.14153084e+02] [ 9.74930921e-01 1.70146794e-01 -1.43386776e-01 1.83265645e+02] [ 1.44973100e-01 3.12972757e-03 9.89430647e-01 4.44637656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters Centerline goodness : 0.994718 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:183.33, Z:44.46 [[ 1.53092115e-01 -9.87976432e-01 -2.15725513e-02 2.14147320e+02] [ 9.77515503e-01 1.54602143e-01 -1.43393229e-01 1.83326758e+02] [ 1.45004293e-01 8.64869330e-04 9.89430648e-01 4.44594164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters Centerline goodness : 0.994512 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:183.38, Z:44.47 [[ 1.45082605e-01 -9.89185233e-01 -2.15316800e-02 2.14158524e+02] [ 9.78735980e-01 1.46671412e-01 -1.43399366e-01 1.83383103e+02] [ 1.45006617e-01 -2.69076365e-04 9.89430649e-01 4.44692158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters Centerline goodness : 0.997489 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:183.43, Z:44.49 [[ 1.57004700e-01 -9.87364036e-01 -2.14891645e-02 2.14186639e+02] [ 9.76895518e-01 1.58461167e-01 -1.43405737e-01 1.83433780e+02] [ 1.44998865e-01 1.52270620e-03 9.89430650e-01 4.44923712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters Centerline goodness : 0.997180 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:183.49, Z:44.50 [[ 1.54565881e-01 -9.87749637e-01 -2.14486005e-02 2.14196172e+02] [ 9.77283916e-01 1.56042307e-01 -1.43411804e-01 1.83488962e+02] [ 1.45001846e-01 1.20519940e-03 9.89430651e-01 4.45025199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters Centerline goodness : 0.995844 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:183.55, Z:44.50 [[ 1.41985855e-01 -9.89637277e-01 -2.14027156e-02 2.14192016e+02] [ 9.79190167e-01 1.43588672e-01 -1.43418651e-01 1.83549796e+02] [ 1.45005631e-01 -5.93908820e-04 9.89430652e-01 4.44957937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:183.61, Z:44.50 [[ 1.37445016e-01 -9.90279008e-01 -2.13624454e-02 2.14197405e+02] [ 9.79838440e-01 1.39089903e-01 -1.43424649e-01 1.83607526e+02] [ 1.45001720e-01 -1.21874194e-03 9.89430652e-01 4.44996606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters Centerline goodness : 0.997468 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:183.66, Z:44.52 [[ 1.48812645e-01 -9.88635493e-01 -2.13227152e-02 2.14223453e+02] [ 9.78175880e-01 1.50331714e-01 -1.43430556e-01 1.83657015e+02] [ 1.45006019e-01 4.86914637e-04 9.89430653e-01 4.45249481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:183.71, Z:44.53 [[ 1.49334719e-01 -9.88557512e-01 -2.12881853e-02 2.14230951e+02] [ 9.78096375e-01 1.50843254e-01 -1.43435681e-01 1.83712885e+02] [ 1.45005599e-01 5.98030141e-04 9.89430654e-01 4.45340572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters Centerline goodness : 0.997493 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:183.77, Z:44.54 [[ 1.50000227e-01 -9.88457708e-01 -2.12436219e-02 2.14239006e+02] [ 9.77994632e-01 1.51495253e-01 -1.43442281e-01 1.83769373e+02] [ 1.45004936e-01 7.40226455e-04 9.89430655e-01 4.45427492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters Centerline goodness : 0.997097 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:183.83, Z:44.55 [[ 1.51168985e-01 -9.88280625e-01 -2.11977395e-02 2.14246313e+02] [ 9.77814848e-01 1.52644978e-01 -1.43449061e-01 1.83825009e+02] [ 1.45003656e-01 9.57584599e-04 9.89430656e-01 4.45486066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters Centerline goodness : 0.997795 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:183.88, Z:44.56 [[ 1.52805444e-01 -9.88029947e-01 -2.11499459e-02 2.14254027e+02] [ 9.77560777e-01 1.54257164e-01 -1.43456107e-01 1.83880574e+02] [ 1.45001461e-01 1.24551664e-03 9.89430657e-01 4.45570455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:183.94, Z:44.57 [[ 1.53538053e-01 -9.87917386e-01 -2.11022537e-02 2.14261751e+02] [ 9.77446191e-01 1.54975085e-01 -1.43463123e-01 1.83936772e+02] [ 1.45000037e-01 1.40073116e-03 9.89430658e-01 4.45661361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters Centerline goodness : 0.997801 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:183.99, Z:44.58 [[ 1.55964205e-01 -9.87538213e-01 -2.10581422e-02 2.14269111e+02] [ 9.77062659e-01 1.57369104e-01 -1.43469598e-01 1.83992635e+02] [ 1.44995611e-01 1.80099735e-03 9.89430659e-01 4.45753307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:184.05, Z:44.58 [[ 1.58082952e-01 -9.87202228e-01 -2.10128711e-02 2.14275672e+02] [ 9.76722819e-01 1.59458791e-01 -1.43476228e-01 1.84048479e+02] [ 1.44990739e-01 2.15739491e-03 9.89430660e-01 4.45808816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters Centerline goodness : 0.996174 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:184.11, Z:44.57 [[ 1.52223032e-01 -9.88123769e-01 -2.09658294e-02 2.14270793e+02] [ 9.77651773e-01 1.53654192e-01 -1.43483102e-01 1.84109734e+02] [ 1.45000551e-01 1.34415249e-03 9.89430661e-01 4.45744128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters Centerline goodness : 0.996517 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:184.17, Z:44.59 [[ 1.54403446e-01 -9.87786263e-01 -2.09254483e-02 2.14280593e+02] [ 9.77310348e-01 1.55805626e-01 -1.43488991e-01 1.84166114e+02] [ 1.44996757e-01 1.70453744e-03 9.89430662e-01 4.45856020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters Centerline goodness : 0.996099 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:184.22, Z:44.59 [[ 1.51954942e-01 -9.88166810e-01 -2.08818397e-02 2.14286003e+02] [ 9.77693542e-01 1.53376748e-01 -1.43495337e-01 1.84222875e+02] [ 1.45000118e-01 1.38878580e-03 9.89430663e-01 4.45933642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters Centerline goodness : 0.996416 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:184.28, Z:44.60 [[ 1.51249250e-01 -9.88275613e-01 -2.08561022e-02 2.14293376e+02] [ 9.77802854e-01 1.52674798e-01 -1.43499078e-01 1.84280768e+02] [ 1.45000840e-01 1.31097158e-03 9.89430663e-01 4.45975515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters Centerline goodness : 0.996574 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:184.34, Z:44.61 [[ 1.53746229e-01 -9.87891101e-01 -2.08151406e-02 2.14302543e+02] [ 9.77413981e-01 1.55139357e-01 -1.43505019e-01 1.84336830e+02] [ 1.44996579e-01 1.71834605e-03 9.89430664e-01 4.46082572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters Centerline goodness : 0.996559 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:184.39, Z:44.62 [[ 1.51717046e-01 -9.88205599e-01 -2.07757799e-02 2.14307359e+02] [ 9.77730592e-01 1.53125973e-01 -1.43510718e-01 1.84393344e+02] [ 1.44999406e-01 1.45990651e-03 9.89430665e-01 4.46154652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters Centerline goodness : 0.996057 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:184.45, Z:44.63 [[ 1.49979599e-01 -9.88471741e-01 -2.07301209e-02 2.14315243e+02] [ 9.77998327e-01 1.51400311e-01 -1.43517313e-01 1.84449204e+02] [ 1.45001355e-01 1.25064552e-03 9.89430666e-01 4.46290985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters Centerline goodness : 0.996877 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:184.51, Z:44.64 [[ 1.49715609e-01 -9.88512627e-01 -2.06886943e-02 2.14321446e+02] [ 9.78038778e-01 1.51133103e-01 -1.43523285e-01 1.84505964e+02] [ 1.45001326e-01 1.25333066e-03 9.89430667e-01 4.46352990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:184.56, Z:44.64 [[ 1.43668521e-01 -9.89410503e-01 -2.06449028e-02 2.14326225e+02] [ 9.78944621e-01 1.45143679e-01 -1.43529584e-01 1.84563476e+02] [ 1.45006155e-01 4.10466467e-04 9.89430668e-01 4.46434416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:184.62, Z:44.65 [[ 1.36209191e-01 -9.90465838e-01 -2.06029203e-02 2.14330893e+02] [ 9.80010467e-01 1.37757084e-01 -1.43535610e-01 1.84619802e+02] [ 1.45005316e-01 -6.40208129e-04 9.89430669e-01 4.46538586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:184.67, Z:44.68 [[ 1.43095000e-01 -9.89495010e-01 -2.05778284e-02 2.14349028e+02] [ 9.79028613e-01 1.44566495e-01 -1.43539207e-01 1.84673331e+02] [ 1.45006194e-01 3.93460104e-04 9.89430669e-01 4.46760117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters Centerline goodness : 0.997440 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:184.73, Z:44.68 [[ 1.39982639e-01 -9.89940936e-01 -2.05378760e-02 2.14352776e+02] [ 9.79478388e-01 1.41481246e-01 -1.43544923e-01 1.84730530e+02] [ 1.45006720e-01 -2.26084901e-05 9.89430670e-01 4.46839584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters Centerline goodness : 0.996799 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:184.79, Z:44.69 [[ 1.38699502e-01 -9.90122466e-01 -2.04927127e-02 2.14357655e+02] [ 9.79660925e-01 1.40205121e-01 -1.43551371e-01 1.84786976e+02] [ 1.45006621e-01 -1.65406131e-04 9.89430671e-01 4.46920196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters Centerline goodness : 0.996844 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:184.84, Z:44.70 [[ 1.39880531e-01 -9.89957225e-01 -2.04482058e-02 2.14360835e+02] [ 9.79492978e-01 1.41367215e-01 -1.43557711e-01 1.84844202e+02] [ 1.45006699e-01 5.20548228e-05 9.89430672e-01 4.47006998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters Centerline goodness : 0.995741 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:184.91, Z:44.69 [[ 1.29936925e-01 -9.91312311e-01 -2.04033590e-02 2.14350423e+02] [ 9.80862528e-01 1.31522073e-01 -1.43564084e-01 1.84906699e+02] [ 1.45000336e-01 -1.35861457e-03 9.89430673e-01 4.46902872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:184.96, Z:44.70 [[ 1.32687232e-01 -9.90948768e-01 -2.03626751e-02 2.14351165e+02] [ 9.80493751e-01 1.34237482e-01 -1.43569855e-01 1.84964643e+02] [ 1.45003805e-01 -9.15589122e-04 9.89430674e-01 4.46963342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters Centerline goodness : 0.996169 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:185.02, Z:44.71 [[ 1.37423698e-01 -9.90303891e-01 -2.03207141e-02 2.14358658e+02] [ 9.79840711e-01 1.38917859e-01 -1.43575794e-01 1.85021146e+02] [ 1.45006577e-01 -1.80346467e-04 9.89430675e-01 4.47096771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:185.07, Z:44.73 [[ 1.51422281e-01 -9.88261092e-01 -2.02807210e-02 2.14374614e+02] [ 9.77777075e-01 1.52762434e-01 -1.43581443e-01 1.85073831e+02] [ 1.44994086e-01 1.91140544e-03 9.89430676e-01 4.47317101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters Centerline goodness : 0.996035 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:185.14, Z:44.72 [[ 1.46492450e-01 -9.89004499e-01 -2.02500241e-02 2.14363107e+02] [ 9.78526704e-01 1.47880408e-01 -1.43585772e-01 1.85136608e+02] [ 1.45001556e-01 1.21904218e-03 9.89430676e-01 4.47226163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:185.19, Z:44.73 [[ 1.49180760e-01 -9.88603359e-01 -2.02113720e-02 2.14368758e+02] [ 9.78121104e-01 1.50534614e-01 -1.43591213e-01 1.85192850e+02] [ 1.44997266e-01 1.65187673e-03 9.89430677e-01 4.47327898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:185.25, Z:44.74 [[ 1.48987039e-01 -9.88633448e-01 -2.01685015e-02 2.14372427e+02] [ 9.78150655e-01 1.50336721e-01 -1.43597234e-01 1.85251367e+02] [ 1.44997095e-01 1.66629378e-03 9.89430678e-01 4.47399422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters Centerline goodness : 0.997349 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:185.30, Z:44.76 [[ 1.59899989e-01 -9.86927956e-01 -2.01296608e-02 2.14391108e+02] [ 9.76430231e-01 1.61128131e-01 -1.43602679e-01 1.85304373e+02] [ 1.44968953e-01 3.30685741e-03 9.89430678e-01 4.47626429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters Centerline goodness : 0.997727 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:185.36, Z:44.77 [[ 1.59955405e-01 -9.86919840e-01 -2.00872484e-02 2.14397137e+02] [ 9.76421328e-01 1.61176789e-01 -1.43608611e-01 1.85361459e+02] [ 1.44967786e-01 3.35735581e-03 9.89430679e-01 4.47690680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters Centerline goodness : 0.996136 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:185.42, Z:44.77 [[ 1.53356450e-01 -9.87967652e-01 -2.00428970e-02 2.14395569e+02] [ 9.77476746e-01 1.54641521e-01 -1.43614801e-01 1.85421384e+02] [ 1.44986242e-01 2.43279034e-03 9.89430680e-01 4.47676613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:185.48, Z:44.78 [[ 1.51529053e-01 -9.88250414e-01 -2.00016209e-02 2.14402375e+02] [ 9.77761160e-01 1.52827526e-01 -1.43620550e-01 1.85478190e+02] [ 1.44989866e-01 2.20587776e-03 9.89430681e-01 4.47753253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters Centerline goodness : 0.995816 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:185.53, Z:44.78 [[ 1.54326667e-01 -9.87818271e-01 -1.99585300e-02 2.14411346e+02] [ 9.77324627e-01 1.55589172e-01 -1.43626538e-01 1.85534279e+02] [ 1.44982249e-01 2.65944208e-03 9.89430682e-01 4.47836166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:185.59, Z:44.79 [[ 1.52156238e-01 -9.88155822e-01 -1.99135832e-02 2.14418377e+02] [ 9.77664180e-01 1.53435262e-01 -1.43632769e-01 1.85591625e+02] [ 1.44987003e-01 2.38582491e-03 9.89430683e-01 4.47920175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters Centerline goodness : 0.995874 with order 1 Centerline is valid? [True, True] Translation: X:214.43, Y:185.65, Z:44.80 [[ 1.52866223e-01 -9.88047069e-01 -1.98722931e-02 2.14426588e+02] [ 9.77553785e-01 1.54131707e-01 -1.43638482e-01 1.85647214e+02] [ 1.44984532e-01 2.53123688e-03 9.89430684e-01 4.48012986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters Centerline goodness : 0.995701 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:185.70, Z:44.81 [[ 1.53103339e-01 -9.88010973e-01 -1.98415174e-02 2.14435484e+02] [ 9.77516849e-01 1.54361831e-01 -1.43642733e-01 1.85703940e+02] [ 1.44983369e-01 2.59676443e-03 9.89430684e-01 4.48088020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:185.76, Z:44.82 [[ 1.54502189e-01 -9.87794028e-01 -1.97997799e-02 2.14445001e+02] [ 9.77297417e-01 1.55739754e-01 -1.43648486e-01 1.85760928e+02] [ 1.44978730e-01 2.84373179e-03 9.89430685e-01 4.48180183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:185.82, Z:44.82 [[ 1.54507294e-01 -9.87794029e-01 -1.97598843e-02 2.14452257e+02] [ 9.77296730e-01 1.55739005e-01 -1.43653974e-01 1.85818744e+02] [ 1.44977922e-01 2.88431642e-03 9.89430686e-01 4.48238602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters Centerline goodness : 0.996171 with order 1 Centerline is valid? [True, True] Translation: X:214.46, Y:185.88, Z:44.83 [[ 1.54602038e-01 -9.87780072e-01 -1.97164864e-02 2.14460544e+02] [ 9.77281918e-01 1.55826433e-01 -1.43659930e-01 1.85875328e+02] [ 1.44976766e-01 2.94155239e-03 9.89430687e-01 4.48311933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters Centerline goodness : 0.995678 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:185.93, Z:44.84 [[ 1.51306917e-01 -9.88291043e-01 -1.96731259e-02 2.14469485e+02] [ 9.77796277e-01 1.52560016e-01 -1.43665868e-01 1.85932700e+02] [ 1.44985023e-01 2.50133035e-03 9.89430688e-01 4.48390808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters Centerline goodness : 0.995661 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:185.99, Z:44.85 [[ 1.43944776e-01 -9.89391016e-01 -1.96295665e-02 2.14478602e+02] [ 9.78905071e-01 1.45269650e-01 -1.43671820e-01 1.85989482e+02] [ 1.44999188e-01 1.46532568e-03 9.89430689e-01 4.48483944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters Centerline goodness : 0.995186 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:186.05, Z:44.85 [[ 1.34477340e-01 -9.90723088e-01 -1.95859031e-02 2.14482032e+02] [ 9.80249433e-01 1.35896092e-01 -1.43677772e-01 1.86047904e+02] [ 1.45006534e-01 1.22334187e-04 9.89430690e-01 4.48529639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:214.50, Y:186.10, Z:44.86 [[ 1.32880119e-01 -9.90939384e-01 -1.95450998e-02 2.14496710e+02] [ 9.80467221e-01 1.34309835e-01 -1.43683322e-01 1.86103005e+02] [ 1.45006562e-01 -7.06727411e-05 9.89430691e-01 4.48638702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters Centerline goodness : 0.995660 with order 1 Centerline is valid? [True, True] Translation: X:214.50, Y:186.16, Z:44.87 [[ 1.30993640e-01 -9.91191305e-01 -1.95054885e-02 2.14504654e+02] [ 9.80721089e-01 1.32437546e-01 -1.43688700e-01 1.86159570e+02] [ 1.45006249e-01 -3.07138115e-04 9.89430692e-01 4.48715183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters Centerline goodness : 0.997558 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:186.21, Z:44.90 [[ 1.39026682e-01 -9.90097372e-01 -1.94621395e-02 2.14526536e+02] [ 9.79614980e-01 1.40379349e-01 -1.43694571e-01 1.86211820e+02] [ 1.45003700e-01 9.11976091e-04 9.89430693e-01 4.48954262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters Centerline goodness : 0.996216 with order 1 Centerline is valid? [True, True] Translation: X:214.52, Y:186.27, Z:44.89 [[ 1.26768792e-01 -9.91742131e-01 -1.94221349e-02 2.14523792e+02] [ 9.81276454e-01 1.28245224e-01 -1.43699978e-01 1.86272593e+02] [ 1.45004119e-01 -8.41810933e-04 9.89430693e-01 4.48917378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters Centerline goodness : 0.997375 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:186.32, Z:44.91 [[ 1.36662094e-01 -9.90428099e-01 -1.93817537e-02 2.14543605e+02] [ 9.79947441e-01 1.38028124e-01 -1.43705425e-01 1.86324840e+02] [ 1.45005118e-01 6.45984336e-04 9.89430694e-01 4.49145835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters Centerline goodness : 0.996809 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:186.38, Z:44.92 [[ 1.37825377e-01 -9.90267420e-01 -1.93546623e-02 2.14550565e+02] [ 9.79784658e-01 1.39175164e-01 -1.43709073e-01 1.86380254e+02] [ 1.45004101e-01 8.43356036e-04 9.89430695e-01 4.49219842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters Centerline goodness : 0.996126 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:186.44, Z:44.92 [[ 1.28316479e-01 -9.91545306e-01 -1.93077033e-02 2.14545447e+02] [ 9.81075040e-01 1.29759989e-01 -1.43715382e-01 1.86441519e+02] [ 1.45005680e-01 -5.01254072e-04 9.89430696e-01 4.49184269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters Centerline goodness : 0.996575 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:186.50, Z:44.92 [[ 1.31759897e-01 -9.91094390e-01 -1.92675847e-02 2.14552940e+02] [ 9.80618394e-01 1.33161212e-01 -1.43720761e-01 1.86498207e+02] [ 1.45006535e-01 4.24845984e-05 9.89430696e-01 4.49243425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters Centerline goodness : 0.996529 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:186.56, Z:44.93 [[ 1.32339595e-01 -9.91017992e-01 -1.92242183e-02 2.14561208e+02] [ 9.80540344e-01 1.33728493e-01 -1.43726561e-01 1.86555204e+02] [ 1.45006434e-01 1.70593188e-04 9.89430697e-01 4.49330302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters Centerline goodness : 0.997970 with order 1 Centerline is valid? [True, True] Translation: X:214.58, Y:186.61, Z:44.96 [[ 1.44657711e-01 -9.89295804e-01 -1.91822472e-02 2.14582586e+02] [ 9.78800960e-01 1.45910062e-01 -1.43732163e-01 1.86607475e+02] [ 1.44992509e-01 2.01636377e-03 9.89430698e-01 4.49555130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters Centerline goodness : 0.996314 with order 1 Centerline is valid? [True, True] Translation: X:214.58, Y:186.67, Z:44.95 [[ 1.35246230e-01 -9.90627085e-01 -1.91425091e-02 2.14578154e+02] [ 9.80143880e-01 1.36592531e-01 -1.43737455e-01 1.86668460e+02] [ 1.45004940e-01 6.77535815e-04 9.89430699e-01 4.49496856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters Centerline goodness : 0.996744 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:186.73, Z:44.96 [[ 1.34857211e-01 -9.90680913e-01 -1.91013654e-02 2.14586095e+02] [ 9.80197470e-01 1.36201658e-01 -1.43742923e-01 1.86725837e+02] [ 1.45005008e-01 6.61659570e-04 9.89430700e-01 4.49578567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters Centerline goodness : 0.996910 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:186.78, Z:44.97 [[ 1.35790332e-01 -9.90554229e-01 -1.90605419e-02 2.14594771e+02] [ 9.80068774e-01 1.37118980e-01 -1.43748336e-01 1.86782600e+02] [ 1.45004084e-01 8.38992258e-04 9.89430701e-01 4.49673594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:214.60, Y:186.84, Z:44.97 [[ 1.35001222e-01 -9.90662883e-01 -1.90190177e-02 2.14602658e+02] [ 9.80177723e-01 1.36332197e-01 -1.43753830e-01 1.86839601e+02] [ 1.45004488e-01 7.64925267e-04 9.89430702e-01 4.49746607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters Centerline goodness : 0.997532 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:186.90, Z:44.98 [[ 1.37860741e-01 -9.90269796e-01 -1.89775344e-02 2.14611738e+02] [ 9.79780094e-01 1.39155418e-01 -1.43759306e-01 1.86896368e+02] [ 1.45001325e-01 1.22495404e-03 9.89430703e-01 4.49821359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters Centerline goodness : 0.997044 with order 1 Centerline is valid? [True, True] Translation: X:214.62, Y:186.95, Z:44.99 [[ 1.36924707e-01 -9.90400412e-01 -1.89380175e-02 2.14620297e+02] [ 9.79911227e-01 1.38223562e-01 -1.43764512e-01 1.86952276e+02] [ 1.45002112e-01 1.12733777e-03 9.89430703e-01 4.49897395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:214.63, Y:187.01, Z:45.00 [[ 1.34420372e-01 -9.90744283e-01 -1.88925568e-02 2.14630487e+02] [ 9.80257585e-01 1.35739144e-01 -1.43770486e-01 1.87008911e+02] [ 1.45004246e-01 8.06110084e-04 9.89430704e-01 4.49991012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:187.06, Z:45.02 [[ 1.41244788e-01 -9.89795196e-01 -1.88515301e-02 2.14652721e+02] [ 9.79298953e-01 1.42485303e-01 -1.43775865e-01 1.87060161e+02] [ 1.44994727e-01 1.84630795e-03 9.89430705e-01 4.50241470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:187.12, Z:45.01 [[ 1.27212131e-01 -9.91697285e-01 -1.88034237e-02 2.14646638e+02] [ 9.81218743e-01 1.28594206e-01 -1.43782157e-01 1.87120768e+02] [ 1.45006386e-01 -1.59437109e-04 9.89430706e-01 4.50140709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:187.18, Z:45.02 [[ 1.25129062e-01 -9.91963138e-01 -1.87576906e-02 2.14656328e+02] [ 9.81486637e-01 1.26526511e-01 -1.43788123e-01 1.87176496e+02] [ 1.45005863e-01 -4.18349736e-04 9.89430707e-01 4.50244038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:187.23, Z:45.03 [[ 1.21417469e-01 -9.92425122e-01 -1.87129595e-02 2.14664069e+02] [ 9.81953036e-01 1.22847618e-01 -1.43793944e-01 1.87232573e+02] [ 1.45003565e-01 -9.16150677e-04 9.89430708e-01 4.50327607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters Centerline goodness : 0.996984 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:187.29, Z:45.04 [[ 1.20209969e-01 -9.92572965e-01 -1.86674419e-02 2.14672482e+02] [ 9.82101720e-01 1.21646264e-01 -1.43799853e-01 1.87289270e+02] [ 1.45002671e-01 -1.04715094e-03 9.89430709e-01 4.50401653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters Centerline goodness : 0.998052 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:187.34, Z:45.07 [[ 1.31060992e-01 -9.91199302e-01 -1.86268447e-02 2.14695440e+02] [ 9.80712233e-01 1.32376761e-01 -1.43805112e-01 1.87340964e+02] [ 1.45005288e-01 5.79666101e-04 9.89430710e-01 4.50668008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters Centerline goodness : 0.996884 with order 1 Centerline is valid? [True, True] Translation: X:214.69, Y:187.40, Z:45.06 [[ 1.20859583e-01 -9.92495636e-01 -1.85842604e-02 2.14690225e+02] [ 9.82021817e-01 1.22276972e-01 -1.43810615e-01 1.87402259e+02] [ 1.45003835e-01 -8.69258309e-04 9.89430711e-01 4.50579281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters Centerline goodness : 0.996830 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:187.46, Z:45.07 [[ 1.24922392e-01 -9.91993222e-01 -1.85430203e-02 2.14698092e+02] [ 9.81512906e-01 1.26290905e-01 -1.43815932e-01 1.87458560e+02] [ 1.45006245e-01 -2.34383349e-04 9.89430712e-01 4.50666135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters Centerline goodness : 0.996976 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:187.52, Z:45.07 [[ 1.27556942e-01 -9.91658691e-01 -1.85004782e-02 2.14705256e+02] [ 9.81173990e-01 1.28891442e-01 -1.43821405e-01 1.87515141e+02] [ 1.45006299e-01 1.93230708e-04 9.89430713e-01 4.50742903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:187.57, Z:45.08 [[ 1.30912323e-01 -9.91222153e-01 -1.84555608e-02 2.14713913e+02] [ 9.80732192e-01 1.32204814e-01 -1.43827169e-01 1.87572036e+02] [ 1.45004590e-01 7.28786173e-04 9.89430714e-01 4.50847142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters Centerline goodness : 0.997347 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:187.63, Z:45.09 [[ 1.34580359e-01 -9.90731604e-01 -1.84123855e-02 2.14720010e+02] [ 9.80236185e-01 1.35827746e-01 -1.43832696e-01 1.87629326e+02] [ 1.45000510e-01 1.30856935e-03 9.89430715e-01 4.50917589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:187.69, Z:45.10 [[ 1.38082372e-01 -9.90250369e-01 -1.83702394e-02 2.14726685e+02] [ 9.79749903e-01 1.39286523e-01 -1.43838079e-01 1.87685775e+02] [ 1.44994437e-01 1.86326288e-03 9.89430716e-01 4.50998493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters Centerline goodness : 0.997322 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:187.74, Z:45.11 [[ 1.40353763e-01 -9.89931706e-01 -1.83313640e-02 2.14736352e+02] [ 9.79427873e-01 1.41528174e-01 -1.43843033e-01 1.87742721e+02] [ 1.44989184e-01 2.23466219e-03 9.89430717e-01 4.51091904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:187.80, Z:45.13 [[ 1.50367673e-01 -9.88460981e-01 -1.82880101e-02 2.14754959e+02] [ 9.77945160e-01 1.51429389e-01 -1.43848545e-01 1.87795830e+02] [ 1.44958016e-01 3.74550004e-03 9.89430718e-01 4.51328150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:187.85, Z:45.14 [[ 1.49446402e-01 -9.88601486e-01 -1.82448607e-02 2.14763160e+02] [ 9.78086022e-01 1.50511642e-01 -1.43854018e-01 1.87851460e+02] [ 1.44960360e-01 3.65342209e-03 9.89430718e-01 4.51394594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:187.91, Z:45.15 [[ 1.47753477e-01 -9.88856815e-01 -1.81964189e-02 2.14771833e+02] [ 9.78342468e-01 1.48829678e-01 -1.43860145e-01 1.87906574e+02] [ 1.44965252e-01 3.45350735e-03 9.89430720e-01 4.51476505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters Centerline goodness : 0.998127 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:187.96, Z:45.15 [[ 1.44664245e-01 -9.89314346e-01 -1.81488542e-02 2.14779870e+02] [ 9.78802686e-01 1.45766366e-01 -1.43866146e-01 1.87960546e+02] [ 1.44974334e-01 3.04814013e-03 9.89430721e-01 4.51548145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters Centerline goodness : 0.998173 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:188.02, Z:45.17 [[ 1.43086821e-01 -9.89544634e-01 -1.80991659e-02 2.14788265e+02] [ 9.79033979e-01 1.44198478e-01 -1.43872397e-01 1.88016459e+02] [ 1.44978030e-01 2.86654546e-03 9.89430722e-01 4.51665386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:188.08, Z:45.16 [[ 1.32199476e-01 -9.91058707e-01 -1.80537512e-02 2.14787428e+02] [ 9.80560141e-01 1.33420024e-01 -1.43878095e-01 1.88076562e+02] [ 1.45000371e-01 1.31781999e-03 9.89430723e-01 4.51632111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters Centerline goodness : 0.997563 with order 1 Centerline is valid? [True, True] Translation: X:214.80, Y:188.13, Z:45.17 [[ 1.30913657e-01 -9.91230191e-01 -1.80089731e-02 2.14797572e+02] [ 9.80732457e-01 1.32141324e-01 -1.43883700e-01 1.88132488e+02] [ 1.45001597e-01 1.17435696e-03 9.89430724e-01 4.51724065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters Centerline goodness : 0.998585 with order 1 Centerline is valid? [True, True] Translation: X:214.81, Y:188.18, Z:45.19 [[ 1.36118488e-01 -9.90529568e-01 -1.79703376e-02 2.14813985e+02] [ 9.80024905e-01 1.37285386e-01 -1.43888526e-01 1.88184639e+02] [ 1.44992904e-01 1.97451013e-03 9.89430725e-01 4.51919404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:214.81, Y:188.24, Z:45.19 [[ 1.29003152e-01 -9.91482198e-01 -1.79230995e-02 2.14812530e+02] [ 9.80985377e-01 1.30238586e-01 -1.43894410e-01 1.88243560e+02] [ 1.45003025e-01 9.80533936e-04 9.89430726e-01 4.51894760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters Centerline goodness : 0.998186 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:188.30, Z:45.21 [[ 1.34424536e-01 -9.90762558e-01 -1.78772937e-02 2.14826493e+02] [ 9.80258393e-01 1.35595883e-01 -1.43900100e-01 1.88297338e+02] [ 1.44994919e-01 1.81933697e-03 9.89430727e-01 4.52082868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:188.35, Z:45.22 [[ 1.34403643e-01 -9.90766226e-01 -1.78310534e-02 2.14832389e+02] [ 9.80261340e-01 1.35568496e-01 -1.43905830e-01 1.88353873e+02] [ 1.44994365e-01 1.86237550e-03 9.89430728e-01 4.52164725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:188.41, Z:45.21 [[ 1.24556487e-01 -9.92053114e-01 -1.77848367e-02 2.14827330e+02] [ 9.81559508e-01 1.25818916e-01 -1.43911542e-01 1.88413626e+02] [ 1.45005562e-01 4.68240523e-04 9.89430729e-01 4.52113789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:188.47, Z:45.22 [[ 1.22440590e-01 -9.92317310e-01 -1.77386060e-02 2.14833923e+02] [ 9.81825603e-01 1.23718690e-01 -1.43917240e-01 1.88471063e+02] [ 1.45006166e-01 2.05094323e-04 9.89430730e-01 4.52207685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters Centerline goodness : 0.997759 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:188.53, Z:45.23 [[ 1.21221624e-01 -9.92467721e-01 -1.76958064e-02 2.14839366e+02] [ 9.81976830e-01 1.22506403e-01 -1.43922503e-01 1.88528291e+02] [ 1.45006288e-01 6.96475494e-05 9.89430731e-01 4.52278419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters Centerline goodness : 0.997719 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:188.58, Z:45.24 [[ 1.22853188e-01 -9.92267844e-01 -1.76527634e-02 2.14844413e+02] [ 9.81774104e-01 1.24114474e-01 -1.43927782e-01 1.88584712e+02] [ 1.45005873e-01 3.50960923e-04 9.89430732e-01 4.52353815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:214.86, Y:188.64, Z:45.26 [[ 1.33612710e-01 -9.90877078e-01 -1.76141735e-02 2.14859809e+02] [ 9.80369661e-01 1.34754454e-01 -1.43932505e-01 1.88637640e+02] [ 1.44993008e-01 1.96281066e-03 9.89430733e-01 4.52580410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters Centerline goodness : 0.997721 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:188.70, Z:45.25 [[ 1.26322763e-01 -9.91833578e-01 -1.75702446e-02 2.14854238e+02] [ 9.81334103e-01 1.27535366e-01 -1.43937867e-01 1.88698349e+02] [ 1.45003237e-01 9.40348791e-04 9.89430734e-01 4.52518708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:214.86, Y:188.76, Z:45.26 [[ 1.27356089e-01 -9.91702205e-01 -1.75260736e-02 2.14856599e+02] [ 9.81200741e-01 1.28551341e-01 -1.43943245e-01 1.88755884e+02] [ 1.45001834e-01 1.13545235e-03 9.89430735e-01 4.52572786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters Centerline goodness : 0.997942 with order 1 Centerline is valid? [True, True] Translation: X:214.86, Y:188.81, Z:45.27 [[ 1.27921365e-01 -9.91630126e-01 -1.74876544e-02 2.14863483e+02] [ 9.81127353e-01 1.29105055e-01 -1.43947913e-01 1.88812261e+02] [ 1.45000831e-01 1.25639744e-03 9.89430736e-01 4.52672859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:214.87, Y:188.87, Z:45.28 [[ 1.26680883e-01 -9.91790113e-01 -1.74449381e-02 2.14868662e+02] [ 9.81288125e-01 1.27871509e-01 -1.43953090e-01 1.88868227e+02] [ 1.45001962e-01 1.11759380e-03 9.89430736e-01 4.52758756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:188.92, Z:45.30 [[ 1.32580159e-01 -9.91019550e-01 -1.73998267e-02 2.14886892e+02] [ 9.80509963e-01 1.33701722e-01 -1.43958542e-01 1.88920337e+02] [ 1.44992116e-01 2.02534301e-03 9.89430737e-01 4.53003314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:188.98, Z:45.31 [[ 1.30057583e-01 -9.91354505e-01 -1.73571529e-02 2.14893683e+02] [ 9.80847132e-01 1.31199694e-01 -1.43963687e-01 1.88976266e+02] [ 1.44996303e-01 1.69885564e-03 9.89430738e-01 4.53099019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:189.03, Z:45.32 [[ 1.29584513e-01 -9.91417258e-01 -1.73111284e-02 2.14899769e+02] [ 9.80909705e-01 1.30724954e-01 -1.43969222e-01 1.89032877e+02] [ 1.44996567e-01 1.67552760e-03 9.89430739e-01 4.53174463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters Centerline goodness : 0.998169 with order 1 Centerline is valid? [True, True] Translation: X:214.91, Y:189.09, Z:45.32 [[ 1.30471689e-01 -9.91301643e-01 -1.72681791e-02 2.14905524e+02] [ 9.80792406e-01 1.31596491e-01 -1.43974373e-01 1.89088375e+02] [ 1.44994464e-01 1.84808071e-03 9.89430740e-01 4.53248515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:189.15, Z:45.32 [[ 1.25243305e-01 -9.91976603e-01 -1.72201602e-02 2.14902006e+02] [ 9.81472662e-01 1.26416530e-01 -1.43980116e-01 1.89148540e+02] [ 1.45001820e-01 1.13142903e-03 9.89430742e-01 4.53195912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters Centerline goodness : 0.998221 with order 1 Centerline is valid? [True, True] Translation: X:214.91, Y:189.21, Z:45.33 [[ 1.26398642e-01 -9.91830772e-01 -1.71785430e-02 2.14909217e+02] [ 9.81324807e-01 1.27553591e-01 -1.43985082e-01 1.89205005e+02] [ 1.45000020e-01 1.34178834e-03 9.89430742e-01 4.53293288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters Centerline goodness : 0.997887 with order 1 Centerline is valid? [True, True] Translation: X:214.91, Y:189.26, Z:45.34 [[ 1.23221618e-01 -9.92231205e-01 -1.71367531e-02 2.14910353e+02] [ 9.81728309e-01 1.24404143e-01 -1.43990055e-01 1.89260860e+02] [ 1.45003309e-01 9.19051900e-04 9.89430743e-01 4.53357414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters Centerline goodness : 0.997676 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:189.32, Z:45.34 [[ 1.21730604e-01 -9.92416074e-01 -1.70878727e-02 2.14916418e+02] [ 9.81914162e-01 1.22921816e-01 -1.43995856e-01 1.89318671e+02] [ 1.45004275e-01 7.49878289e-04 9.89430744e-01 4.53425386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:189.37, Z:45.37 [[ 1.34663742e-01 -9.90744680e-01 -1.70486367e-02 2.14940204e+02] [ 9.80227555e-01 1.35712183e-01 -1.44000502e-01 1.89369707e+02] [ 1.44981438e-01 2.68010293e-03 9.89430745e-01 4.53679456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:189.43, Z:45.38 [[ 1.32812475e-01 -9.90995296e-01 -1.70049707e-02 2.14947814e+02] [ 9.80479507e-01 1.33874220e-01 -1.44005658e-01 1.89425954e+02] [ 1.44985457e-01 2.45272253e-03 9.89430746e-01 4.53764308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:189.48, Z:45.39 [[ 1.30306516e-01 -9.91328726e-01 -1.69578448e-02 2.14955274e+02] [ 9.80814950e-01 1.31388000e-01 -1.44011207e-01 1.89481056e+02] [ 1.44990504e-01 2.13309103e-03 9.89430747e-01 4.53851151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:189.54, Z:45.38 [[ 1.12623250e-01 -9.93493875e-01 -1.69092851e-02 2.14943503e+02] [ 9.83000189e-01 1.13884848e-01 -1.44016909e-01 1.89543126e+02] [ 1.45005628e-01 -4.02178119e-04 9.89430748e-01 4.53756116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:189.60, Z:45.38 [[ 1.12958973e-01 -9.93456460e-01 -1.68680841e-02 2.14950533e+02] [ 9.82961635e-01 1.14211052e-01 -1.44021735e-01 1.89599687e+02] [ 1.45005844e-01 -3.12132233e-04 9.89430749e-01 4.53840663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:214.98, Y:189.65, Z:45.41 [[ 1.26291775e-01 -9.91850328e-01 -1.68319633e-02 2.14975983e+02] [ 9.81339080e-01 1.27397542e-01 -1.44025956e-01 1.89651281e+02] [ 1.44996543e-01 1.67143024e-03 9.89430750e-01 4.54122836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:214.98, Y:189.71, Z:45.42 [[ 1.25690630e-01 -9.91927368e-01 -1.67917357e-02 2.14982655e+02] [ 9.81416177e-01 1.26796927e-01 -1.44030646e-01 1.89707926e+02] [ 1.44997080e-01 1.62362159e-03 9.89430751e-01 4.54203064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters Centerline goodness : 0.996974 with order 1 Centerline is valid? [True, True] Translation: X:214.97, Y:189.77, Z:45.40 [[ 1.05143182e-01 -9.94316076e-01 -1.67467174e-02 2.14966101e+02] [ 9.83829201e-01 1.06460173e-01 -1.44035880e-01 1.89771150e+02] [ 1.45000050e-01 -1.33151873e-03 9.89430752e-01 4.54019225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:214.97, Y:189.83, Z:45.41 [[ 1.04104088e-01 -9.94426152e-01 -1.67022859e-02 2.14974153e+02] [ 9.83939848e-01 1.05425601e-01 -1.44041033e-01 1.89827104e+02] [ 1.44999018e-01 -1.43878429e-03 9.89430753e-01 4.54126261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:189.88, Z:45.45 [[ 1.16355976e-01 -9.93067841e-01 -1.66598554e-02 2.15003120e+02] [ 9.82565345e-01 1.17541954e-01 -1.44045940e-01 1.89877155e+02] [ 1.45005623e-01 3.91209403e-04 9.89430754e-01 4.54461508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:189.93, Z:45.45 [[ 1.14659969e-01 -9.93265805e-01 -1.66172001e-02 2.15008391e+02] [ 9.82764643e-01 1.15857694e-01 -1.44050861e-01 1.89933338e+02] [ 1.45006025e-01 1.86070560e-04 9.89430755e-01 4.54545677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters Centerline goodness : 0.998500 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:189.99, Z:45.46 [[ 1.13335243e-01 -9.93418596e-01 -1.65715278e-02 2.15013363e+02] [ 9.82918280e-01 1.14540349e-01 -1.44056115e-01 1.89990330e+02] [ 1.45006132e-01 3.81772932e-05 9.89430756e-01 4.54617175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:190.05, Z:45.47 [[ 1.11514279e-01 -9.93625408e-01 -1.65261804e-02 2.15018025e+02] [ 9.83126554e-01 1.12732053e-01 -1.44061317e-01 1.90047273e+02] [ 1.45006015e-01 -1.82432864e-04 9.89430757e-01 4.54699588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:190.10, Z:45.48 [[ 1.11298955e-01 -9.93650309e-01 -1.64804689e-02 2.15022874e+02] [ 9.83150952e-01 1.12512377e-01 -1.44066547e-01 1.90103072e+02] [ 1.45006025e-01 -1.68332555e-04 9.89430758e-01 4.54784045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:215.03, Y:190.16, Z:45.49 [[ 1.13208996e-01 -9.93435292e-01 -1.64329864e-02 2.15026662e+02] [ 9.82932843e-01 1.14395345e-01 -1.44071963e-01 1.90159475e+02] [ 1.45006029e-01 1.57720259e-04 9.89430759e-01 4.54862958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters Centerline goodness : 0.998273 with order 1 Centerline is valid? [True, True] Translation: X:215.03, Y:190.22, Z:45.49 [[ 1.14975654e-01 -9.93233117e-01 -1.63882142e-02 2.15030568e+02] [ 9.82727856e-01 1.16136828e-01 -1.44077055e-01 1.90216806e+02] [ 1.45005378e-01 4.60198976e-04 9.89430760e-01 4.54932086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters Centerline goodness : 0.998150 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:190.27, Z:45.50 [[ 1.15872726e-01 -9.93129556e-01 -1.63461158e-02 2.15035802e+02] [ 9.82622584e-01 1.17018303e-01 -1.44081832e-01 1.90271955e+02] [ 1.45004720e-01 6.33092062e-04 9.89430761e-01 4.55010034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters Centerline goodness : 0.997563 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:190.33, Z:45.49 [[ 1.06522496e-01 -9.94176678e-01 -1.63000534e-02 2.15023928e+02] [ 9.83680162e-01 1.07760215e-01 -1.44087043e-01 1.90333100e+02] [ 1.45004475e-01 -6.85527714e-04 9.89430762e-01 4.54903202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:215.05, Y:190.38, Z:45.52 [[ 1.19420382e-01 -9.92710672e-01 -1.62571253e-02 2.15045953e+02] [ 9.82198322e-01 1.20515495e-01 -1.44091886e-01 1.90384571e+02] [ 1.45000789e-01 1.23978678e-03 9.89430763e-01 4.55177655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters Centerline goodness : 0.997755 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:190.45, Z:45.51 [[ 1.09156562e-01 -9.93892354e-01 -1.62121469e-02 2.15035593e+02] [ 9.83391136e-01 1.10353718e-01 -1.44096947e-01 1.90445429e+02] [ 1.45005924e-01 -2.13754347e-04 9.89430764e-01 4.55065514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters Centerline goodness : 0.998209 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:190.50, Z:45.53 [[ 1.23147617e-01 -9.92256681e-01 -1.61661174e-02 2.15057549e+02] [ 9.81738977e-01 1.24190030e-01 -1.44102111e-01 1.90496985e+02] [ 1.44993953e-01 1.87492395e-03 9.89430765e-01 4.55348336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:190.55, Z:45.54 [[ 1.24539219e-01 -9.92083670e-01 -1.61237588e-02 2.15063516e+02] [ 9.81563915e-01 1.25560727e-01 -1.44106850e-01 1.90553660e+02] [ 1.44990564e-01 2.12045467e-03 9.89430766e-01 4.55438603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:190.61, Z:45.55 [[ 1.25502677e-01 -9.91962966e-01 -1.60795640e-02 2.15069263e+02] [ 9.81441610e-01 1.26507549e-01 -1.44111782e-01 1.90609797e+02] [ 1.44987736e-01 2.30526115e-03 9.89430767e-01 4.55510206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:215.08, Y:190.67, Z:45.56 [[ 1.26239227e-01 -9.91870222e-01 -1.60349771e-02 2.15076356e+02] [ 9.81347512e-01 1.27229810e-01 -1.44116743e-01 1.90665700e+02] [ 1.44985233e-01 2.45730134e-03 9.89430768e-01 4.55560938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters Centerline goodness : 0.997607 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:190.73, Z:45.55 [[ 1.16584410e-01 -9.93052089e-01 -1.59882139e-02 2.15070377e+02] [ 9.82538812e-01 1.17670524e-01 -1.44121930e-01 1.90727082e+02] [ 1.45001926e-01 1.09332957e-03 9.89430769e-01 4.55464803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:190.78, Z:45.57 [[ 1.29447520e-01 -9.91458049e-01 -1.59460587e-02 2.15091524e+02] [ 9.80931025e-01 1.30391135e-01 -1.44126595e-01 1.90778017e+02] [ 1.44974697e-01 3.01484653e-03 9.89430770e-01 4.55731096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters Centerline goodness : 0.997837 with order 1 Centerline is valid? [True, True] Translation: X:215.08, Y:190.84, Z:45.56 [[ 1.19057311e-01 -9.92760111e-01 -1.58971589e-02 2.15082018e+02] [ 9.82242839e-01 1.20104020e-01 -1.44131988e-01 1.90839394e+02] [ 1.44997801e-01 1.54509646e-03 9.89430771e-01 4.55632712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:190.89, Z:45.59 [[ 1.33661286e-01 -9.90900215e-01 -1.58563986e-02 2.15105177e+02] [ 9.80368173e-01 1.34547106e-01 -1.44136472e-01 1.90889829e+02] [ 1.44958294e-01 3.72035768e-03 9.89430772e-01 4.55894349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters Centerline goodness : 0.998389 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:190.95, Z:45.60 [[ 1.35840378e-01 -9.90604553e-01 -1.58117575e-02 2.15113428e+02] [ 9.80070059e-01 1.36696541e-01 -1.44141369e-01 1.90946214e+02] [ 1.44948509e-01 4.08358801e-03 9.89430773e-01 4.55969918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters Centerline goodness : 0.998308 with order 1 Centerline is valid? [True, True] Translation: X:215.12, Y:191.00, Z:45.61 [[ 1.36334780e-01 -9.90537342e-01 -1.57670804e-02 2.15120842e+02] [ 9.80001901e-01 1.37179189e-01 -1.44146256e-01 1.91001810e+02] [ 1.44945165e-01 4.20037941e-03 9.89430774e-01 4.56076284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters Centerline goodness : 0.998503 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:191.06, Z:45.62 [[ 1.36596978e-01 -9.90501967e-01 -1.57200506e-02 2.15128379e+02] [ 9.79965759e-01 1.37431759e-01 -1.44151385e-01 1.91056914e+02] [ 1.44942665e-01 4.28553220e-03 9.89430775e-01 4.56152909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:215.14, Y:191.11, Z:45.63 [[ 1.35779449e-01 -9.90615135e-01 -1.56714703e-02 2.15135669e+02] [ 9.80079059e-01 1.36615863e-01 -1.44156667e-01 1.91113386e+02] [ 1.44944747e-01 4.21423300e-03 9.89430776e-01 4.56251753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:191.17, Z:45.62 [[ 1.26598336e-01 -9.91830997e-01 -1.56248206e-02 2.15133061e+02] [ 9.81302521e-01 1.27525524e-01 -1.44161723e-01 1.91173677e+02] [ 1.44976629e-01 2.91795843e-03 9.89430777e-01 4.56197781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:191.23, Z:45.64 [[ 1.31662494e-01 -9.91172125e-01 -1.55822420e-02 2.15151074e+02] [ 9.80638541e-01 1.32529706e-01 -1.44166325e-01 1.91226351e+02] [ 1.44958753e-01 3.70075088e-03 9.89430778e-01 4.56403289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:191.29, Z:45.63 [[ 1.18610576e-01 -9.92819243e-01 -1.55396916e-02 2.15150525e+02] [ 9.82297392e-01 1.19610122e-01 -1.44170912e-01 1.91286659e+02] [ 1.44994360e-01 1.83559634e-03 9.89430779e-01 4.56348406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:191.34, Z:45.64 [[ 1.14609732e-01 -9.93289690e-01 -1.54984139e-02 2.15159357e+02] [ 9.82771361e-01 1.15645670e-01 -1.44175349e-01 1.91342693e+02] [ 1.45000212e-01 1.29250080e-03 9.89430780e-01 4.56435272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:191.39, Z:45.67 [[ 1.16052566e-01 -9.93122859e-01 -1.54527879e-02 2.15176718e+02] [ 9.82602397e-01 1.17066599e-01 -1.44180239e-01 1.91394968e+02] [ 1.44997697e-01 1.54854030e-03 9.89430781e-01 4.56668496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters Centerline goodness : 0.998395 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:191.46, Z:45.66 [[ 1.00207101e-01 -9.94847140e-01 -1.54177132e-02 2.15175792e+02] [ 9.84343608e-01 1.01383622e-01 -1.44183990e-01 1.91455282e+02] [ 1.45004134e-01 -7.28067776e-04 9.89430781e-01 4.56610335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:191.51, Z:45.67 [[ 1.00536709e-01 -9.94814537e-01 -1.53755286e-02 2.15184217e+02] [ 9.84309936e-01 1.01703636e-01 -1.44188488e-01 1.91511307e+02] [ 1.45004552e-01 -6.38049446e-04 9.89430782e-01 4.56717250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:191.57, Z:45.68 [[ 9.60988674e-02 -9.95253730e-01 -1.53303705e-02 2.15188738e+02] [ 9.84753685e-01 9.73060913e-02 -1.44193290e-01 1.91568724e+02] [ 1.45000648e-01 -1.23982703e-03 9.89430783e-01 4.56764613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:191.62, Z:45.70 [[ 1.03535873e-01 -9.94508291e-01 -1.52834025e-02 2.15205551e+02] [ 9.83998787e-01 1.04657763e-01 -1.44198268e-01 1.91621420e+02] [ 1.45005900e-01 -1.09155931e-04 9.89430784e-01 4.56993367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:191.68, Z:45.71 [[ 1.03146576e-01 -9.94549365e-01 -1.52428502e-02 2.15211779e+02] [ 9.84039673e-01 1.04266701e-01 -1.44202555e-01 1.91677177e+02] [ 1.45005881e-01 -1.25569491e-04 9.89430785e-01 4.57063514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:191.73, Z:45.71 [[ 1.03427581e-01 -9.94520910e-01 -1.51952107e-02 2.15219831e+02] [ 9.84010172e-01 1.04537829e-01 -1.44207575e-01 1.91733357e+02] [ 1.45005923e-01 -3.72012396e-05 9.89430786e-01 4.57148184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:191.79, Z:45.72 [[ 1.03224550e-01 -9.94542693e-01 -1.51500429e-02 2.15226370e+02] [ 9.84031491e-01 1.04330394e-01 -1.44212320e-01 1.91789719e+02] [ 1.45005919e-01 -2.18674971e-05 9.89430787e-01 4.57238140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:191.85, Z:45.73 [[ 1.02171736e-01 -9.94652080e-01 -1.51055056e-02 2.15232350e+02] [ 9.84141371e-01 1.03282248e-01 -1.44216985e-01 1.91845886e+02] [ 1.45005855e-01 -1.31053229e-04 9.89430788e-01 4.57321772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:191.91, Z:45.73 [[ 9.30942939e-02 -9.95543374e-01 -1.50612771e-02 2.15230684e+02] [ 9.85042500e-01 9.42942316e-02 -1.44221604e-01 1.91906217e+02] [ 1.44999054e-01 -1.40978967e-03 9.89430789e-01 4.57260472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:191.96, Z:45.73 [[ 9.37243558e-02 -9.95484927e-01 -1.50168034e-02 2.15235313e+02] [ 9.84982567e-01 9.49112046e-02 -1.44226235e-01 1.91962558e+02] [ 1.45000306e-01 -1.27377862e-03 9.89430790e-01 4.57329101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:192.02, Z:45.74 [[ 9.14813956e-02 -9.95694246e-01 -1.49707603e-02 2.15235515e+02] [ 9.85193820e-01 9.26852334e-02 -1.44231014e-01 1.92020637e+02] [ 1.44997559e-01 -1.55464610e-03 9.89430791e-01 4.57359039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:192.07, Z:45.76 [[ 1.05264682e-01 -9.94332186e-01 -1.49281538e-02 2.15252039e+02] [ 9.83815473e-01 1.06316776e-01 -1.44235424e-01 1.92072612e+02] [ 1.45005037e-01 4.96347386e-04 9.89430792e-01 4.57634608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:192.13, Z:45.77 [[ 1.09093966e-01 -9.93920058e-01 -1.48803262e-02 2.15255919e+02] [ 9.83398707e-01 1.10098602e-01 -1.44240358e-01 1.92127061e+02] [ 1.45001688e-01 1.10245920e-03 9.89430793e-01 4.57718439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:192.19, Z:45.77 [[ 1.06342646e-01 -9.94218907e-01 -1.48326494e-02 2.15253917e+02] [ 9.83699700e-01 1.07369482e-01 -1.44245261e-01 1.92185934e+02] [ 1.45003939e-01 7.48549986e-04 9.89430795e-01 4.57699991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:192.24, Z:45.79 [[ 1.14622846e-01 -9.93299029e-01 -1.47865726e-02 2.15264925e+02] [ 9.82771038e-01 1.15555309e-01 -1.44249984e-01 1.92240747e+02] [ 1.44992036e-01 2.00252839e-03 9.89430796e-01 4.57910661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:192.30, Z:45.79 [[ 1.12782750e-01 -9.93510252e-01 -1.47455398e-02 2.15263185e+02] [ 9.82983470e-01 1.13728756e-01 -1.44254179e-01 1.92300563e+02] [ 1.44994997e-01 1.77476117e-03 9.89430797e-01 4.57865271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:192.35, Z:45.81 [[ 1.20909846e-01 -9.92554570e-01 -1.47049085e-02 2.15274750e+02] [ 9.82019920e-01 1.21763766e-01 -1.44258320e-01 1.92354088e+02] [ 1.44974780e-01 3.00173819e-03 9.89430797e-01 4.58083737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:192.41, Z:45.80 [[ 1.13943831e-01 -9.93379043e-01 -1.46588022e-02 2.15272588e+02] [ 9.82850055e-01 1.14864939e-01 -1.44263005e-01 1.92414377e+02] [ 1.44991629e-01 2.03047488e-03 9.89430798e-01 4.58044406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:192.47, Z:45.81 [[ 1.09712174e-01 -9.93855931e-01 -1.46159820e-02 2.15274618e+02] [ 9.83330394e-01 1.10671900e-01 -1.44267344e-01 1.92472831e+02] [ 1.44998534e-01 1.45554456e-03 9.89430799e-01 4.58095001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:215.28, Y:192.53, Z:45.82 [[ 1.08126084e-01 -9.94030355e-01 -1.45740752e-02 2.15284189e+02] [ 9.83505801e-01 1.09096524e-01 -1.44271577e-01 1.92528829e+02] [ 1.45000308e-01 1.26583320e-03 9.89430800e-01 4.58200581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:192.58, Z:45.84 [[ 1.11352253e-01 -9.93674732e-01 -1.45328327e-02 2.15299099e+02] [ 9.83146553e-01 1.12282536e-01 -1.44275732e-01 1.92582576e+02] [ 1.44994932e-01 1.77752339e-03 9.89430801e-01 4.58417700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:215.31, Y:192.64, Z:45.85 [[ 1.07240229e-01 -9.94127590e-01 -1.44868267e-02 2.15305688e+02] [ 9.83602736e-01 1.08207385e-01 -1.44280351e-01 1.92639238e+02] [ 1.45000659e-01 1.22337546e-03 9.89430802e-01 4.58502886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:215.31, Y:192.70, Z:45.86 [[ 1.02174879e-01 -9.94661637e-01 -1.44403143e-02 2.15311791e+02] [ 9.84141194e-01 1.03188888e-01 -1.44285006e-01 1.92695656e+02] [ 1.45004841e-01 5.30994876e-04 9.89430803e-01 4.58568480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:192.75, Z:45.86 [[ 9.86393877e-02 -9.95019137e-01 -1.43940264e-02 2.15318202e+02] [ 9.84501697e-01 9.96840659e-02 -1.44289624e-01 1.92752493e+02] [ 1.45005792e-01 6.16967542e-05 9.89430804e-01 4.58641294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:192.81, Z:45.87 [[ 9.59831580e-02 -9.95279541e-01 -1.43481082e-02 2.15323884e+02] [ 9.84764251e-01 9.70492483e-02 -1.44294190e-01 1.92809116e+02] [ 1.45005529e-01 -2.79691952e-04 9.89430805e-01 4.58740429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:192.87, Z:45.87 [[ 9.10206158e-02 -9.95746307e-01 -1.43017672e-02 2.15321919e+02] [ 9.85235750e-01 9.21323953e-02 -1.44298783e-01 1.92868922e+02] [ 1.45002637e-01 -9.56448202e-04 9.89430806e-01 4.58731132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:215.33, Y:192.93, Z:45.88 [[ 9.23064087e-02 -9.95628533e-01 -1.42601462e-02 2.15325165e+02] [ 9.85115922e-01 9.33985822e-02 -1.44302897e-01 1.92926999e+02] [ 1.45003959e-01 -7.27814866e-04 9.89430807e-01 4.58794922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:192.98, Z:45.90 [[ 1.04500455e-01 -9.94423226e-01 -1.42162684e-02 2.15336231e+02] [ 9.83897441e-01 1.05457352e-01 -1.44307219e-01 1.92981241e+02] [ 1.45001661e-01 1.09281990e-03 9.89430808e-01 4.58950516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:215.33, Y:193.04, Z:45.89 [[ 9.87513858e-02 -9.95011040e-01 -1.41843211e-02 2.15331268e+02] [ 9.84490513e-01 9.97644680e-02 -1.44310359e-01 1.93041938e+02] [ 1.45005492e-01 2.86518424e-04 9.89430809e-01 4.58884358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:193.09, Z:45.91 [[ 1.09653389e-01 -9.93869275e-01 -1.41420902e-02 2.15346293e+02] [ 9.83337755e-01 1.10544947e-01 -1.44314498e-01 1.93094397e+02] [ 1.44993082e-01 1.91812250e-03 9.89430810e-01 4.59096572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:193.15, Z:45.92 [[ 1.09792997e-01 -9.93854554e-01 -1.40933632e-02 2.15352829e+02] [ 9.83322315e-01 1.10676001e-01 -1.44319257e-01 1.93151202e+02] [ 1.44992147e-01 1.98692508e-03 9.89430811e-01 4.59174676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters Centerline goodness : 0.998221 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:193.21, Z:45.91 [[ 9.19788733e-02 -9.95661856e-01 -1.40483382e-02 2.15343074e+02] [ 9.85146455e-01 9.30438057e-02 -1.44323639e-01 1.93213263e+02] [ 1.45004653e-01 -5.64944844e-04 9.89430812e-01 4.59068643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:193.27, Z:45.93 [[ 1.06246156e-01 -9.94241201e-01 -1.40067049e-02 2.15367615e+02] [ 9.83711090e-01 1.07154156e-01 -1.44327680e-01 1.93265493e+02] [ 1.44997403e-01 1.55571023e-03 9.89430813e-01 4.59346823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters Centerline goodness : 0.998461 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:193.33, Z:45.93 [[ 8.96608019e-02 -9.95874416e-01 -1.39673646e-02 2.15356656e+02] [ 9.85360315e-01 9.07384757e-02 -1.44331487e-01 1.93326626e+02] [ 1.45003413e-01 -8.22009918e-04 9.89430813e-01 4.59273500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:215.38, Y:193.38, Z:45.95 [[ 1.04026084e-01 -9.94477095e-01 -1.39241110e-02 2.15378382e+02] [ 9.83947985e-01 1.04945606e-01 -1.44335660e-01 1.93378773e+02] [ 1.44999782e-01 1.31407260e-03 9.89430814e-01 4.59516130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:193.44, Z:45.95 [[ 9.29083235e-02 -9.95577887e-01 -1.38821621e-02 2.15371725e+02] [ 9.85059111e-01 9.39393479e-02 -1.44339695e-01 1.93439045e+02] [ 1.45005489e-01 -2.64391217e-04 9.89430815e-01 4.59484966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:215.38, Y:193.49, Z:45.96 [[ 9.52381631e-02 -9.95358288e-01 -1.38409362e-02 2.15376305e+02] [ 9.84836558e-01 9.62385878e-02 -1.44343648e-01 1.93494632e+02] [ 1.45005678e-01 1.15963892e-04 9.89430816e-01 4.59583336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:193.55, Z:45.98 [[ 1.04049550e-01 -9.94476276e-01 -1.38067826e-02 2.15392451e+02] [ 9.83945674e-01 1.04951796e-01 -1.44346915e-01 1.93549163e+02] [ 1.44998629e-01 1.43410753e-03 9.89430817e-01 4.59761903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:193.61, Z:45.97 [[ 9.64662693e-02 -9.95240834e-01 -1.37819394e-02 2.15386130e+02] [ 9.84717079e-01 9.74451537e-02 -1.44349287e-01 1.93608587e+02] [ 1.45005288e-01 3.53526023e-04 9.89430817e-01 4.59717069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:193.66, Z:45.98 [[ 1.00658191e-01 -9.94826247e-01 -1.37356177e-02 2.15391811e+02] [ 9.84297868e-01 1.01586011e-01 -1.44353694e-01 1.93664567e+02] [ 1.45002191e-01 1.01044245e-03 9.89430818e-01 4.59789357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:193.72, Z:45.98 [[ 9.69084575e-02 -9.95199144e-01 -1.36899713e-02 2.15394140e+02] [ 9.84673731e-01 9.78693261e-02 -1.44358023e-01 1.93723202e+02] [ 1.45004810e-01 5.09358298e-04 9.89430819e-01 4.59816856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:193.78, Z:45.99 [[ 9.70071929e-02 -9.95190096e-01 -1.36483660e-02 2.15400283e+02] [ 9.84664040e-01 9.79609822e-02 -1.44361957e-01 1.93779257e+02] [ 1.45004597e-01 5.65093056e-04 9.89430820e-01 4.59906728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:193.84, Z:46.00 [[ 9.38245515e-02 -9.95495715e-01 -1.36100979e-02 2.15407154e+02] [ 9.84972244e-01 9.48064438e-02 -1.44365565e-01 1.93836585e+02] [ 1.45005626e-01 1.39465722e-04 9.89430821e-01 4.60000664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:193.89, Z:46.03 [[ 9.85058465e-02 -9.95043973e-01 -1.35679550e-02 2.15422476e+02] [ 9.84515462e-01 9.94321164e-02 -1.44369526e-01 1.93889591e+02] [ 1.45003117e-01 8.63380893e-04 9.89430822e-01 4.60260090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:215.43, Y:193.95, Z:46.03 [[ 9.15819784e-02 -9.95705486e-01 -1.35397763e-02 2.15429549e+02] [ 9.85183286e-01 9.25773761e-02 -1.44372168e-01 1.93945073e+02] [ 1.45005637e-01 -1.17272465e-04 9.89430822e-01 4.60343323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:215.44, Y:194.00, Z:46.04 [[ 8.61799740e-02 -9.96188221e-01 -1.34922060e-02 2.15436007e+02] [ 9.85670888e-01 8.72255350e-02 -1.44376614e-01 1.94000600e+02] [ 1.45003147e-01 -8.56501840e-04 9.89430823e-01 4.60423833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:215.44, Y:194.06, Z:46.05 [[ 8.40351311e-02 -9.96372071e-01 -1.34459439e-02 2.15441751e+02] [ 9.85856335e-01 8.50966287e-02 -1.44380923e-01 1.94056832e+02] [ 1.45001323e-01 -1.12269923e-03 9.89430824e-01 4.60508052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:194.11, Z:46.06 [[ 8.26395058e-02 -9.96489406e-01 -1.34006027e-02 2.15447350e+02] [ 9.85974498e-01 8.37091619e-02 -1.44385131e-01 1.94112939e+02] [ 1.45000007e-01 -1.28073665e-03 9.89430825e-01 4.60597452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:194.17, Z:46.07 [[ 8.42142254e-02 -9.96358174e-01 -1.33548856e-02 2.15451758e+02] [ 9.85840929e-01 8.52606379e-02 -1.44389360e-01 1.94168226e+02] [ 1.45002165e-01 -1.00615478e-03 9.89430826e-01 4.60689746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:194.22, Z:46.08 [[ 8.80777438e-02 -9.96024710e-01 -1.33074584e-02 2.15455760e+02] [ 9.85502831e-01 8.90764843e-02 -1.44393731e-01 1.94224508e+02] [ 1.45005105e-01 -3.96663927e-04 9.89430827e-01 4.60774891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:194.28, Z:46.08 [[ 9.28856509e-02 -9.95588466e-01 -1.32613222e-02 2.15458854e+02] [ 9.85061289e-01 9.38268874e-02 -1.44397968e-01 1.94280199e+02] [ 1.45005220e-01 3.49284097e-04 9.89430828e-01 4.60834026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:194.34, Z:46.09 [[ 9.90385050e-02 -9.94995875e-01 -1.32130343e-02 2.15462431e+02] [ 9.84462500e-01 9.99076383e-02 -1.44402386e-01 1.94337497e+02] [ 1.44999862e-01 1.29365965e-03 9.89430830e-01 4.60894111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:194.40, Z:46.08 [[ 8.92022794e-02 -9.95926484e-01 -1.31678174e-02 2.15452943e+02] [ 9.85401609e-01 9.01688926e-02 -1.44406510e-01 1.94398759e+02] [ 1.45005595e-01 -9.41986164e-05 9.89430831e-01 4.60785132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:194.46, Z:46.09 [[ 9.34844364e-02 -9.95534240e-01 -1.31239083e-02 2.15457923e+02] [ 9.85004751e-01 9.43994092e-02 -1.44410500e-01 1.94455633e+02] [ 1.45004487e-01 5.73022235e-04 9.89430832e-01 4.60902471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:194.51, Z:46.10 [[ 9.33346149e-02 -9.95548832e-01 -1.30833116e-02 2.15461941e+02] [ 9.85018970e-01 9.42452836e-02 -1.44414178e-01 1.94512849e+02] [ 1.45004407e-01 5.91531592e-04 9.89430832e-01 4.60978961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:194.57, Z:46.10 [[ 9.15489479e-02 -9.95715201e-01 -1.30395085e-02 2.15465180e+02] [ 9.85186431e-01 9.24721474e-02 -1.44418133e-01 1.94569950e+02] [ 1.45005122e-01 3.74981309e-04 9.89430833e-01 4.61043099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:194.62, Z:46.13 [[ 9.69003656e-02 -9.95209016e-01 -1.30128084e-02 2.15481549e+02] [ 9.84675118e-01 9.77630771e-02 -1.44420539e-01 1.94623311e+02] [ 1.45000795e-01 1.18101443e-03 9.89430834e-01 4.61276743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:215.49, Y:194.68, Z:46.14 [[ 9.12256603e-02 -9.95745774e-01 -1.29704671e-02 2.15486916e+02] [ 9.85216429e-01 9.21422645e-02 -1.44424342e-01 1.94680012e+02] [ 1.45005056e-01 3.96488641e-04 9.89430835e-01 4.61356298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:215.49, Y:194.73, Z:46.14 [[ 8.06307346e-02 -9.96660208e-01 -1.29272768e-02 2.15492656e+02] [ 9.86140598e-01 8.16530083e-02 -1.44428208e-01 1.94734944e+02] [ 1.45001399e-01 -1.10275998e-03 9.89430836e-01 4.61441866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:215.50, Y:194.79, Z:46.16 [[ 7.11104945e-02 -9.97385317e-01 -1.28773755e-02 2.15497260e+02] [ 9.86875180e-01 7.22259435e-02 -1.44432657e-01 1.94791336e+02] [ 1.44985092e-01 -2.43768455e-03 9.89430837e-01 4.61554196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:215.50, Y:194.85, Z:46.16 [[ 6.69781892e-02 -9.97671925e-01 -1.28317041e-02 2.15502470e+02] [ 9.87165773e-01 6.81305582e-02 -1.44436715e-01 1.94847572e+02] [ 1.44974686e-01 -2.99290949e-03 9.89430838e-01 4.61648080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:194.90, Z:46.17 [[ 6.43611838e-02 -9.97844746e-01 -1.27867131e-02 2.15506480e+02] [ 9.87340925e-01 6.55345962e-02 -1.44440698e-01 1.94904438e+02] [ 1.44967364e-01 -3.32847086e-03 9.89430839e-01 4.61731159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:194.96, Z:46.18 [[ 6.51646671e-02 -9.97793189e-01 -1.27404000e-02 2.15508769e+02] [ 9.87287686e-01 6.63229199e-02 -1.44444783e-01 1.94960220e+02] [ 1.44971001e-01 -3.16574385e-03 9.89430840e-01 4.61810006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:195.02, Z:46.19 [[ 6.77007885e-02 -9.97624772e-01 -1.27050288e-02 2.15511072e+02] [ 9.87115809e-01 6.88272136e-02 -1.44447894e-01 1.95016625e+02] [ 1.44979249e-01 -2.76209844e-03 9.89430841e-01 4.61890637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:195.07, Z:46.20 [[ 7.28239396e-02 -9.97264455e-01 -1.26602332e-02 2.15512122e+02] [ 9.86749186e-01 7.38898860e-02 -1.44451820e-01 1.95073049e+02] [ 1.44992129e-01 -1.97292417e-03 9.89430842e-01 4.61977183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.13, Z:46.21 [[ 7.48575954e-02 -9.97114434e-01 -1.26152723e-02 2.15515837e+02] [ 9.86596370e-01 7.58955821e-02 -1.44455747e-01 1.95129285e+02] [ 1.44996354e-01 -1.63257201e-03 9.89430843e-01 4.62061318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.19, Z:46.21 [[ 8.17691921e-02 -9.96572028e-01 -1.25695329e-02 2.15516465e+02] [ 9.86046415e-01 8.27275980e-02 -1.44459727e-01 1.95186273e+02] [ 1.45004370e-01 -5.81787726e-04 9.89430844e-01 4.62130081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.24, Z:46.22 [[ 8.72506926e-02 -9.96107657e-01 -1.25241071e-02 2.15518221e+02] [ 9.85576370e-01 8.81445883e-02 -1.44463665e-01 1.95243174e+02] [ 1.45005295e-01 2.61090776e-04 9.89430845e-01 4.62192412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.30, Z:46.23 [[ 9.15474705e-02 -9.95722519e-01 -1.24790014e-02 2.15520105e+02] [ 9.85186950e-01 9.23893779e-02 -1.44467561e-01 1.95300177e+02] [ 1.45002531e-01 9.31490473e-04 9.89430846e-01 4.62265802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.36, Z:46.24 [[ 9.57440646e-02 -9.95328317e-01 -1.24344669e-02 2.15521868e+02] [ 9.84788806e-01 9.65350892e-02 -1.44471395e-01 1.95357456e+02] [ 1.44996832e-01 1.58695472e-03 9.89430847e-01 4.62355669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.42, Z:46.23 [[ 8.87038666e-02 -9.95980949e-01 -1.23924998e-02 2.15515406e+02] [ 9.85446797e-01 8.95633071e-02 -1.44474995e-01 1.95417652e+02] [ 1.45004255e-01 6.03341386e-04 9.89430847e-01 4.62291632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters Centerline goodness : 0.998272 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:195.47, Z:46.23 [[ 8.73027205e-02 -9.96105268e-01 -1.23503229e-02 2.15512334e+02] [ 9.85571831e-01 8.81708613e-02 -1.44478600e-01 1.95474857e+02] [ 1.45004833e-01 4.41244432e-04 9.89430848e-01 4.62334459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:195.53, Z:46.24 [[ 9.34275792e-02 -9.95549951e-01 -1.23119165e-02 2.15521799e+02] [ 9.85010951e-01 9.42253448e-02 -1.44481873e-01 1.95532140e+02] [ 1.44999016e-01 1.37121905e-03 9.89430849e-01 4.62446480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:195.59, Z:46.27 [[ 1.04992630e-01 -9.94397261e-01 -1.22733329e-02 2.15537622e+02] [ 9.83849344e-01 1.05662243e-01 -1.44485151e-01 1.95585474e+02] [ 1.44972466e-01 3.09476543e-03 9.89430850e-01 4.62691237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:195.64, Z:46.28 [[ 1.07991104e-01 -9.94076612e-01 -1.22315213e-02 2.15543454e+02] [ 9.83526359e-01 1.08622829e-01 -1.44488690e-01 1.95640797e+02] [ 1.44961450e-01 3.57346947e-03 9.89430851e-01 4.62757035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:195.70, Z:46.27 [[ 1.01956025e-01 -9.94714309e-01 -1.21824587e-02 2.15540029e+02] [ 9.84167618e-01 1.02644644e-01 -1.44492827e-01 1.95701271e+02] [ 1.44979547e-01 2.74233289e-03 9.89430852e-01 4.62701675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:195.76, Z:46.29 [[ 1.10779690e-01 -9.93770630e-01 -1.21570955e-02 2.15556308e+02] [ 9.83218036e-01 1.11370999e-01 -1.44494961e-01 1.95755418e+02] [ 1.44948796e-01 4.05403133e-03 9.89430852e-01 4.62924815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:195.81, Z:46.30 [[ 1.12409555e-01 -9.93588086e-01 -1.21163961e-02 2.15563433e+02] [ 9.83034217e-01 1.12977641e-01 -1.44498374e-01 1.95811751e+02] [ 1.44940744e-01 4.33216590e-03 9.89430853e-01 4.63005150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:195.87, Z:46.31 [[ 1.12301949e-01 -9.93600818e-01 -1.20700645e-02 2.15569752e+02] [ 9.83046651e-01 1.12864447e-01 -1.44502244e-01 1.95868567e+02] [ 1.44939829e-01 4.36244714e-03 9.89430854e-01 4.63087193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:195.93, Z:46.30 [[ 9.81907069e-02 -9.95094974e-01 -1.20240416e-02 2.15562113e+02] [ 9.84549404e-01 9.88962376e-02 -1.44506073e-01 1.95929579e+02] [ 1.44986400e-01 2.35089051e-03 9.89430855e-01 4.62987598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:195.98, Z:46.33 [[ 1.08904099e-01 -9.93979886e-01 -1.19951580e-02 2.15583271e+02] [ 9.83427094e-01 1.09491797e-01 -1.44508471e-01 1.95981141e+02] [ 1.44951885e-01 3.94120148e-03 9.89430856e-01 4.63256159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:196.04, Z:46.33 [[ 1.04046428e-01 -9.94500542e-01 -1.19587588e-02 2.15591703e+02] [ 9.83950429e-01 1.04680391e-01 -1.44511483e-01 1.96036763e+02] [ 1.44968596e-01 3.26907780e-03 9.89430856e-01 4.63328185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:196.09, Z:46.34 [[ 9.96374513e-02 -9.94952532e-01 -1.19095826e-02 2.15598459e+02] [ 9.84404875e-01 1.00311029e-01 -1.44515536e-01 1.96092875e+02] [ 1.44980761e-01 2.67530852e-03 9.89430857e-01 4.63400306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:196.15, Z:46.33 [[ 8.35477167e-02 -9.96433167e-01 -1.18626519e-02 2.15597536e+02] [ 9.85897229e-01 8.43848322e-02 -1.44519389e-01 1.96152650e+02] [ 1.45004940e-01 3.78909248e-04 9.89430859e-01 4.63325616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:215.61, Y:196.21, Z:46.34 [[ 7.48255662e-02 -9.97126608e-01 -1.18178525e-02 2.15606364e+02] [ 9.86597829e-01 7.57483479e-02 -1.44523052e-01 1.96210010e+02] [ 1.45002963e-01 -8.45448429e-04 9.89430860e-01 4.63408259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:215.62, Y:196.26, Z:46.37 [[ 7.95333643e-02 -9.96762640e-01 -1.17764086e-02 2.15623722e+02] [ 9.86229124e-01 8.04004076e-02 -1.44526429e-01 1.96262289e+02] [ 1.45005373e-01 -1.19564003e-04 9.89430860e-01 4.63660558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:215.62, Y:196.32, Z:46.36 [[ 6.46734708e-02 -9.97837336e-01 -1.17470849e-02 2.15621708e+02] [ 9.87317496e-01 6.56931137e-02 -1.44528813e-01 1.96320914e+02] [ 1.44987948e-01 -2.25092248e-03 9.89430861e-01 4.63608294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:196.37, Z:46.38 [[ 6.83950165e-02 -9.97589698e-01 -1.17011029e-02 2.15637397e+02] [ 9.87065511e-01 6.93687516e-02 -1.44532535e-01 1.96374374e+02] [ 1.44995859e-01 -1.66444998e-03 9.89430862e-01 4.63833111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:196.44, Z:46.37 [[ 5.44852758e-02 -9.98446511e-01 -1.16584829e-02 2.15630784e+02] [ 9.87936261e-01 5.55994230e-02 -1.44535973e-01 1.96435387e+02] [ 1.44959643e-01 -3.64275564e-03 9.89430863e-01 4.63730735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:196.49, Z:46.40 [[ 6.59131472e-02 -9.97757729e-01 -1.16177408e-02 2.15647059e+02] [ 9.87234858e-01 6.69009862e-02 -1.44539248e-01 1.96488755e+02] [ 1.44992390e-01 -1.94240190e-03 9.89430864e-01 4.63979079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:196.55, Z:46.40 [[ 7.04565559e-02 -9.97447649e-01 -1.15784409e-02 2.15649434e+02] [ 9.86919882e-01 7.13907657e-02 -1.44542396e-01 1.96545488e+02] [ 1.45000067e-01 -1.24303410e-03 9.89430864e-01 4.64043131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:196.60, Z:46.41 [[ 7.33599054e-02 -9.97238835e-01 -1.15338948e-02 2.15652410e+02] [ 9.86707842e-01 7.42570076e-02 -1.44545951e-01 1.96601961e+02] [ 1.45003308e-01 -7.76707112e-04 9.89430865e-01 4.64117919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:196.66, Z:46.41 [[ 6.88732255e-02 -9.97559260e-01 -1.14892205e-02 2.15646667e+02] [ 9.87031831e-01 6.98112181e-02 -1.44549502e-01 1.96662232e+02] [ 1.44998771e-01 -1.38463591e-03 9.89430866e-01 4.64079875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:196.72, Z:46.43 [[ 7.73882036e-02 -9.96935333e-01 -1.14459011e-02 2.15658049e+02] [ 9.86399776e-01 7.82299942e-02 -1.44552932e-01 1.96716661e+02] [ 1.45005338e-01 -1.03542562e-04 9.89430867e-01 4.64287267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:196.77, Z:46.44 [[ 7.75959812e-02 -9.96919486e-01 -1.14193654e-02 2.15660054e+02] [ 9.86383449e-01 7.84317282e-02 -1.44555028e-01 1.96773158e+02] [ 1.45005365e-01 -4.69837972e-05 9.89430868e-01 4.64394710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:196.83, Z:46.45 [[ 7.66549037e-02 -9.96992820e-01 -1.13728783e-02 2.15662297e+02] [ 9.86457038e-01 7.74938556e-02 -1.44558686e-01 1.96829693e+02] [ 1.45005300e-01 -1.37723678e-04 9.89430869e-01 4.64483471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:196.89, Z:46.46 [[ 7.48418590e-02 -9.97131095e-01 -1.13259201e-02 2.15665236e+02] [ 9.86596305e-01 7.56931598e-02 -1.44562365e-01 1.96885232e+02] [ 1.45004924e-01 -3.54794758e-04 9.89430870e-01 4.64562013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:196.95, Z:46.45 [[ 6.08060163e-02 -9.98085888e-01 -1.12778334e-02 2.15654167e+02] [ 9.87563459e-01 6.17984816e-02 -1.44566117e-01 1.96946400e+02] [ 1.44986354e-01 -2.34708648e-03 9.89430871e-01 4.64457483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.00, Z:46.47 [[ 6.99862940e-02 -9.97484684e-01 -1.12349760e-02 2.15668238e+02] [ 9.86953044e-01 7.08756950e-02 -1.44569447e-01 1.96999385e+02] [ 1.45002096e-01 -9.70513940e-04 9.89430872e-01 4.64703948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.06, Z:46.48 [[ 6.85471879e-02 -9.97585066e-01 -1.11946217e-02 2.15670701e+02] [ 9.87054220e-01 6.94459337e-02 -1.44572572e-01 1.97056044e+02] [ 1.45000860e-01 -1.13965536e-03 9.89430873e-01 4.64786967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.11, Z:46.49 [[ 6.71209572e-02 -9.97682553e-01 -1.11489798e-02 2.15672544e+02] [ 9.87152433e-01 6.80281437e-02 -1.44576092e-01 1.97113393e+02] [ 1.44999489e-01 -1.30165683e-03 9.89430874e-01 4.64884428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.17, Z:46.50 [[ 6.59444009e-02 -9.97761482e-01 -1.11067875e-02 2.15673119e+02] [ 9.87231907e-01 6.68578912e-02 -1.44579333e-01 1.97170232e+02] [ 1.44998266e-01 -1.43077746e-03 9.89430875e-01 4.64974888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:197.23, Z:46.49 [[ 5.49569446e-02 -9.98427439e-01 -1.10626974e-02 2.15663047e+02] [ 9.87907936e-01 5.59799083e-02 -1.44582707e-01 1.97230829e+02] [ 1.44974631e-01 -2.98310276e-03 9.89430876e-01 4.64893236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.28, Z:46.51 [[ 6.72690679e-02 -9.97674016e-01 -1.10195794e-02 2.15672952e+02] [ 9.87142167e-01 6.81559399e-02 -1.44585993e-01 1.97284118e+02] [ 1.45000738e-01 -1.15172648e-03 9.89430877e-01 4.65137753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.34, Z:46.52 [[ 6.79278115e-02 -9.97629845e-01 -1.09774488e-02 2.15671220e+02] [ 9.87096906e-01 6.88016235e-02 -1.44589192e-01 1.97341058e+02] [ 1.45001760e-01 -1.01417835e-03 9.89430877e-01 4.65211609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.40, Z:46.53 [[ 6.72259461e-02 -9.97677888e-01 -1.09317888e-02 2.15672030e+02] [ 9.87145016e-01 6.81005510e-02 -1.44592644e-01 1.97397170e+02] [ 1.45001345e-01 -1.07088348e-03 9.89430878e-01 4.65287989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.45, Z:46.54 [[ 6.60327036e-02 -9.97757959e-01 -1.08966601e-02 2.15671818e+02] [ 9.87225713e-01 6.69148144e-02 -1.44595292e-01 1.97454178e+02] [ 1.45000251e-01 -1.20944502e-03 9.89430879e-01 4.65375215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.51, Z:46.54 [[ 6.62572182e-02 -9.97743569e-01 -1.08513830e-02 2.15671045e+02] [ 9.87210580e-01 6.71303977e-02 -1.44598690e-01 1.97510927e+02] [ 1.45000870e-01 -1.13189317e-03 9.89430880e-01 4.65446177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.57, Z:46.55 [[ 6.71531102e-02 -9.97684158e-01 -1.08065294e-02 2.15671693e+02] [ 9.87149859e-01 6.80103307e-02 -1.44602042e-01 1.97567332e+02] [ 1.45002122e-01 -9.57187073e-04 9.89430881e-01 4.65516778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.62, Z:46.56 [[ 6.98849467e-02 -9.97496895e-01 -1.07721206e-02 2.15672526e+02] [ 9.86959898e-01 7.07083285e-02 -1.44604605e-01 1.97624022e+02] [ 1.45004323e-01 -5.25965932e-04 9.89430882e-01 4.65617888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.68, Z:46.57 [[ 7.21069117e-02 -9.97339217e-01 -1.07274976e-02 2.15673727e+02] [ 9.86799924e-01 7.29003481e-02 -1.44607916e-01 1.97680380e+02] [ 1.45005184e-01 -1.58663633e-04 9.89430883e-01 4.65704628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.74, Z:46.58 [[ 7.76931469e-02 -9.96920083e-01 -1.06828622e-02 2.15673474e+02] [ 9.86376062e-01 7.84210523e-02 -1.44611213e-01 1.97737387e+02] [ 1.45003584e-01 6.97980634e-04 9.89430884e-01 4.65778863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.79, Z:46.58 [[ 8.47572306e-02 -9.96344858e-01 -1.06364947e-02 2.15674883e+02] [ 9.85795530e-01 8.54036542e-02 -1.44614624e-01 1.97793095e+02] [ 1.44994432e-01 1.77172611e-03 9.89430885e-01 4.65847820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:215.68, Y:197.85, Z:46.59 [[ 8.87650247e-02 -9.95996315e-01 -1.05881989e-02 2.15677763e+02] [ 9.85444074e-01 8.93619906e-02 -1.44618160e-01 1.97850458e+02] [ 1.44985337e-01 2.40295667e-03 9.89430886e-01 4.65913138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:197.91, Z:46.58 [[ 8.63887409e-02 -9.96205720e-01 -1.05427589e-02 2.15672976e+02] [ 9.85654546e-01 8.70042832e-02 -1.44621472e-01 1.97911191e+02] [ 1.44990003e-01 2.10214864e-03 9.89430887e-01 4.65806014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:197.97, Z:46.60 [[ 9.92219924e-02 -9.95009773e-01 -1.05141603e-02 2.15686861e+02] [ 9.84451355e-01 9.96973323e-02 -1.44623552e-01 1.97966237e+02] [ 1.44950081e-01 3.99915762e-03 9.89430887e-01 4.65962135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:198.02, Z:46.61 [[ 1.03020351e-01 -9.94624178e-01 -1.04666585e-02 2.15694236e+02] [ 9.84063741e-01 1.03448474e-01 -1.44626990e-01 1.98020362e+02] [ 1.44932261e-01 4.59966407e-03 9.89430888e-01 4.66123397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:198.08, Z:46.62 [[ 1.04774096e-01 -9.94441552e-01 -1.04110258e-02 2.15704386e+02] [ 9.83880067e-01 1.05175514e-01 -1.44630994e-01 1.98076027e+02] [ 1.44922055e-01 4.91038088e-03 9.89430890e-01 4.66215245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:198.13, Z:46.63 [[ 1.05879841e-01 -9.94324904e-01 -1.03655937e-02 2.15712885e+02] [ 9.83762739e-01 1.06262914e-01 -1.44634251e-01 1.98133463e+02] [ 1.44914915e-01 5.11656658e-03 9.89430891e-01 4.66305746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:215.72, Y:198.19, Z:46.63 [[ 1.04844744e-01 -9.94435020e-01 -1.03232892e-02 2.15719845e+02] [ 9.83873034e-01 1.05232666e-01 -1.44637270e-01 1.98192545e+02] [ 1.44918714e-01 5.00765166e-03 9.89430892e-01 4.66286739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:198.25, Z:46.64 [[ 1.05556031e-01 -9.94360211e-01 -1.02807759e-02 2.15730119e+02] [ 9.83797730e-01 1.05930222e-01 -1.44640292e-01 1.98247987e+02] [ 1.44913596e-01 5.15345113e-03 9.89430893e-01 4.66360971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:215.74, Y:198.30, Z:46.64 [[ 1.04433290e-01 -9.94479134e-01 -1.02440457e-02 2.15739489e+02] [ 9.83916889e-01 1.04814070e-01 -1.44642893e-01 1.98304253e+02] [ 1.44918060e-01 5.02624363e-03 9.89430893e-01 4.66441096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:198.36, Z:46.65 [[ 1.01343625e-01 -9.94799208e-01 -1.01982615e-02 2.15750698e+02] [ 9.84237940e-01 1.01750563e-01 -1.44646122e-01 1.98360150e+02] [ 1.44931526e-01 4.62144640e-03 9.89430895e-01 4.66547470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:198.41, Z:46.67 [[ 9.62733633e-02 -9.95303197e-01 -1.01481446e-02 2.15763129e+02] [ 9.84743826e-01 9.67268324e-02 -1.44649638e-01 1.98413486e+02] [ 1.44951845e-01 3.93258435e-03 9.89430896e-01 4.66722868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:198.47, Z:46.68 [[ 9.10563036e-02 -9.95794567e-01 -1.00959985e-02 2.15770535e+02] [ 9.85237356e-01 9.15575302e-02 -1.44653278e-01 1.98469526e+02] [ 1.44969313e-01 3.22463792e-03 9.89430897e-01 4.66822730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:198.53, Z:46.69 [[ 8.39178532e-02 -9.96421989e-01 -1.00505956e-02 2.15777071e+02] [ 9.85868283e-01 8.44881327e-02 -1.44656432e-01 1.98525931e+02] [ 1.44988006e-01 2.23069377e-03 9.89430898e-01 4.66919553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:198.58, Z:46.70 [[ 7.95135455e-02 -9.96783564e-01 -1.00061757e-02 2.15782741e+02] [ 9.86232108e-01 8.01240138e-02 -1.44659505e-01 1.98582842e+02] [ 1.44995952e-01 1.63397842e-03 9.89430899e-01 4.66997030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:198.64, Z:46.71 [[ 7.77795162e-02 -9.96920824e-01 -9.96078268e-03 2.15788916e+02] [ 9.86370057e-01 7.84017516e-02 -1.44662631e-01 1.98638456e+02] [ 1.44998132e-01 1.42677165e-03 9.89430900e-01 4.67084402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:198.70, Z:46.72 [[ 7.77179169e-02 -9.96926101e-01 -9.91334066e-03 2.15792641e+02] [ 9.86374969e-01 7.83339206e-02 -1.44665882e-01 1.98695176e+02] [ 1.44997744e-01 1.46485990e-03 9.89430901e-01 4.67168577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:198.75, Z:46.72 [[ 7.93044551e-02 -9.96801604e-01 -9.86740082e-03 2.15794802e+02] [ 9.86249130e-01 7.98969992e-02 -1.44669015e-01 1.98751226e+02] [ 1.44994682e-01 1.74118196e-03 9.89430902e-01 4.67233843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:198.81, Z:46.72 [[ 7.31293525e-02 -9.97274119e-01 -9.81983259e-03 2.15791034e+02] [ 9.86725090e-01 7.37803406e-02 -1.44672244e-01 1.98811099e+02] [ 1.45002396e-01 8.90312362e-04 9.89430903e-01 4.67208055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:215.80, Y:198.87, Z:46.74 [[ 8.04046844e-02 -9.96714330e-01 -9.77909698e-03 2.15802848e+02] [ 9.86160512e-01 8.09727653e-02 -1.44674998e-01 1.98865330e+02] [ 1.44991484e-01 1.98878826e-03 9.89430904e-01 4.67408627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:198.92, Z:46.75 [[ 7.90841115e-02 -9.96820391e-01 -9.73708153e-03 2.15805553e+02] [ 9.86267002e-01 7.96600772e-02 -1.44677826e-01 1.98920179e+02] [ 1.44993464e-01 1.83835510e-03 9.89430905e-01 4.67481573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:198.97, Z:46.75 [[ 7.90071868e-02 -9.96826995e-01 -9.68540980e-03 2.15808105e+02] [ 9.86273244e-01 7.95764685e-02 -1.44681285e-01 1.98974905e+02] [ 1.44992941e-01 1.87840076e-03 9.89430906e-01 4.67546761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:215.80, Y:199.03, Z:46.75 [[ 7.45266964e-02 -9.97172468e-01 -9.63537241e-03 2.15803594e+02] [ 9.86620962e-01 7.51361409e-02 -1.44684617e-01 1.99033248e+02] [ 1.44999482e-01 1.27640617e-03 9.89430908e-01 4.67538782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:199.09, Z:46.77 [[ 8.38189524e-02 -9.96434859e-01 -9.58935321e-03 2.15811672e+02] [ 9.85877809e-01 8.43233309e-02 -1.44687668e-01 1.99088152e+02] [ 1.44980442e-01 2.67363820e-03 9.89430909e-01 4.67680546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:199.15, Z:46.77 [[ 7.99075355e-02 -9.96756561e-01 -9.54693395e-03 2.15806930e+02] [ 9.86201257e-01 8.04471878e-02 -1.44690467e-01 1.99147916e+02] [ 1.44989196e-01 2.14666033e-03 9.89430910e-01 4.67675466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:199.20, Z:46.77 [[ 8.01576313e-02 -9.96736729e-01 -9.52084373e-03 2.15809033e+02] [ 9.86181099e-01 8.06908486e-02 -1.44692183e-01 1.99203485e+02] [ 1.44988259e-01 2.20890656e-03 9.89430910e-01 4.67743992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:199.26, Z:46.78 [[ 7.79203072e-02 -9.96914598e-01 -9.47151243e-03 2.15811590e+02] [ 9.86359817e-01 7.84700560e-02 -1.44695413e-01 1.99260658e+02] [ 1.44992199e-01 1.93239175e-03 9.89430911e-01 4.67825893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:199.32, Z:46.80 [[ 8.51036062e-02 -9.96327478e-01 -9.43045174e-03 2.15824443e+02] [ 9.85768743e-01 8.55713058e-02 -1.44698089e-01 1.99315678e+02] [ 1.44973658e-01 3.01808462e-03 9.89430912e-01 4.68026777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:199.37, Z:46.81 [[ 8.63360210e-02 -9.96221837e-01 -9.38840850e-03 2.15828287e+02] [ 9.85662272e-01 8.67845552e-02 -1.44700817e-01 1.99372880e+02] [ 1.44968883e-01 3.23909272e-03 9.89430913e-01 4.68090934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:199.43, Z:46.82 [[ 8.64612187e-02 -9.96211414e-01 -9.34219899e-03 2.15832639e+02] [ 9.85651511e-01 8.69017172e-02 -1.44703800e-01 1.99429694e+02] [ 1.44967431e-01 3.30311438e-03 9.89430914e-01 4.68166352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:199.49, Z:46.82 [[ 8.59074340e-02 -9.96259759e-01 -9.29544896e-03 2.15837496e+02] [ 9.85699819e-01 8.63470156e-02 -1.44706804e-01 1.99486723e+02] [ 1.44968200e-01 3.26886782e-03 9.89430915e-01 4.68242485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:199.54, Z:46.83 [[ 8.41271505e-02 -9.96412100e-01 -9.24934903e-03 2.15843528e+02] [ 9.85852675e-01 8.45789081e-02 -1.44709750e-01 1.99542818e+02] [ 1.44972846e-01 3.05552346e-03 9.89430916e-01 4.68334298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:199.60, Z:46.83 [[ 7.47665257e-02 -9.97158594e-01 -9.20354250e-03 2.15843774e+02] [ 9.86603533e-01 7.53107760e-02 -1.44712664e-01 1.99601257e+02] [ 1.44994602e-01 1.73941553e-03 9.89430917e-01 4.68331901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:199.66, Z:46.85 [[ 7.71883926e-02 -9.96974465e-01 -9.15791701e-03 2.15856506e+02] [ 9.86417792e-01 7.77003820e-02 -1.44715551e-01 1.99656210e+02] [ 1.44989283e-01 2.13682850e-03 9.89430918e-01 4.68513705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:199.71, Z:46.86 [[ 7.32154879e-02 -9.97274509e-01 -9.11298025e-03 2.15862591e+02] [ 9.86719620e-01 7.37630146e-02 -1.44718381e-01 1.99711672e+02] [ 1.44996153e-01 1.60367046e-03 9.89430919e-01 4.68585637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:199.77, Z:46.87 [[ 6.93736832e-02 -9.97549549e-01 -9.06581524e-03 2.15867519e+02] [ 9.86996469e-01 6.99550186e-02 -1.44721336e-01 1.99767537e+02] [ 1.45000902e-01 1.09192445e-03 9.89430920e-01 4.68664530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:199.82, Z:46.87 [[ 6.39218464e-02 -9.97914163e-01 -9.01780171e-03 2.15873055e+02] [ 9.87363999e-01 6.45538740e-02 -1.44724328e-01 1.99823542e+02] [ 1.45004590e-01 3.47193483e-04 9.89430921e-01 4.68749295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:199.88, Z:46.88 [[ 5.97915355e-02 -9.98170566e-01 -8.97184341e-03 2.15877447e+02] [ 9.87622684e-01 6.04605549e-02 -1.44727177e-01 1.99879552e+02] [ 1.45004851e-01 -2.07335945e-04 9.89430922e-01 4.68830721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:199.94, Z:46.89 [[ 5.79083262e-02 -9.98281904e-01 -8.93677419e-03 2.15881836e+02] [ 9.87734973e-01 5.85921594e-02 -1.44729342e-01 1.99936104e+02] [ 1.45004308e-01 -4.46130455e-04 9.89430923e-01 4.68915850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:199.99, Z:46.90 [[ 5.89019004e-02 -9.98224171e-01 -8.89219344e-03 2.15885219e+02] [ 9.87676154e-01 5.95687722e-02 -1.44732081e-01 1.99992778e+02] [ 1.45004759e-01 -2.57612768e-04 9.89430924e-01 4.69005375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:200.05, Z:46.91 [[ 6.20108382e-02 -9.98036143e-01 -8.86077197e-03 2.15886912e+02] [ 9.87485828e-01 6.26402956e-02 -1.44734005e-01 2.00048885e+02] [ 1.45004810e-01 2.25190232e-04 9.89430925e-01 4.69102158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:200.11, Z:46.92 [[ 6.53079527e-02 -9.97826221e-01 -8.81493288e-03 2.15889829e+02] [ 9.87273513e-01 6.58959002e-02 -1.44736797e-01 2.00105889e+02] [ 1.45003039e-01 7.49714145e-04 9.89430926e-01 4.69179003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:200.16, Z:46.93 [[ 6.95268745e-02 -9.97541513e-01 -8.77176633e-03 2.15892649e+02] [ 9.86986093e-01 7.00639298e-02 -1.44739413e-01 2.00162494e+02] [ 1.44998158e-01 1.40566763e-03 9.89430927e-01 4.69261511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:200.22, Z:46.92 [[ 6.31348240e-02 -9.97966867e-01 -8.72503080e-03 2.15887026e+02] [ 9.87414719e-01 6.37327121e-02 -1.44742231e-01 2.00222741e+02] [ 1.45004020e-01 5.23051418e-04 9.89430928e-01 4.69208902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:200.28, Z:46.93 [[ 6.04239271e-02 -9.98135049e-01 -8.68180450e-03 2.15886065e+02] [ 9.87584194e-01 6.10442061e-02 -1.44744823e-01 2.00279443e+02] [ 1.45004855e-01 1.72037759e-04 9.89430929e-01 4.69289877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:215.90, Y:200.33, Z:46.95 [[ 7.14148233e-02 -9.97409150e-01 -8.65507014e-03 2.15903179e+02] [ 9.86851919e-01 7.19149668e-02 -1.44746422e-01 2.00333848e+02] [ 1.44993835e-01 1.79576758e-03 9.89430929e-01 4.69501027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:215.91, Y:200.39, Z:46.96 [[ 6.96604540e-02 -9.97533587e-01 -8.61188983e-03 2.15906051e+02] [ 9.86976947e-01 7.01729000e-02 -1.44748991e-01 2.00391020e+02] [ 1.44996302e-01 1.58354372e-03 9.89430930e-01 4.69570621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:215.91, Y:200.45, Z:46.97 [[ 6.68342193e-02 -9.97727320e-01 -8.56631328e-03 2.15910759e+02] [ 9.87171838e-01 6.73699577e-02 -1.44751689e-01 2.00447212e+02] [ 1.44999827e-01 1.21794287e-03 9.89430931e-01 4.69652615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:200.50, Z:46.97 [[ 6.21827835e-02 -9.98028403e-01 -8.52103525e-03 2.15915661e+02] [ 9.87475172e-01 6.27611515e-02 -1.44754354e-01 2.00504092e+02] [ 1.45003747e-01 5.86917910e-04 9.89430932e-01 4.69737940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:200.56, Z:46.98 [[ 5.74700985e-02 -9.98311249e-01 -8.47575639e-03 2.15920235e+02] [ 9.87760478e-01 5.80917195e-02 -1.44757005e-01 2.00560391e+02] [ 1.45004918e-01 -5.28178265e-05 9.89430933e-01 4.69828926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:200.62, Z:46.99 [[ 5.07939221e-02 -9.98673574e-01 -8.43035743e-03 2.15923945e+02] [ 9.88126766e-01 5.14794933e-02 -1.44759649e-01 2.00617112e+02] [ 1.45001627e-01 -9.77351464e-04 9.89430934e-01 4.69911050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:200.67, Z:47.00 [[ 4.69628877e-02 -9.98861438e-01 -8.38544254e-03 2.15926812e+02] [ 9.88316892e-01 4.76824001e-02 -1.44762251e-01 2.00673644e+02] [ 1.44997268e-01 -1.48902117e-03 9.89430935e-01 4.69995278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:200.73, Z:47.01 [[ 4.46785940e-02 -9.98966590e-01 -8.34118394e-03 2.15929989e+02] [ 9.88423268e-01 4.54158049e-02 -1.44764802e-01 2.00729793e+02] [ 1.44994022e-01 -1.77673249e-03 9.89430936e-01 4.70100209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:200.79, Z:47.02 [[ 4.53219604e-02 -9.98937986e-01 -8.29582961e-03 2.15931697e+02] [ 9.88393739e-01 4.60458089e-02 -1.44767401e-01 2.00785043e+02] [ 1.44995644e-01 -1.63840364e-03 9.89430937e-01 4.70183195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:200.84, Z:47.03 [[ 4.89409948e-02 -9.98767614e-01 -8.24816684e-03 2.15931570e+02] [ 9.88220368e-01 4.96197266e-02 -1.44770116e-01 2.00841746e+02] [ 1.45000976e-01 -1.06581296e-03 9.89430938e-01 4.70276911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:200.90, Z:47.02 [[ 4.51311916e-02 -9.98947384e-01 -8.20360852e-03 2.15923536e+02] [ 9.88402367e-01 4.58436904e-02 -1.44772642e-01 2.00901919e+02] [ 1.44996335e-01 -1.57470426e-03 9.89430939e-01 4.70248314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:200.96, Z:47.04 [[ 5.57982431e-02 -9.98408716e-01 -8.16043949e-03 2.15933687e+02] [ 9.87856336e-01 5.63918117e-02 -1.44775075e-01 2.00956101e+02] [ 1.45004879e-01 1.68529773e-05 9.89430940e-01 4.70433313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.01, Z:47.05 [[ 5.74170533e-02 -9.98317294e-01 -8.11563326e-03 2.15935409e+02] [ 9.87763614e-01 5.79870130e-02 -1.44777587e-01 2.01012839e+02] [ 1.45004570e-01 2.96375186e-04 9.89430941e-01 4.70511222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:201.07, Z:47.05 [[ 5.38789308e-02 -9.98514861e-01 -8.07055979e-03 2.15930333e+02] [ 9.87962894e-01 5.44797509e-02 -1.44780099e-01 2.01072567e+02] [ 1.45004763e-01 -1.72816644e-04 9.89430942e-01 4.70509691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.13, Z:47.07 [[ 6.09949608e-02 -9.98105782e-01 -8.02892888e-03 2.15939497e+02] [ 9.87549502e-01 6.15145128e-02 -1.44782408e-01 2.01128462e+02] [ 1.45002054e-01 9.02032603e-04 9.89430943e-01 4.70655458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.18, Z:47.07 [[ 6.05380183e-02 -9.98133932e-01 -7.98760609e-03 2.15941579e+02] [ 9.87577596e-01 6.10564091e-02 -1.44784688e-01 2.01184682e+02] [ 1.45002205e-01 8.76597282e-04 9.89430944e-01 4.70740047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.24, Z:47.08 [[ 5.47570692e-02 -9.98468123e-01 -7.94165379e-03 2.15937005e+02] [ 9.87914604e-01 5.53299168e-02 -1.44787209e-01 2.01243881e+02] [ 1.45004824e-01 8.24474472e-05 9.89430945e-01 4.70766153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.30, Z:47.09 [[ 6.11259069e-02 -9.98098792e-01 -7.90093055e-03 2.15945391e+02] [ 9.87541552e-01 6.16255071e-02 -1.44789431e-01 2.01298834e+02] [ 1.45001055e-01 1.04788806e-03 9.89430946e-01 4.70925375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.36, Z:47.09 [[ 5.48318644e-02 -9.98464687e-01 -7.85715503e-03 2.15939581e+02] [ 9.87910470e-01 5.53916681e-02 -1.44791807e-01 2.01356781e+02] [ 1.45004727e-01 1.77038994e-04 9.89430946e-01 4.70924706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.41, Z:47.11 [[ 6.21398984e-02 -9.98036883e-01 -7.81113916e-03 2.15947704e+02] [ 9.87478548e-01 6.26157470e-02 -1.44794289e-01 2.01411036e+02] [ 1.44999141e-01 1.28417006e-03 9.89430948e-01 4.71086297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.47, Z:47.12 [[ 6.30601231e-02 -9.97979534e-01 -7.76343045e-03 2.15949031e+02] [ 9.87420462e-01 6.35193148e-02 -1.44796847e-01 2.01467892e+02] [ 1.44997418e-01 1.46513693e-03 9.89430949e-01 4.71169717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.53, Z:47.12 [[ 6.54590446e-02 -9.97825408e-01 -7.71811402e-03 2.15949320e+02] [ 9.87264996e-01 6.58862764e-02 -1.44799263e-01 2.01525111e+02] [ 1.44992901e-01 1.85859761e-03 9.89430950e-01 4.71239123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.58, Z:47.13 [[ 6.71414661e-02 -9.97713861e-01 -7.68604390e-03 2.15948975e+02] [ 9.87152565e-01 6.75462372e-02 -1.44800965e-01 2.01581491e+02] [ 1.44989093e-01 2.13485116e-03 9.89430950e-01 4.71332165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:201.64, Z:47.13 [[ 6.16674560e-02 -9.98067517e-01 -7.63916146e-03 2.15943295e+02] [ 9.87508305e-01 6.21233542e-02 -1.44803439e-01 2.01640152e+02] [ 1.44998179e-01 1.38592431e-03 9.89430951e-01 4.71348723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.69, Z:47.15 [[ 6.59085134e-02 -9.97796749e-01 -7.59705112e-03 2.15951756e+02] [ 9.87235460e-01 6.63134226e-02 -1.44805648e-01 2.01694333e+02] [ 1.44990391e-01 2.04384674e-03 9.89430952e-01 4.71523806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.75, Z:47.16 [[ 6.36705695e-02 -9.97942425e-01 -7.54814570e-03 2.15953457e+02] [ 9.87381787e-01 6.40920683e-02 -1.44808198e-01 2.01751235e+02] [ 1.44994020e-01 1.76711882e-03 9.89430953e-01 4.71605041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:201.81, Z:47.17 [[ 6.29023531e-02 -9.97991480e-01 -7.50332115e-03 2.15955372e+02] [ 9.87430908e-01 6.33254779e-02 -1.44810520e-01 2.01808572e+02] [ 1.44994817e-01 1.69991127e-03 9.89430954e-01 4.71671307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:201.86, Z:47.17 [[ 6.30625495e-02 -9.97981719e-01 -7.45673984e-03 2.15957269e+02] [ 9.87420813e-01 6.34772210e-02 -1.44812919e-01 2.01864313e+02] [ 1.44993979e-01 1.76933176e-03 9.89430955e-01 4.71733481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:201.92, Z:47.17 [[ 5.75929364e-02 -9.98312664e-01 -7.40806798e-03 2.15952869e+02] [ 9.87753875e-01 5.80584126e-02 -1.44815409e-01 2.01923028e+02] [ 1.45001157e-01 1.02299678e-03 9.89430957e-01 4.71726700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:201.98, Z:47.19 [[ 6.39956483e-02 -9.97923024e-01 -7.36178447e-03 2.15961711e+02] [ 9.87361217e-01 6.43866680e-02 -1.44817762e-01 2.01976851e+02] [ 1.44990980e-01 1.99896609e-03 9.89430958e-01 4.71896429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:202.03, Z:47.20 [[ 6.62749713e-02 -9.97774573e-01 -7.31646153e-03 2.15964100e+02] [ 9.87211675e-01 6.66352878e-02 -1.44820052e-01 2.02033293e+02] [ 1.44985300e-01 2.37504854e-03 9.89430959e-01 4.71993927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:202.09, Z:47.21 [[ 6.74039878e-02 -9.97699274e-01 -7.27055926e-03 2.15966781e+02] [ 9.87135759e-01 6.77456904e-02 -1.44822356e-01 2.02089622e+02] [ 1.44981709e-01 2.58457531e-03 9.89430960e-01 4.72083834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:202.15, Z:47.22 [[ 6.81580293e-02 -9.97648376e-01 -7.22500722e-03 2.15969349e+02] [ 9.87084400e-01 6.84851377e-02 -1.44824629e-01 2.02146356e+02] [ 1.44978862e-01 2.73926940e-03 9.89430961e-01 4.72166408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:202.20, Z:47.22 [[ 6.95617295e-02 -9.97551812e-01 -7.17964691e-03 2.15972117e+02] [ 9.86987195e-01 6.98673906e-02 -1.44826878e-01 2.02202606e+02] [ 1.44973938e-01 2.98818854e-03 9.89430962e-01 4.72238696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:202.26, Z:47.22 [[ 6.30070239e-02 -9.97987595e-01 -7.13264195e-03 2.15967751e+02] [ 9.87424975e-01 6.33752605e-02 -1.44829193e-01 2.02262185e+02] [ 1.44989771e-01 2.08230763e-03 9.89430963e-01 4.72206233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:202.32, Z:47.23 [[ 5.81932834e-02 -9.98280156e-01 -7.09030767e-03 2.15966045e+02] [ 9.87719193e-01 5.86063148e-02 -1.44831266e-01 2.02319723e+02] [ 1.44997715e-01 1.42497391e-03 9.89430964e-01 4.72261680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:215.98, Y:202.37, Z:47.25 [[ 6.40792210e-02 -9.97919964e-01 -7.04271644e-03 2.15982979e+02] [ 9.87356523e-01 6.44230610e-02 -1.44833580e-01 2.02373299e+02] [ 1.44986034e-01 2.32715097e-03 9.89430965e-01 4.72479585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:202.43, Z:47.26 [[ 5.63413414e-02 -9.98387012e-01 -7.00191207e-03 2.15988271e+02] [ 9.87826319e-01 5.67611407e-02 -1.44835553e-01 2.02429241e+02] [ 1.44999371e-01 1.24355630e-03 9.89430966e-01 4.72580389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:202.49, Z:47.27 [[ 5.11900746e-02 -9.98664702e-01 -6.95624806e-03 2.15992238e+02] [ 9.88106020e-01 5.16577267e-02 -1.44837746e-01 2.02485482e+02] [ 1.45003688e-01 5.40744452e-04 9.89430967e-01 4.72676651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:202.54, Z:47.28 [[ 4.53045281e-02 -9.98949320e-01 -6.91053474e-03 2.15996972e+02] [ 9.88393248e-01 4.58277613e-02 -1.44839927e-01 2.02542177e+02] [ 1.45004441e-01 -2.68421326e-04 9.89430968e-01 4.72768595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:202.60, Z:47.28 [[ 4.27721203e-02 -9.99061267e-01 -6.86519318e-03 2.16000289e+02] [ 9.88506215e-01 4.33155373e-02 -1.44842077e-01 2.02598442e+02] [ 1.45003478e-01 -5.91083409e-04 9.89430969e-01 4.72845401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:202.65, Z:47.29 [[ 4.16861131e-02 -9.99107489e-01 -6.81867701e-03 2.16003681e+02] [ 9.88552682e-01 4.22342598e-02 -1.44844266e-01 2.02654862e+02] [ 1.45002973e-01 -7.02626965e-04 9.89430970e-01 4.72919813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:202.71, Z:47.30 [[ 4.34809746e-02 -9.99031306e-01 -6.77161388e-03 2.16005714e+02] [ 9.88475193e-01 4.40033349e-02 -1.44846467e-01 2.02710677e+02] [ 1.45004129e-01 -3.95506792e-04 9.89430971e-01 4.72989198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:202.77, Z:47.31 [[ 4.50023620e-02 -9.98964257e-01 -6.72312533e-03 2.16008324e+02] [ 9.88407028e-01 4.55016150e-02 -1.44848718e-01 2.02767354e+02] [ 1.45004605e-01 -1.26649893e-04 9.89430972e-01 4.73072397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:202.82, Z:47.32 [[ 4.59597094e-02 -9.98920979e-01 -6.67706634e-03 2.16010519e+02] [ 9.88362969e-01 4.64421656e-02 -1.44850841e-01 2.02823372e+02] [ 1.45004641e-01 5.79374379e-05 9.89430973e-01 4.73157351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:202.88, Z:47.32 [[ 4.72239338e-02 -9.98862333e-01 -6.62874331e-03 2.16011991e+02] [ 9.88303413e-01 4.76860194e-02 -1.44853052e-01 2.02880278e+02] [ 1.45004356e-01 2.89321312e-04 9.89430974e-01 4.73245381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:202.94, Z:47.32 [[ 4.13419359e-02 -9.99123362e-01 -6.58422849e-03 2.16006642e+02] [ 9.88567029e-01 4.18597295e-02 -1.44855076e-01 2.02940299e+02] [ 1.45003704e-01 -5.20361920e-04 9.89430975e-01 4.73193673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:202.99, Z:47.34 [[ 4.66978319e-02 -9.98887629e-01 -6.54355134e-03 2.16016105e+02] [ 9.88328416e-01 4.71531246e-02 -1.44856914e-01 2.02994128e+02] [ 1.45004328e-01 2.97326065e-04 9.89430976e-01 4.73398538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:203.05, Z:47.35 [[ 4.33690389e-02 -9.99037905e-01 -6.51081746e-03 2.16017774e+02] [ 9.88480049e-01 4.38547687e-02 -1.44858385e-01 2.03051679e+02] [ 1.45004548e-01 -1.53444234e-04 9.89430977e-01 4.73466012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:203.11, Z:47.35 [[ 3.85342134e-02 -9.99236343e-01 -6.46877503e-03 2.16021906e+02] [ 9.88680654e-01 3.90649319e-02 -1.44860262e-01 2.03108604e+02] [ 1.45002341e-01 -8.13476466e-04 9.89430978e-01 4.73540230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:203.17, Z:47.36 [[ 3.53323598e-02 -9.99354981e-01 -6.42232804e-03 2.16024676e+02] [ 9.88800690e-01 3.58901649e-02 -1.44862322e-01 2.03165839e+02] [ 1.44999381e-01 -1.23207472e-03 9.89430979e-01 4.73621064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:203.23, Z:47.36 [[ 2.46608616e-02 -9.99675510e-01 -6.38089895e-03 2.16017960e+02] [ 9.89127397e-01 2.53253152e-02 -1.44864147e-01 2.03225001e+02] [ 1.44978738e-01 -2.73904729e-03 9.89430979e-01 4.73585119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:203.28, Z:47.38 [[ 3.44101820e-02 -9.99387716e-01 -6.33496984e-03 2.16029988e+02] [ 9.88833273e-01 3.49650642e-02 -1.44866155e-01 2.03279117e+02] [ 1.44998959e-01 -1.27935818e-03 9.89430981e-01 4.73808968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:203.34, Z:47.39 [[ 3.54959672e-02 -9.99350007e-01 -6.29277357e-03 2.16031606e+02] [ 9.88794655e-01 3.60332654e-02 -1.44867988e-01 2.03335157e+02] [ 1.45000574e-01 -1.08003151e-03 9.89430981e-01 4.73888479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:203.39, Z:47.40 [[ 3.74295447e-02 -9.99279748e-01 -6.24611684e-03 2.16034112e+02] [ 9.88723048e-01 3.79396546e-02 -1.44870000e-01 2.03391965e+02] [ 1.45002633e-01 -7.53261532e-04 9.89430982e-01 4.73968659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.45, Z:47.41 [[ 3.75898778e-02 -9.99274004e-01 -6.20211907e-03 2.16036714e+02] [ 9.88716918e-01 3.80919153e-02 -1.44871884e-01 2.03448672e+02] [ 1.45002958e-01 -6.86423641e-04 9.89430983e-01 4.74065206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.50, Z:47.42 [[ 3.79527543e-02 -9.99260571e-01 -6.15627353e-03 2.16038726e+02] [ 9.88702993e-01 3.84443115e-02 -1.44873832e-01 2.03504835e+02] [ 1.45003382e-01 -5.88365110e-04 9.89430984e-01 4.74154061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:203.56, Z:47.41 [[ 3.50996468e-02 -9.99365135e-01 -6.11076552e-03 2.16030790e+02] [ 9.88808680e-01 3.56147478e-02 -1.44875752e-01 2.03563006e+02] [ 1.45001409e-01 -9.57290259e-04 9.89430986e-01 4.74131101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.62, Z:47.43 [[ 4.87602773e-02 -9.98792101e-01 -6.06417577e-03 2.16039554e+02] [ 9.88229356e-01 4.91242384e-02 -1.44877702e-01 2.03616976e+02] [ 1.45000603e-01 1.07148041e-03 9.89430987e-01 4.74321795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.67, Z:47.44 [[ 5.32119892e-02 -9.98565100e-01 -6.01869109e-03 2.16040669e+02] [ 9.88000643e-01 5.35222642e-02 -1.44879592e-01 2.03673255e+02] [ 1.44993838e-01 1.76286061e-03 9.89430988e-01 4.74409256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.73, Z:47.45 [[ 5.84793034e-02 -9.98270753e-01 -5.97281819e-03 2.16041125e+02] [ 9.87704649e-01 5.87271844e-02 -1.44881483e-01 2.03730566e+02] [ 1.44981714e-01 2.57318791e-03 9.89430989e-01 4.74479907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:203.79, Z:47.46 [[ 6.18647091e-02 -9.98066943e-01 -5.92752325e-03 2.16042811e+02] [ 9.87499930e-01 6.20701804e-02 -1.44883336e-01 2.03787084e+02] [ 1.44971191e-01 3.10973666e-03 9.89430990e-01 4.74553284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:203.84, Z:47.46 [[ 6.35514376e-02 -9.97961230e-01 -5.88197677e-03 2.16045231e+02] [ 9.87393771e-01 6.37324407e-02 -1.44885186e-01 2.03843724e+02] [ 1.44964671e-01 3.39983462e-03 9.89430991e-01 4.74636721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:203.90, Z:47.47 [[ 6.56807934e-02 -9.97823613e-01 -5.83707016e-03 2.16047878e+02] [ 9.87255697e-01 6.58327305e-02 -1.44886995e-01 2.03900165e+02] [ 1.44955935e-01 3.75361201e-03 9.89430992e-01 4.74724527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:203.96, Z:47.48 [[ 6.62648763e-02 -9.97785268e-01 -5.79004478e-03 2.16050192e+02] [ 9.87217174e-01 6.64038037e-02 -1.44888874e-01 2.03955851e+02] [ 1.44952465e-01 3.88501170e-03 9.89430993e-01 4.74774838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:204.01, Z:47.49 [[ 6.54078931e-02 -9.97842022e-01 -5.75379845e-03 2.16053436e+02] [ 9.87273980e-01 6.55506374e-02 -1.44890314e-01 2.04012735e+02] [ 1.44954809e-01 3.79639467e-03 9.89430993e-01 4.74867795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:204.07, Z:47.48 [[ 5.56016240e-02 -9.98436719e-01 -5.70764041e-03 2.16045106e+02] [ 9.87870436e-01 5.58414887e-02 -1.44892132e-01 2.04071035e+02] [ 1.44984348e-01 2.41782864e-03 9.89430995e-01 4.74820065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:204.13, Z:47.49 [[ 5.24511625e-02 -9.98607351e-01 -5.67756023e-03 2.16050907e+02] [ 9.88041765e-01 5.27200002e-02 -1.44893311e-01 2.04127096e+02] [ 1.44990846e-01 1.99015597e-03 9.89430995e-01 4.74919362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.18, Z:47.52 [[ 5.48433533e-02 -9.98479091e-01 -5.63136379e-03 2.16067484e+02] [ 9.87912740e-01 5.50801764e-02 -1.44895107e-01 2.04181175e+02] [ 1.44984911e-01 2.38323748e-03 9.89430996e-01 4.75156259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.24, Z:47.52 [[ 5.01683368e-02 -9.98725158e-01 -5.58532742e-03 2.16067717e+02] [ 9.88159855e-01 5.04479460e-02 -1.44896881e-01 2.04237978e+02] [ 1.44993929e-01 1.75003920e-03 9.89430997e-01 4.75205628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.29, Z:47.52 [[ 4.64595457e-02 -9.98904814e-01 -5.53920377e-03 2.16067315e+02] [ 9.88340423e-01 4.67716939e-02 -1.44898645e-01 2.04294034e+02] [ 1.44999032e-01 1.25730621e-03 9.89430998e-01 4.75237704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.35, Z:47.54 [[ 4.05974824e-02 -9.99160496e-01 -5.49060692e-03 2.16069693e+02] [ 9.88597872e-01 4.09645662e-02 -1.44900486e-01 2.04349728e+02] [ 1.45003762e-01 4.54592621e-04 9.89430999e-01 4.75360895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.41, Z:47.55 [[ 3.54511042e-02 -9.99356575e-01 -5.44563708e-03 2.16069309e+02] [ 9.88795725e-01 3.58660620e-02 -1.44902176e-01 2.04406976e+02] [ 1.45004256e-01 -2.47680513e-04 9.89431000e-01 4.75492517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.47, Z:47.54 [[ 3.03818404e-02 -9.99523747e-01 -5.40577819e-03 2.16057101e+02] [ 9.88964883e-01 3.08445801e-02 -1.44903664e-01 2.04467456e+02] [ 1.45001392e-01 -9.43684814e-04 9.89431001e-01 4.75435976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:204.52, Z:47.57 [[ 4.26576781e-02 -9.99075347e-01 -5.36417903e-03 2.16066341e+02] [ 9.88511407e-01 4.29846447e-02 -1.44905204e-01 2.04520612e+02] [ 1.45001794e-01 8.78767362e-04 9.89431002e-01 4.75655656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.58, Z:47.57 [[ 4.96731375e-02 -9.98751380e-01 -5.31605554e-03 2.16062119e+02] [ 9.88185241e-01 4.99189246e-02 -1.44906969e-01 2.04578254e+02] [ 1.44991407e-01 1.94473618e-03 9.89431003e-01 4.75714940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.63, Z:47.58 [[ 5.41857756e-02 -9.98516955e-01 -5.27183297e-03 2.16061286e+02] [ 9.87949696e-01 5.43773985e-02 -1.44908578e-01 2.04634532e+02] [ 1.44980341e-01 2.64367792e-03 9.89431004e-01 4.75821578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:204.69, Z:47.57 [[ 4.79638924e-02 -9.98835404e-01 -5.22501722e-03 2.16049129e+02] [ 9.88269382e-01 4.82145554e-02 -1.44910266e-01 2.04693809e+02] [ 1.44993426e-01 1.78673589e-03 9.89431005e-01 4.75746606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.75, Z:47.60 [[ 5.52576730e-02 -9.98458698e-01 -5.17865458e-03 2.16057582e+02] [ 9.87891020e-01 5.54244336e-02 -1.44911923e-01 2.04748696e+02] [ 1.44975594e-01 2.89154933e-03 9.89431006e-01 4.75973187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.81, Z:47.61 [[ 5.40853969e-02 -9.98523096e-01 -5.13773931e-03 2.16057309e+02] [ 9.87955523e-01 5.42586284e-02 -1.44913374e-01 2.04805472e+02] [ 1.44978118e-01 2.76183942e-03 9.89431007e-01 4.76072781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.86, Z:47.61 [[ 5.32891715e-02 -9.98566147e-01 -5.09055147e-03 2.16057145e+02] [ 9.87998601e-01 5.34639838e-02 -1.44915032e-01 2.04861321e+02] [ 1.44979406e-01 2.69294425e-03 9.89431008e-01 4.76144665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:204.92, Z:47.62 [[ 5.26278509e-02 -9.98601468e-01 -5.04154356e-03 2.16056540e+02] [ 9.88033921e-01 5.28025520e-02 -1.44916737e-01 2.04918505e+02] [ 1.44980273e-01 2.64544038e-03 9.89431009e-01 4.76220696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:204.98, Z:47.62 [[ 4.46186466e-02 -9.98991603e-01 -4.99540149e-03 2.16050338e+02] [ 9.88425636e-01 4.48713875e-02 -1.44918328e-01 2.04976779e+02] [ 1.44996343e-01 1.52847675e-03 9.89431010e-01 4.76181607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.03, Z:47.64 [[ 4.69616192e-02 -9.98884431e-01 -4.94973540e-03 2.16058530e+02] [ 9.88317760e-01 4.71829533e-02 -1.44919888e-01 2.05030324e+02] [ 1.44991763e-01 1.91376118e-03 9.89431011e-01 4.76395550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.09, Z:47.65 [[ 4.54326079e-02 -9.98955316e-01 -4.91475701e-03 2.16058677e+02] [ 9.88388884e-01 4.56650420e-02 -1.44921074e-01 2.05087173e+02] [ 1.44994110e-01 1.72645113e-03 9.89431012e-01 4.76481019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.14, Z:47.66 [[ 4.59157027e-02 -9.98933458e-01 -4.86779728e-03 2.16058745e+02] [ 9.88366771e-01 4.61362151e-02 -1.44922651e-01 2.05143947e+02] [ 1.44992667e-01 1.84305629e-03 9.89431013e-01 4.76560179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.20, Z:47.66 [[ 4.76117497e-02 -9.98854280e-01 -4.82172709e-03 2.16059097e+02] [ 9.88287109e-01 4.78076375e-02 -1.44924184e-01 2.05200008e+02] [ 1.44988657e-01 2.13484326e-03 9.89431014e-01 4.76646430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.26, Z:47.67 [[ 5.19477641e-02 -9.98638333e-01 -4.78637915e-03 2.16058087e+02] [ 9.88070341e-01 5.20926455e-02 -1.44925352e-01 2.05257059e+02] [ 1.44977347e-01 2.79926871e-03 9.89431015e-01 4.76734243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:205.32, Z:47.66 [[ 4.83012590e-02 -9.98821564e-01 -4.74034535e-03 2.16048326e+02] [ 9.88254059e-01 4.84780468e-02 -1.44926858e-01 2.05317679e+02] [ 1.44985873e-01 2.31548415e-03 9.89431016e-01 4.76639461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:205.38, Z:47.67 [[ 4.99150427e-02 -9.98742415e-01 -4.69870915e-03 2.16047509e+02] [ 9.88174549e-01 5.00687160e-02 -1.44928208e-01 2.05375431e+02] [ 1.44981206e-01 2.59095289e-03 9.89431017e-01 4.76705014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:205.43, Z:47.68 [[ 5.01965078e-02 -9.98728500e-01 -4.65767986e-03 2.16048137e+02] [ 9.88160509e-01 5.03412509e-02 -1.44929526e-01 2.05432734e+02] [ 1.44979722e-01 2.67242081e-03 9.89431018e-01 4.76780873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:205.49, Z:47.70 [[ 5.60450611e-02 -9.98417576e-01 -4.61474464e-03 2.16059452e+02] [ 9.87848872e-01 5.61216777e-02 -1.44930894e-01 2.05486117e+02] [ 1.44960539e-01 3.56399050e-03 9.89431018e-01 4.77034817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:205.55, Z:47.70 [[ 3.97839230e-02 -9.99197812e-01 -4.57956029e-03 2.16053700e+02] [ 9.88631638e-01 4.00274793e-02 -1.44932006e-01 2.05545830e+02] [ 1.44999051e-01 1.23846556e-03 9.89431019e-01 4.76984523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:205.60, Z:47.73 [[ 4.23323233e-02 -9.99093288e-01 -4.53610117e-03 2.16067123e+02] [ 9.88526401e-01 4.25426255e-02 -1.44933366e-01 2.05599050e+02] [ 1.44994931e-01 1.65131034e-03 9.89431020e-01 4.77265495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:205.66, Z:47.74 [[ 3.37892557e-02 -9.99418880e-01 -4.49307857e-03 2.16070996e+02] [ 9.88854002e-01 3.40836504e-02 -1.44934700e-01 2.05655648e+02] [ 1.45003616e-01 4.54236894e-04 9.89431021e-01 4.77407110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:205.71, Z:47.75 [[ 2.81730224e-02 -9.99593145e-01 -4.45251587e-03 2.16074461e+02] [ 9.89029893e-01 2.85208948e-02 -1.44935946e-01 2.05711967e+02] [ 1.45003968e-01 -3.20387653e-04 9.89431022e-01 4.77543264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:205.77, Z:47.77 [[ 2.69326540e-02 -9.99627513e-01 -4.41212283e-03 2.16076611e+02] [ 9.89064504e-01 2.72877771e-02 -1.44937176e-01 2.05768236e+02] [ 1.45003586e-01 -4.60331264e-04 9.89431023e-01 4.77679259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:205.82, Z:47.78 [[ 2.83934157e-02 -9.99587282e-01 -4.36803246e-03 2.16077663e+02] [ 9.89023562e-01 2.87267092e-02 -1.44938505e-01 2.05824079e+02] [ 1.45004165e-01 -2.04787816e-04 9.89431023e-01 4.77793414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:205.88, Z:47.79 [[ 3.11441241e-02 -9.99505548e-01 -4.32471458e-03 2.16078095e+02] [ 9.88940773e-01 3.14420640e-02 -1.44939797e-01 2.05880549e+02] [ 1.45004109e-01 2.37136455e-04 9.89431024e-01 4.77917773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:205.94, Z:47.81 [[ 3.61713803e-02 -9.99336433e-01 -4.28076495e-03 2.16077555e+02] [ 9.88770148e-01 3.64098002e-02 -1.44941095e-01 2.05935734e+02] [ 1.45000779e-01 1.01002689e-03 9.89431025e-01 4.78056843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:205.99, Z:47.81 [[ 3.91156485e-02 -9.99225727e-01 -4.23237391e-03 2.16075979e+02] [ 9.88658651e-01 3.93159164e-02 -1.44942509e-01 2.05992804e+02] [ 1.44996683e-01 1.48514714e-03 9.89431027e-01 4.78142246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.05, Z:47.82 [[ 4.38230978e-02 -9.99030531e-01 -4.18742577e-03 2.16072401e+02] [ 9.88462539e-01 4.39670567e-02 -1.44943807e-01 2.06049345e+02] [ 1.44987398e-01 2.21277314e-03 9.89431028e-01 4.78194679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.11, Z:47.82 [[ 4.87078046e-02 -9.98804487e-01 -4.14073270e-03 2.16069255e+02] [ 9.88235862e-01 4.87933114e-02 -1.44945141e-01 2.06106540e+02] [ 1.44973898e-01 2.96793907e-03 9.89431029e-01 4.78236129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.16, Z:47.83 [[ 5.10731651e-02 -9.98686523e-01 -4.09409508e-03 2.16067633e+02] [ 9.88117689e-01 5.11268765e-02 -1.44946459e-01 2.06163998e+02] [ 1.44965393e-01 3.35742666e-03 9.89431030e-01 4.78289860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.22, Z:47.83 [[ 5.25067203e-02 -9.98612367e-01 -4.04789404e-03 2.16065457e+02] [ 9.88043445e-01 5.25385583e-02 -1.44947749e-01 2.06220091e+02] [ 1.44959285e-01 3.61123576e-03 9.89431031e-01 4.78320951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.28, Z:47.84 [[ 5.10430777e-02 -9.98688443e-01 -3.99985775e-03 2.16064302e+02] [ 9.88119552e-01 5.10834376e-02 -1.44949075e-01 2.06276894e+02] [ 1.44963292e-01 3.44630925e-03 9.89431032e-01 4.78372233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.33, Z:47.84 [[ 4.89193230e-02 -9.98794910e-01 -3.95315577e-03 2.16064197e+02] [ 9.88226092e-01 4.89753825e-02 -1.44950349e-01 2.06333770e+02] [ 1.44969278e-01 3.18426126e-03 9.89431033e-01 4.78439469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.39, Z:47.85 [[ 4.72313005e-02 -9.98876340e-01 -3.90656704e-03 2.16064179e+02] [ 9.88307588e-01 4.72984632e-02 -1.44951605e-01 2.06389552e+02] [ 1.44973503e-01 2.98536295e-03 9.89431034e-01 4.78510478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.45, Z:47.85 [[ 4.04458129e-02 -9.99174284e-01 -3.85819768e-03 2.16058018e+02] [ 9.88606143e-01 4.05777417e-02 -1.44952892e-01 2.06448680e+02] [ 1.44989759e-01 2.04849963e-03 9.89431035e-01 4.78533857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.51, Z:47.86 [[ 3.85992207e-02 -9.99247477e-01 -3.81829760e-03 2.16058986e+02] [ 9.88679517e-01 3.87448926e-02 -1.44953943e-01 2.06506210e+02] [ 1.44992802e-01 1.82003663e-03 9.89431036e-01 4.78635605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:206.56, Z:47.88 [[ 3.65022730e-02 -9.99326440e-01 -3.77493034e-03 2.16061416e+02] [ 9.88758712e-01 3.66638310e-02 -1.44955073e-01 2.06562233e+02] [ 1.44995840e-01 1.55869438e-03 9.89431037e-01 4.78752548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.62, Z:47.89 [[ 3.65197983e-02 -9.99325965e-01 -3.73086901e-03 2.16065716e+02] [ 9.88758140e-01 3.66747805e-02 -1.44956207e-01 2.06619423e+02] [ 1.44995330e-01 1.60484434e-03 9.89431038e-01 4.78883188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:206.67, Z:47.91 [[ 4.12627518e-02 -9.99141526e-01 -3.68728303e-03 2.16075622e+02] [ 9.88573024e-01 4.13612496e-02 -1.44957316e-01 2.06674222e+02] [ 1.44985384e-01 2.33618921e-03 9.89431039e-01 4.79090510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:206.73, Z:47.91 [[ 3.20899973e-02 -9.99478327e-01 -3.64785676e-03 2.16071407e+02] [ 9.88911070e-01 3.22797802e-02 -1.44958308e-01 2.06733961e+02] [ 1.45000439e-01 1.04430578e-03 9.89431040e-01 4.79055577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:206.79, Z:47.93 [[ 3.76690397e-02 -9.99283770e-01 -3.60410427e-03 2.16082488e+02] [ 9.88715544e-01 3.77934827e-02 -1.44959396e-01 2.06788347e+02] [ 1.44991784e-01 1.89704733e-03 9.89431041e-01 4.79267724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:206.85, Z:47.92 [[ 2.95316679e-02 -9.99557475e-01 -3.56860743e-03 2.16077180e+02] [ 9.88990511e-01 2.97370050e-02 -1.44960270e-01 2.06847953e+02] [ 1.45002241e-01 7.51599676e-04 9.89431041e-01 4.79197930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:206.90, Z:47.94 [[ 3.39879792e-02 -9.99416027e-01 -3.52447904e-03 2.16086776e+02] [ 9.88848160e-01 3.41398007e-02 -1.44961343e-01 2.06902525e+02] [ 1.44997015e-01 1.44176851e-03 9.89431042e-01 4.79376017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:206.96, Z:47.94 [[ 3.28641799e-02 -9.99453703e-01 -3.49868327e-03 2.16088947e+02] [ 9.88885956e-01 3.30241429e-02 -1.44961966e-01 2.06960096e+02] [ 1.44998314e-01 1.30425736e-03 9.89431042e-01 4.79427361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:207.02, Z:47.95 [[ 3.38280150e-02 -9.99421707e-01 -3.45219165e-03 2.16090553e+02] [ 9.88853718e-01 3.39710440e-02 -1.44963073e-01 2.07016166e+02] [ 1.44996516e-01 1.49010047e-03 9.89431044e-01 4.79452371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:207.07, Z:47.95 [[ 3.54336046e-02 -9.99366236e-01 -3.40390861e-03 2.16092022e+02] [ 9.88797951e-01 3.55526525e-02 -1.44964207e-01 2.07074014e+02] [ 1.44993352e-01 1.77082653e-03 9.89431045e-01 4.79520800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:207.13, Z:47.96 [[ 3.56263499e-02 -9.99359519e-01 -3.36369106e-03 2.16093403e+02] [ 9.88791150e-01 3.57375267e-02 -1.44965140e-01 2.07131363e+02] [ 1.44992503e-01 1.83859087e-03 9.89431045e-01 4.79619176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.19, Z:47.97 [[ 3.31210688e-02 -9.99445827e-01 -3.32178039e-03 2.16095504e+02] [ 9.88877692e-01 3.32526594e-02 -1.44966101e-01 2.07186863e+02] [ 1.44996222e-01 1.51659768e-03 9.89431046e-01 4.79724822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.24, Z:47.99 [[ 2.87056312e-02 -9.99582509e-01 -3.28561260e-03 2.16097952e+02] [ 9.89014972e-01 2.88786607e-02 -1.44966921e-01 2.07243020e+02] [ 1.45001282e-01 9.11846901e-04 9.89431047e-01 4.79869690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.30, Z:48.00 [[ 2.51298967e-02 -9.99678929e-01 -3.24447249e-03 2.16099735e+02] [ 9.89111963e-01 2.53347599e-02 -1.44967841e-01 2.07300090e+02] [ 1.45003494e-01 4.33880337e-04 9.89431048e-01 4.79995265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.36, Z:48.01 [[ 2.31576435e-02 -9.99726695e-01 -3.20305446e-03 2.16100977e+02] [ 9.89160027e-01 2.33773472e-02 -1.44968757e-01 2.07357322e+02] [ 1.45004015e-01 1.88801343e-04 9.89431049e-01 4.80091710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.41, Z:48.02 [[ 2.05208737e-02 -9.99784427e-01 -3.16109534e-03 2.16102859e+02] [ 9.89218236e-01 2.07623612e-02 -1.44969672e-01 2.07414513e+02] [ 1.45004052e-01 -1.52108838e-04 9.89431050e-01 4.80187307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:207.47, Z:48.02 [[ 1.96624090e-02 -9.99801811e-01 -3.11905256e-03 2.16104299e+02] [ 9.89235689e-01 1.99068729e-02 -1.44970576e-01 2.07470552e+02] [ 1.45003935e-01 -2.35007342e-04 9.89431050e-01 4.80248420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.53, Z:48.03 [[ 2.11981228e-02 -9.99770542e-01 -3.08278596e-03 2.16105361e+02] [ 9.89203945e-01 2.14210976e-02 -1.44971348e-01 2.07526963e+02] [ 1.45004119e-01 2.36164030e-05 9.89431051e-01 4.80301723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.58, Z:48.04 [[ 2.35729964e-02 -9.99717513e-01 -3.03460201e-03 2.16106945e+02] [ 9.89150289e-01 2.37638826e-02 -1.44972356e-01 2.07584251e+02] [ 1.45003517e-01 4.15755385e-04 9.89431052e-01 4.80375352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.64, Z:48.04 [[ 2.75758927e-02 -9.99615233e-01 -2.99284453e-03 2.16106747e+02] [ 9.89047246e-01 2.77184082e-02 -1.44973219e-01 2.07641696e+02] [ 1.45000395e-01 1.03770129e-03 9.89431053e-01 4.80436229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.70, Z:48.05 [[ 3.13053626e-02 -9.99505525e-01 -2.94623616e-03 2.16106920e+02] [ 9.88937018e-01 3.14016874e-02 -1.44974166e-01 2.07698727e+02] [ 1.44994997e-01 1.62482684e-03 9.89431054e-01 4.80492553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.76, Z:48.06 [[ 3.59074638e-02 -9.99350913e-01 -2.89939946e-03 2.16107388e+02] [ 9.88782047e-01 3.59483299e-02 -1.44975103e-01 2.07756058e+02] [ 1.44985230e-01 2.33881412e-03 9.89431055e-01 4.80552878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.81, Z:48.06 [[ 4.33973896e-02 -9.99053816e-01 -2.85302858e-03 2.16107829e+02] [ 9.88484968e-01 4.33523073e-02 -1.44976016e-01 2.07813666e+02] [ 1.44962527e-01 3.47140476e-03 9.89431056e-01 4.80613197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.87, Z:48.07 [[ 4.81958532e-02 -9.98833949e-01 -2.81100000e-03 2.16107663e+02] [ 9.88265498e-01 4.80939087e-02 -1.44976831e-01 2.07869208e+02] [ 1.44942972e-01 4.20926772e-03 9.89431057e-01 4.80680309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.93, Z:48.08 [[ 5.36140386e-02 -9.98557878e-01 -2.77473185e-03 2.16107996e+02] [ 9.87990217e-01 5.34495000e-02 -1.44977525e-01 2.07925492e+02] [ 1.44916758e-01 5.03142268e-03 9.89431058e-01 4.80791904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:207.98, Z:48.09 [[ 5.51805575e-02 -9.98472663e-01 -2.72888923e-03 2.16109471e+02] [ 9.87905390e-01 5.49927927e-02 -1.44978388e-01 2.07982191e+02] [ 1.44907026e-01 5.30410389e-03 9.89431059e-01 4.80923570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:208.04, Z:48.10 [[ 5.44704609e-02 -9.98511765e-01 -2.68794539e-03 2.16111140e+02] [ 9.87944464e-01 5.42842741e-02 -1.44979147e-01 2.08038177e+02] [ 1.44909297e-01 5.24154019e-03 9.89431060e-01 4.81035516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:208.09, Z:48.11 [[ 5.22374665e-02 -9.98631199e-01 -2.64101836e-03 2.16113531e+02] [ 9.88063617e-01 5.20681058e-02 -1.44980002e-01 2.08093741e+02] [ 1.44919066e-01 4.96389385e-03 9.89431061e-01 4.81128185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:208.15, Z:48.12 [[ 4.75426598e-02 -9.98865845e-01 -2.59226444e-03 2.16115733e+02] [ 9.88297667e-01 4.74159056e-02 -1.44980874e-01 2.08150817e+02] [ 1.44939358e-01 4.33084747e-03 9.89431062e-01 4.81199199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:208.21, Z:48.13 [[ 4.10143714e-02 -9.99155313e-01 -2.54584168e-03 2.16118612e+02] [ 9.88586573e-01 4.09499471e-02 -1.44981689e-01 2.08208543e+02] [ 1.44963477e-01 3.42954795e-03 9.89431063e-01 4.81266896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:208.27, Z:48.13 [[ 3.34090420e-02 -9.99438626e-01 -2.50388938e-03 2.16121560e+02] [ 9.88869694e-01 3.34189697e-02 -1.44982414e-01 2.08266095e+02] [ 1.44984702e-01 2.36770324e-03 9.89431064e-01 4.81337192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:208.32, Z:48.14 [[ 2.86929955e-02 -9.99585240e-01 -2.46172742e-03 2.16123440e+02] [ 9.89016441e-01 2.87466763e-02 -1.44983130e-01 2.08322788e+02] [ 1.44993763e-01 1.72531141e-03 9.89431065e-01 4.81383279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:208.38, Z:48.14 [[ 2.20367704e-02 -9.99754244e-01 -2.41516640e-03 2.16127180e+02] [ 9.89185960e-01 2.21540687e-02 -1.44983906e-01 2.08380592e+02] [ 1.45001781e-01 8.05928346e-04 9.89431066e-01 4.81442609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:208.44, Z:48.15 [[ 1.67723285e-02 -9.99856515e-01 -2.37475098e-03 2.16130434e+02] [ 9.89288902e-01 1.69394113e-02 -1.44984568e-01 2.08435744e+02] [ 1.45003992e-01 8.24140140e-05 9.89431067e-01 4.81529406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:208.49, Z:48.17 [[ 1.63353343e-02 -9.99863860e-01 -2.32768303e-03 2.16134806e+02] [ 9.89296214e-01 1.65002106e-02 -1.44985324e-01 2.08492229e+02] [ 1.45003993e-01 6.56157298e-05 9.89431068e-01 4.81675341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:208.55, Z:48.17 [[ 1.57923045e-02 -9.99872679e-01 -2.28647347e-03 2.16135513e+02] [ 9.89305031e-01 1.59569445e-02 -1.44985974e-01 2.08549096e+02] [ 1.45003999e-01 2.76429370e-05 9.89431069e-01 4.81732486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:208.61, Z:48.18 [[ 1.71130012e-02 -9.99851047e-01 -2.24237769e-03 2.16137931e+02] [ 9.89283102e-01 1.72572883e-02 -1.44986656e-01 2.08605163e+02] [ 1.45003757e-01 2.62810458e-04 9.89431070e-01 4.81828195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:208.66, Z:48.20 [[ 1.80935835e-02 -9.99833877e-01 -2.20012321e-03 2.16141561e+02] [ 9.89265720e-01 1.82213789e-02 -1.44987297e-01 2.08662269e+02] [ 1.45003301e-01 4.46833299e-04 9.89431070e-01 4.81962978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:208.72, Z:48.21 [[ 1.99811834e-02 -9.99798026e-01 -2.15853129e-03 2.16144016e+02] [ 9.89229588e-01 2.00829950e-02 -1.44987916e-01 2.08719901e+02] [ 1.45001982e-01 7.61747124e-04 9.89431071e-01 4.82066550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:208.78, Z:48.21 [[ 2.34412176e-02 -9.99722975e-01 -2.11703109e-03 2.16146432e+02] [ 9.89154213e-01 2.35004345e-02 -1.44988523e-01 2.08776271e+02] [ 1.44998108e-01 1.30463728e-03 9.89431072e-01 4.82148514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:208.84, Z:48.20 [[ 1.89568522e-02 -9.99818159e-01 -2.07053109e-03 2.16139334e+02] [ 9.89249704e-01 1.90567303e-02 -1.44989187e-01 2.08836547e+02] [ 1.45002279e-01 7.00266308e-04 9.89431073e-01 4.82038111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:208.89, Z:48.22 [[ 2.90392203e-02 -9.99576214e-01 -2.02861360e-03 2.16151994e+02] [ 9.89007296e-01 2.90264300e-02 -1.44989773e-01 2.08891223e+02] [ 1.44987212e-01 2.20407632e-03 9.89431074e-01 4.82234755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:208.95, Z:48.23 [[ 3.05535635e-02 -9.99531158e-01 -1.98577133e-03 2.16155247e+02] [ 9.88962291e-01 3.05185482e-02 -1.44990360e-01 2.08948590e+02] [ 1.44982986e-01 2.46611922e-03 9.89431075e-01 4.82300461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:209.01, Z:48.24 [[ 3.11046140e-02 -9.99514245e-01 -1.94369102e-03 2.16157920e+02] [ 9.88945425e-01 3.10576697e-02 -1.44990924e-01 2.09005479e+02] [ 1.44980861e-01 2.58768240e-03 9.89431076e-01 4.82379516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:209.06, Z:48.23 [[ 2.45145307e-02 -9.99697669e-01 -1.89973591e-03 2.16152755e+02] [ 9.89128758e-01 2.45308893e-02 -1.44991501e-01 2.09064558e+02] [ 1.44994267e-01 1.67531517e-03 9.89431077e-01 4.82339857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:209.12, Z:48.25 [[ 2.46276021e-02 -9.99694968e-01 -1.85782763e-03 2.16156602e+02] [ 9.89126050e-01 2.46366879e-02 -1.44992038e-01 2.09122038e+02] [ 1.44993581e-01 1.73318050e-03 9.89431078e-01 4.82451075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.18, Z:48.27 [[ 2.99963036e-02 -9.99548360e-01 -1.81588289e-03 2.16169713e+02] [ 9.88979576e-01 2.99425443e-02 -1.44992563e-01 2.09177026e+02] [ 1.44981451e-01 2.55336985e-03 9.89431079e-01 4.82695403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.24, Z:48.27 [[ 2.11798650e-02 -9.99774108e-01 -1.77350977e-03 2.16165006e+02] [ 9.89205240e-01 2.12131720e-02 -1.44993082e-01 2.09235131e+02] [ 1.44997951e-01 1.31656874e-03 9.89431079e-01 4.82665438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.29, Z:48.29 [[ 2.27728071e-02 -9.99739171e-01 -1.72912531e-03 2.16177293e+02] [ 9.89170256e-01 2.27828380e-02 -1.44993611e-01 2.09290131e+02] [ 1.44995187e-01 1.59151221e-03 9.89431080e-01 4.82905779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.35, Z:48.30 [[ 1.87335393e-02 -9.99823089e-01 -1.68697627e-03 2.16180982e+02] [ 9.89254273e-01 1.87801579e-02 -1.44994101e-01 2.09346129e+02] [ 1.45000132e-01 1.04740422e-03 9.89431081e-01 4.82992746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.40, Z:48.31 [[ 1.62523859e-02 -9.99866580e-01 -1.63765056e-03 2.16182899e+02] [ 9.89297867e-01 1.63180785e-02 -1.44994659e-01 2.09402472e+02] [ 1.45002037e-01 7.36384949e-04 9.89431083e-01 4.83078772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.46, Z:48.32 [[ 1.43719185e-02 -9.99895452e-01 -1.59132353e-03 2.16184351e+02] [ 9.89326830e-01 1.44507695e-02 -1.44995167e-01 2.09458963e+02] [ 1.45003004e-01 5.09519660e-04 9.89431084e-01 4.83158318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:209.52, Z:48.32 [[ 1.37271426e-02 -9.99904585e-01 -1.54464523e-03 2.16185665e+02] [ 9.89335964e-01 1.38060400e-02 -1.44995665e-01 2.09515414e+02] [ 1.45003156e-01 4.62203094e-04 9.89431085e-01 4.83221418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:209.57, Z:48.33 [[ 1.42532081e-02 -9.99897295e-01 -1.49866284e-03 2.16185528e+02] [ 9.89328591e-01 1.43198774e-02 -1.44996140e-01 2.09572029e+02] [ 1.45002709e-01 5.83990170e-04 9.89431086e-01 4.83284051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.63, Z:48.33 [[ 1.54807121e-02 -9.99879111e-01 -1.45275349e-03 2.16184781e+02] [ 9.89310303e-01 1.55277495e-02 -1.44996600e-01 2.09629950e+02] [ 1.45001630e-01 8.07426632e-04 9.89431087e-01 4.83346060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.69, Z:48.33 [[ 7.19734076e-03 -9.99973101e-01 -1.41235856e-03 2.16172174e+02] [ 9.89404973e-01 7.32606955e-03 -1.44996994e-01 2.09689672e+02] [ 1.45003441e-01 -3.53801803e-04 9.89431088e-01 4.83292677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.75, Z:48.35 [[ 1.58129271e-02 -9.99874027e-01 -1.37162695e-03 2.16181813e+02] [ 9.89305163e-01 1.58446887e-02 -1.44997379e-01 2.09745188e+02] [ 1.45000847e-01 9.35875357e-04 9.89431088e-01 4.83528203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.80, Z:48.35 [[ 6.57506954e-03 -9.99977492e-01 -1.33569464e-03 2.16169714e+02] [ 9.89409311e-01 6.69925848e-03 -1.44997710e-01 2.09804014e+02] [ 1.45003395e-01 -3.68178679e-04 9.89431089e-01 4.83521596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:209.86, Z:48.38 [[ 1.27766385e-02 -9.99917536e-01 -1.29541013e-03 2.16177699e+02] [ 9.89348758e-01 1.28294413e-02 -1.44998070e-01 2.09858294e+02] [ 1.45002733e-01 5.70975523e-04 9.89431090e-01 4.83785206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.92, Z:48.39 [[ 1.04362288e-02 -9.99944761e-01 -1.24916854e-03 2.16174523e+02] [ 9.89376089e-01 1.05070632e-02 -1.44998469e-01 2.09916088e+02] [ 1.45003585e-01 2.77339721e-04 9.89431091e-01 4.83884019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:209.97, Z:48.40 [[ 8.30663425e-03 -9.99964771e-01 -1.20686449e-03 2.16173387e+02] [ 9.89396223e-01 8.39384218e-03 -1.44998821e-01 2.09972477e+02] [ 1.45003843e-01 1.03850057e-05 9.89431092e-01 4.83964119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.03, Z:48.39 [[-2.80997599e-03 -9.99995376e-01 -1.16264744e-03 2.16161774e+02] [ 9.89428329e-01 -2.61169900e-03 -1.44999176e-01 2.10033279e+02] [ 1.44995469e-01 -1.55780051e-03 9.89431093e-01 4.83872309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:210.09, Z:48.41 [[ 4.66724306e-03 -9.99988479e-01 -1.12169117e-03 2.16168957e+02] [ 9.89420180e-01 4.78056420e-03 -1.44999493e-01 2.10088286e+02] [ 1.45003185e-01 -4.33076003e-04 9.89431094e-01 4.84099481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:210.14, Z:48.42 [[ 4.44632245e-03 -9.99989533e-01 -1.07910379e-03 2.16166509e+02] [ 9.89421194e-01 4.55580321e-03 -1.44999810e-01 2.10144304e+02] [ 1.45003208e-01 -4.22972253e-04 9.89431094e-01 4.84159652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.20, Z:48.42 [[ 5.03113988e-03 -9.99986813e-01 -1.03052519e-03 2.16163591e+02] [ 9.89418347e-01 5.12739604e-03 -1.45000155e-01 2.10201003e+02] [ 1.45003527e-01 -2.90104463e-04 9.89431096e-01 4.84221983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.26, Z:48.43 [[ 5.17404697e-03 -9.99986129e-01 -9.85253068e-04 2.16162246e+02] [ 9.89417594e-01 5.26222825e-03 -1.45000463e-01 2.10257092e+02] [ 1.45003636e-01 -2.24587511e-04 9.89431097e-01 4.84320521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.31, Z:48.44 [[ 6.90850565e-03 -9.99975695e-01 -9.39379371e-04 2.16159700e+02] [ 9.89406981e-01 6.97170389e-03 -1.45000760e-01 2.10313733e+02] [ 1.45003785e-01 7.23100653e-05 9.89431098e-01 4.84419589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.37, Z:48.45 [[ 9.82146260e-03 -9.99951370e-01 -8.92925809e-04 2.16156935e+02] [ 9.89382500e-01 9.84713727e-03 -1.45001047e-01 2.10371114e+02] [ 1.45002788e-01 5.40677190e-04 9.89431099e-01 4.84527183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.43, Z:48.46 [[ 1.26531273e-02 -9.99919584e-01 -8.51299068e-04 2.16154777e+02] [ 9.89350688e-01 1.26428364e-02 -1.45001291e-01 2.10427862e+02] [ 1.45000394e-01 9.92486481e-04 9.89431100e-01 4.84629523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.49, Z:48.46 [[ 7.37060547e-03 -9.99972511e-01 -8.06877653e-04 2.16145501e+02] [ 9.89403684e-01 7.40970639e-03 -1.45001539e-01 2.10487389e+02] [ 1.45003531e-01 2.70421411e-04 9.89431101e-01 4.84575003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.54, Z:48.48 [[ 1.60160195e-02 -9.99871442e-01 -7.65353689e-04 2.16152163e+02] [ 9.89302705e-01 1.59577206e-02 -1.45001758e-01 2.10540970e+02] [ 1.44995330e-01 1.56518451e-03 9.89431101e-01 4.84814892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.60, Z:48.49 [[ 1.58699987e-02 -9.99873797e-01 -7.30157664e-04 2.16152141e+02] [ 9.89305080e-01 1.58081397e-02 -1.45001935e-01 2.10597987e+02] [ 1.44995178e-01 1.57883184e-03 9.89431102e-01 4.84876893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:210.66, Z:48.47 [[ 6.04085964e-03 -9.99981519e-01 -6.84944301e-04 2.16141410e+02] [ 9.89412682e-01 6.07633383e-03 -1.45002149e-01 2.10658904e+02] [ 1.45003631e-01 1.98245052e-04 9.89431103e-01 4.84747937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.71, Z:48.50 [[ 1.26533434e-02 -9.99919735e-01 -6.44914382e-04 2.16153381e+02] [ 9.89350916e-01 1.26131233e-02 -1.45002327e-01 2.10713740e+02] [ 1.44998823e-01 1.19671760e-03 9.89431104e-01 4.84985760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:210.77, Z:48.51 [[ 1.10404185e-02 -9.99938863e-01 -6.15605468e-04 2.16154699e+02] [ 9.89370003e-01 1.10129965e-02 -1.45002452e-01 2.10771299e+02] [ 1.45000366e-01 9.91826166e-04 9.89431104e-01 4.85078845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.83, Z:48.52 [[ 7.72939552e-03 -9.99969963e-01 -5.73761731e-04 2.16157153e+02] [ 9.89401068e-01 7.73090135e-03 -1.45002617e-01 2.10829025e+02] [ 1.45002698e-01 5.53102111e-04 9.89431105e-01 4.85175819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.89, Z:48.53 [[ 4.38431644e-03 -9.99990248e-01 -5.30887193e-04 2.16159537e+02] [ 9.89421398e-01 4.41495968e-03 -1.45002774e-01 2.10885578e+02] [ 1.45003704e-01 1.10466899e-04 9.89431106e-01 4.85260287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:210.94, Z:48.54 [[ 2.16030064e-03 -9.99997548e-01 -4.86597502e-04 2.16161093e+02] [ 9.89428763e-01 2.20802706e-03 -1.45002923e-01 2.10941801e+02] [ 1.45003642e-01 -1.68203657e-04 9.89431107e-01 4.85361591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.00, Z:48.55 [[-6.97563604e-04 -9.99999660e-01 -4.40192482e-04 2.16163170e+02] [ 9.89431008e-01 -6.26362012e-04 -1.45003064e-01 2.10998458e+02] [ 1.45002739e-01 -5.36688951e-04 9.89431108e-01 4.85482365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.05, Z:48.56 [[-2.02840424e-03 -9.99997863e-01 -3.99251860e-04 2.16164305e+02] [ 9.89429270e-01 -1.94907390e-03 -1.45003177e-01 2.11053687e+02] [ 1.45002089e-01 -6.89156534e-04 9.89431109e-01 4.85579712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.11, Z:48.56 [[-1.64400803e-03 -9.99998582e-01 -3.63977822e-04 2.16164306e+02] [ 9.89429925e-01 -1.57385500e-03 -1.45003266e-01 2.11111216e+02] [ 1.45002487e-01 -5.98517082e-04 9.89431110e-01 4.85638011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.17, Z:48.57 [[-1.17729505e-03 -9.99999256e-01 -3.18345812e-04 2.16164630e+02] [ 9.89430529e-01 -1.11869128e-03 -1.45003366e-01 2.11167750e+02] [ 1.45002902e-01 -4.85692810e-04 9.89431111e-01 4.85698751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.22, Z:48.58 [[-1.86097540e-03 -9.99998231e-01 -2.72701885e-04 2.16164656e+02] [ 9.89429509e-01 -1.80176445e-03 -1.45003452e-01 2.11224797e+02] [ 1.45002704e-01 -5.39667149e-04 9.89431112e-01 4.85766620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.28, Z:48.58 [[-2.34388071e-03 -9.99997227e-01 -2.26766283e-04 2.16164335e+02] [ 9.89428497e-01 -2.28622679e-03 -1.45003524e-01 2.11282161e+02] [ 1.45002603e-01 -5.64239984e-04 9.89431113e-01 4.85844349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.34, Z:48.59 [[-1.61842647e-03 -9.99998673e-01 -1.84901367e-04 2.16164189e+02] [ 9.89429878e-01 -1.57451023e-03 -1.45003577e-01 2.11339185e+02] [ 1.45003094e-01 -4.17624565e-04 9.89431114e-01 4.85929102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.40, Z:48.60 [[ 2.72789218e-04 -9.99999953e-01 -1.42943550e-04 2.16164103e+02] [ 9.89431082e-01 2.90633479e-04 -1.45003619e-01 2.11395792e+02] [ 1.45003654e-01 -1.01877367e-04 9.89431114e-01 4.86011229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.45, Z:48.61 [[ 2.00638582e-03 -9.99997983e-01 -9.64265673e-05 2.16163548e+02] [ 9.89429100e-01 1.99916276e-03 -1.45003650e-01 2.11451743e+02] [ 1.45003550e-01 1.95526016e-04 9.89431115e-01 4.86102996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.51, Z:48.62 [[ 2.54636799e-03 -9.99996757e-01 -4.78730378e-05 2.16164113e+02] [ 9.89427892e-01 2.52639747e-03 -1.45003666e-01 2.11508836e+02] [ 1.45003317e-01 3.21865775e-04 9.89431117e-01 4.86216778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.57, Z:48.63 [[ 2.60547096e-03 -9.99996606e-01 -8.21168251e-06 2.16164135e+02] [ 9.89427756e-01 2.57912476e-03 -1.45003669e-01 2.11565650e+02] [ 1.45003198e-01 3.69677981e-04 9.89431117e-01 4.86323196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.57, Z:48.63 [[ 3.04095301e-03 -9.99995376e-01 3.66611695e-05 2.16164349e+02] [ 9.89426560e-01 3.00349756e-03 -1.45003657e-01 2.11565380e+02] [ 1.45002877e-01 4.77222843e-04 9.89431118e-01 4.86340585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.53, Z:48.61 [[-2.81951523e-03 -9.99996021e-01 9.24330550e-05 2.16155961e+02] [ 9.89427154e-01 -2.80311921e-03 -1.45003622e-01 2.11526184e+02] [ 1.45003304e-01 -3.17384146e-04 9.89431120e-01 4.86128279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.56, Z:48.63 [[ 5.61134482e-03 -9.99984246e-01 1.40514215e-04 2.16163602e+02] [ 9.89415668e-01 5.53166456e-03 -1.45003576e-01 2.11560073e+02] [ 1.45000514e-01 9.52692029e-04 9.89431121e-01 4.86279994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.52, Z:48.61 [[-1.33543861e-03 -9.99999091e-01 1.88552647e-04 2.16155347e+02] [ 9.89430221e-01 -1.34866534e-03 -1.45003513e-01 2.11524091e+02] [ 1.45003636e-01 -7.08360316e-06 9.89431122e-01 4.86062008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.56, Z:48.62 [[ 5.99399336e-03 -9.99982008e-01 2.36591055e-04 2.16163960e+02] [ 9.89413582e-01 5.89633802e-03 -1.45003435e-01 2.11555193e+02] [ 1.44999431e-01 1.10323603e-03 9.89431123e-01 4.86235462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.52, Z:48.60 [[-3.83015358e-03 -9.99992622e-01 2.91519341e-04 2.16154056e+02] [ 9.89423747e-01 -3.83194445e-03 -1.45003325e-01 2.11521344e+02] [ 1.45003372e-01 -2.66948845e-04 9.89431125e-01 4.86040854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.55, Z:48.63 [[ 4.04478495e-03 -9.99991763e-01 3.36078112e-04 2.16164590e+02] [ 9.89423285e-01 3.95330457e-03 -1.45003222e-01 2.11550344e+02] [ 1.45000699e-01 9.19030359e-04 9.89431126e-01 4.86273296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.55, Z:48.63 [[ 2.13646703e-03 -9.99997655e-01 3.53193494e-04 2.16165211e+02] [ 9.89429039e-01 2.06267318e-03 -1.45003180e-01 2.11549384e+02] [ 1.45002112e-01 6.59254413e-04 9.89431126e-01 4.86282268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.55, Z:48.63 [[-1.04516927e-03 -9.99999370e-01 4.08818512e-04 2.16166007e+02] [ 9.89430608e-01 -1.09340307e-03 -1.45003024e-01 2.11546904e+02] [ 1.45003379e-01 2.52944845e-04 9.89431128e-01 4.86273922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.54, Z:48.63 [[-2.67824534e-03 -9.99996306e-01 4.64470459e-04 2.16166721e+02] [ 9.89427507e-01 -2.71728919e-03 -1.45002845e-01 2.11542997e+02] [ 1.45003572e-01 7.12066532e-05 9.89431129e-01 4.86269903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.54, Z:48.63 [[-5.57149114e-03 -9.99984344e-01 5.20076880e-04 2.16167988e+02] [ 9.89415487e-01 -5.58801963e-03 -1.45002646e-01 2.11536188e+02] [ 1.45003282e-01 -2.93308838e-04 9.89431131e-01 4.86256184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.55, Z:48.63 [[-8.47568025e-03 -9.99963915e-01 5.75564283e-04 2.16169033e+02] [ 9.89395049e-01 -8.46955992e-03 -1.45002426e-01 2.11546604e+02] [ 1.45002069e-01 -6.59533749e-04 9.89431132e-01 4.86265006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.54, Z:48.63 [[-9.52124119e-03 -9.99954473e-01 6.31215981e-04 2.16168905e+02] [ 9.89385610e-01 -9.51213978e-03 -1.45002184e-01 2.11540199e+02] [ 1.45001587e-01 -7.56084759e-04 9.89431134e-01 4.86250437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.54, Z:48.62 [[-8.87360020e-03 -9.99960393e-01 6.87042935e-04 2.16168216e+02] [ 9.89391530e-01 -8.87943911e-03 -1.45001920e-01 2.11539147e+02] [ 1.45002277e-01 -6.06934605e-04 9.89431135e-01 4.86223719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.51, Z:48.60 [[-1.58893990e-02 -9.99873480e-01 7.42795514e-04 2.16157545e+02] [ 9.89304788e-01 -1.58291677e-02 -1.45001635e-01 2.11506242e+02] [ 1.44995047e-01 -1.56913766e-03 9.89431137e-01 4.86017947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.53, Z:48.62 [[-7.04554879e-03 -9.99974867e-01 7.90947882e-04 2.16167510e+02] [ 9.89406081e-01 -7.08577543e-03 -1.45001372e-01 2.11526500e+02] [ 1.45003332e-01 -2.39045597e-04 9.89431138e-01 4.86222806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.55, Z:48.63 [[-6.39852884e-03 -9.99979177e-01 8.38942292e-04 2.16166549e+02] [ 9.89410454e-01 -6.45255323e-03 -1.45001095e-01 2.11548629e+02] [ 1.45003489e-01 -9.77354096e-05 9.89431139e-01 4.86266934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.52, Z:48.63 [[-6.51811173e-03 -9.99978363e-01 8.87780530e-04 2.16167370e+02] [ 9.89409672e-01 -6.57795400e-03 -1.45000796e-01 2.11523957e+02] [ 1.45003498e-01 -6.67527427e-05 9.89431140e-01 4.86262060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.50, Z:48.61 [[-1.42356861e-02 -9.99898229e-01 9.36633373e-04 2.16159391e+02] [ 9.89329380e-01 -1.42210421e-02 -1.45000480e-01 2.11500118e+02] [ 1.44999043e-01 -1.13754240e-03 9.89431141e-01 4.86106138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.53, Z:48.63 [[-9.38804503e-03 -9.99955447e-01 9.84670693e-04 2.16166619e+02] [ 9.89386679e-01 -9.43160430e-03 -1.45000154e-01 2.11529618e+02] [ 1.45002981e-01 -3.87047910e-04 9.89431142e-01 4.86265654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.52, Z:48.62 [[-1.18090125e-02 -9.99929738e-01 1.03285114e-03 2.16166213e+02] [ 9.89360911e-01 -1.18339700e-02 -1.44999811e-01 2.11515324e+02] [ 1.45001846e-01 -6.90442029e-04 9.89431144e-01 4.86239883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.51, Z:48.62 [[-1.31551348e-02 -9.99912875e-01 1.08840104e-03 2.16165905e+02] [ 9.89344037e-01 -1.31739194e-02 -1.44999394e-01 2.11513313e+02] [ 1.45001100e-01 -8.30683495e-04 9.89431145e-01 4.86239030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.51, Z:48.62 [[-1.59763776e-02 -9.99871715e-01 1.14370545e-03 2.16164631e+02] [ 9.89302863e-01 -1.59733613e-02 -1.44998958e-01 2.11509465e+02] [ 1.44998626e-01 -1.18508703e-03 9.89431147e-01 4.86222594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.51, Z:48.62 [[-1.98678906e-02 -9.99801895e-01 1.19897323e-03 2.16163164e+02] [ 9.89233105e-01 -1.98317532e-02 -1.44998502e-01 2.11507177e+02] [ 1.44993555e-01 -1.69475036e-03 9.89431148e-01 4.86201652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.51, Z:48.62 [[-2.21868904e-02 -9.99753054e-01 1.25419600e-03 2.16161396e+02] [ 9.89184335e-01 -2.21342463e-02 -1.44998024e-01 2.11505448e+02] [ 1.44989978e-01 -1.97642424e-03 9.89431150e-01 4.86195958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.50, Z:48.62 [[-2.33200389e-02 -9.99727193e-01 1.30944518e-03 2.16160473e+02] [ 9.89158496e-01 -2.32634273e-02 -1.44997526e-01 2.11498543e+02] [ 1.44988431e-01 -2.08609910e-03 9.89431151e-01 4.86203773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.50, Z:48.62 [[-2.40365641e-02 -9.99710149e-01 1.36461304e-03 2.16159849e+02] [ 9.89141451e-01 -2.39803775e-02 -1.44997007e-01 2.11499510e+02] [ 1.44987703e-01 -2.13543453e-03 9.89431153e-01 4.86216280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.49, Z:48.62 [[-2.44217810e-02 -9.99700736e-01 1.41976254e-03 2.16157898e+02] [ 9.89132019e-01 -2.43695190e-02 -1.44996467e-01 2.11494383e+02] [ 1.44987673e-01 -2.13673936e-03 9.89431154e-01 4.86219723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.49, Z:48.62 [[-2.40124350e-02 -9.99710572e-01 1.47492998e-03 2.16155033e+02] [ 9.89141803e-01 -2.39725004e-02 -1.44995906e-01 2.11491689e+02] [ 1.44989298e-01 -2.02278986e-03 9.89431156e-01 4.86193508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.49, Z:48.62 [[-2.31494763e-02 -9.99730844e-01 1.53003442e-03 2.16152926e+02] [ 9.89162026e-01 -2.31266553e-02 -1.44995325e-01 2.11494225e+02] [ 1.44991683e-01 -1.84311388e-03 9.89431157e-01 4.86185785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.49, Z:48.62 [[-2.29142272e-02 -9.99736178e-01 1.58521956e-03 2.16151872e+02] [ 9.89167344e-01 -2.29018957e-02 -1.44994721e-01 2.11494615e+02] [ 1.44992773e-01 -1.75439456e-03 9.89431159e-01 4.86177941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.49, Z:48.62 [[-2.22607679e-02 -9.99750852e-01 1.64054038e-03 2.16149506e+02] [ 9.89182013e-01 -2.22633667e-02 -1.44994096e-01 2.11486312e+02] [ 1.44994495e-01 -1.60488688e-03 9.89431160e-01 4.86171011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.49, Z:48.62 [[-2.15357310e-02 -9.99766641e-01 1.69580622e-03 2.16147914e+02] [ 9.89197819e-01 -2.15540088e-02 -1.44993450e-01 2.11486154e+02] [ 1.44996165e-01 -1.44505212e-03 9.89431162e-01 4.86170475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.49, Z:48.62 [[-2.15722789e-02 -9.99765758e-01 1.75099063e-03 2.16147118e+02] [ 9.89196953e-01 -2.15981728e-02 -1.44992783e-01 2.11486416e+02] [ 1.44996638e-01 -1.39575016e-03 9.89431163e-01 4.86155425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.45, Z:48.60 [[-2.98353456e-02 -9.99553208e-01 1.79929886e-03 2.16137862e+02] [ 9.88984512e-01 -2.97808849e-02 -1.44992184e-01 2.11452145e+02] [ 1.44980987e-01 -2.54641322e-03 9.89431164e-01 4.86000997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.48, Z:48.62 [[-2.33425762e-02 -9.99725819e-01 1.84703418e-03 2.16147160e+02] [ 9.89157005e-01 -2.33636830e-02 -1.44991576e-01 2.11480288e+02] [ 1.44994976e-01 -1.55747011e-03 9.89431166e-01 4.86170948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.48, Z:48.62 [[-2.23654608e-02 -9.99748066e-01 1.89472721e-03 2.16146576e+02] [ 9.89179303e-01 -2.24038135e-02 -1.44990953e-01 2.11479722e+02] [ 1.44996874e-01 -1.36856453e-03 9.89431167e-01 4.86192635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.48, Z:48.62 [[-1.94518655e-02 -9.99808907e-01 1.94297673e-03 2.16144222e+02] [ 9.89240349e-01 -1.95280146e-02 -1.44990307e-01 2.11478732e+02] [ 1.45000542e-01 -8.98260958e-04 9.89431168e-01 4.86189795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.48, Z:48.62 [[-1.75376733e-02 -9.99844206e-01 1.99824109e-03 2.16142610e+02] [ 9.89275891e-01 -1.76420700e-02 -1.44989545e-01 2.11477317e+02] [ 1.45002210e-01 -5.65967543e-04 9.89431169e-01 4.86172533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.48, Z:48.62 [[-1.74523278e-02 -9.99845588e-01 2.05354161e-03 2.16141755e+02] [ 9.89277366e-01 -1.75656457e-02 -1.44988762e-01 2.11476419e+02] [ 1.45002446e-01 -4.98869160e-04 9.89431171e-01 4.86162822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.48, Z:48.61 [[-1.75437106e-02 -9.99843873e-01 2.10888679e-03 2.16140608e+02] [ 9.89275731e-01 -1.76640881e-02 -1.44987957e-01 2.11475203e+02] [ 1.45002572e-01 -4.57356241e-04 9.89431172e-01 4.86147910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.47, Z:48.61 [[-1.86795547e-02 -9.99823195e-01 2.15728042e-03 2.16140250e+02] [ 9.89254998e-01 -1.87949440e-02 -1.44987237e-01 2.11470429e+02] [ 1.45002149e-01 -5.74196595e-04 9.89431174e-01 4.86134053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.47, Z:48.61 [[-2.16212232e-02 -9.99763786e-01 2.21259829e-03 2.16139705e+02] [ 9.89195364e-01 -2.17135394e-02 -1.44986394e-01 2.11467513e+02] [ 1.45000189e-01 -9.46091202e-04 9.89431175e-01 4.86136985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.46, Z:48.61 [[-2.46694032e-02 -9.99693092e-01 2.26786112e-03 2.16139618e+02] [ 9.89124488e-01 -2.47375100e-02 -1.44985529e-01 2.11463612e+02] [ 1.44997133e-01 -1.33350952e-03 9.89431177e-01 4.86138358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.46, Z:48.62 [[-2.82691723e-02 -9.99597648e-01 2.32307879e-03 2.16139554e+02] [ 9.89028894e-01 -2.83072284e-02 -1.44984645e-01 2.11457565e+02] [ 1.44992070e-01 -1.80100385e-03 9.89431178e-01 4.86151339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.46, Z:48.62 [[-2.97187613e-02 -9.99555471e-01 2.37819694e-03 2.16138742e+02] [ 9.88986695e-01 -2.97494839e-02 -1.44983741e-01 2.11455385e+02] [ 1.44990042e-01 -1.95673206e-03 9.89431180e-01 4.86155683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.46, Z:48.62 [[-2.90973537e-02 -9.99573621e-01 2.43326042e-03 2.16138078e+02] [ 9.89004899e-01 -2.91426321e-02 -1.44982817e-01 2.11460630e+02] [ 1.44991911e-01 -1.81210983e-03 9.89431181e-01 4.86174515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.45, Z:48.62 [[-2.64781807e-02 -9.99646294e-01 2.48847704e-03 2.16137291e+02] [ 9.89077787e-01 -2.65591586e-02 -1.44981869e-01 2.11454313e+02] [ 1.44996680e-01 -1.37755878e-03 9.89431183e-01 4.86153470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.45, Z:48.62 [[-2.21268448e-02 -9.99751935e-01 2.54375633e-03 2.16135925e+02] [ 9.89183982e-01 -2.22618389e-02 -1.44980900e-01 2.11453906e+02] [ 1.45001564e-01 -6.91726856e-04 9.89431184e-01 4.86151866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.46, Z:48.62 [[-1.67291503e-02 -9.99856680e-01 2.59899880e-03 2.16134817e+02] [ 9.89289759e-01 -1.69292060e-02 -1.44979910e-01 2.11457408e+02] [ 1.45003130e-01 1.45772197e-04 9.89431186e-01 4.86158234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.46, Z:48.61 [[-1.12577950e-02 -9.99933106e-01 2.65439538e-03 2.16133492e+02] [ 9.89367639e-01 -1.15237003e-02 -1.44978896e-01 2.11457430e+02] [ 1.44999786e-01 9.94030200e-04 9.89431187e-01 4.86143392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.42, Z:48.60 [[-1.25255551e-02 -9.99917880e-01 2.70995544e-03 2.16125307e+02] [ 9.89352281e-01 -1.27861200e-02 -1.44977857e-01 2.11420182e+02] [ 1.45000602e-01 8.65172459e-04 9.89431189e-01 4.85968587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.46, Z:48.61 [[-4.67278026e-03 -9.99985345e-01 2.73391394e-03 2.16131314e+02] [ 9.89422232e-01 -5.01978199e-03 -1.44977406e-01 2.11455079e+02] [ 1.44989005e-01 2.02754767e-03 9.89431189e-01 4.86135926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.43, Z:48.60 [[-8.11815325e-03 -9.99963158e-01 2.78887634e-03 2.16123638e+02] [ 9.89399151e-01 -8.43672586e-03 -1.44976349e-01 2.11430107e+02] [ 1.44994536e-01 1.58237167e-03 9.89431190e-01 4.86018421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.47, Z:48.62 [[-1.62538866e-04 -9.99995962e-01 2.83716459e-03 2.16129460e+02] [ 9.89435094e-01 -5.72143047e-04 -1.44975404e-01 2.11465152e+02] [ 1.44976442e-01 2.78362607e-03 9.89431192e-01 4.86171156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.43, Z:48.60 [[-5.70748393e-03 -9.99979549e-01 2.88568482e-03 2.16119428e+02] [ 9.89416809e-01 -6.06555512e-03 -1.44974438e-01 2.11431162e+02] [ 1.44988976e-01 2.02770579e-03 9.89431193e-01 4.85999145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.46, Z:48.61 [[ 1.71469574e-03 -9.99994225e-01 2.93427799e-03 2.16126921e+02] [ 9.89434728e-01 1.27119444e-03 -1.44973455e-01 2.11455206e+02] [ 1.44968887e-01 3.15186191e-03 9.89431194e-01 4.86145301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.44, Z:48.60 [[-4.94147199e-03 -9.99983342e-01 2.98275405e-03 2.16118263e+02] [ 9.89421379e-01 -5.32170386e-03 -1.44972457e-01 2.11438869e+02] [ 1.44985916e-01 2.23482329e-03 9.89431195e-01 4.86019136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.46, Z:48.61 [[ 3.22171442e-04 -9.99995353e-01 3.03142004e-03 2.16124823e+02] [ 9.89435833e-01 -1.20701918e-04 -1.44971440e-01 2.11455812e+02] [ 1.44971132e-01 3.04610127e-03 9.89431196e-01 4.86121917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.45, Z:48.61 [[ 2.26949952e-04 -9.99995209e-01 3.08717910e-03 2.16124257e+02] [ 9.89435989e-01 -2.22997750e-04 -1.44970253e-01 2.11454927e+02] [ 1.44970247e-01 3.08746709e-03 9.89431198e-01 4.86119053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.45, Z:48.61 [[ 5.16440959e-04 -9.99994926e-01 3.14338361e-03 2.16123018e+02] [ 9.89436191e-01 5.52923721e-05 -1.44969034e-01 2.11447202e+02] [ 1.44968125e-01 3.18504545e-03 9.89431199e-01 4.86116724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.44, Z:48.61 [[ 1.74488217e-03 -9.99993359e-01 3.19950366e-03 2.16121549e+02] [ 9.89435568e-01 1.26263187e-03 -1.44967796e-01 2.11444567e+02] [ 1.44962794e-01 3.41865444e-03 9.89431201e-01 4.86117217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:211.43, Z:48.60 [[-1.28111496e-03 -9.99993880e-01 3.25552077e-03 2.16113837e+02] [ 9.89435029e-01 -1.73953224e-03 -1.44966538e-01 2.11428856e+02] [ 1.44971314e-01 3.03540749e-03 9.89431202e-01 4.86014067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:211.43, Z:48.60 [[ 1.89440780e-03 -9.99992747e-01 3.30419935e-03 2.16112210e+02] [ 9.89435737e-01 1.39541022e-03 -1.44965429e-01 2.11434865e+02] [ 1.44959767e-01 3.54391656e-03 9.89431204e-01 4.86030158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:211.42, Z:48.60 [[ 3.48463597e-03 -9.99988285e-01 3.35975415e-03 2.16111752e+02] [ 9.89432479e-01 2.96080282e-03 -1.44964142e-01 2.11418385e+02] [ 1.44952496e-01 3.82939714e-03 9.89431205e-01 4.85992885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:211.42, Z:48.60 [[ 5.28091732e-03 -9.99980224e-01 3.41518971e-03 2.16111567e+02] [ 9.89425794e-01 4.73009378e-03 -1.44962836e-01 2.11424089e+02] [ 1.44943815e-01 4.14461355e-03 9.89431207e-01 4.85992234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:211.45, Z:48.60 [[ 5.40061035e-03 -9.99979394e-01 3.47049809e-03 2.16114011e+02] [ 9.89425454e-01 4.84051244e-03 -1.44961512e-01 2.11454365e+02] [ 1.44941726e-01 4.21667979e-03 9.89431208e-01 4.86049249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.41, Z:48.60 [[ 2.35249297e-03 -9.99991039e-01 3.51954538e-03 2.16116504e+02] [ 9.89435800e-01 1.81746262e-03 -1.44960321e-01 2.11414554e+02] [ 1.44952626e-01 3.82338234e-03 9.89431209e-01 4.85960864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.40, Z:48.59 [[ 1.08269446e-03 -9.99993022e-01 3.57554085e-03 2.16118840e+02] [ 9.89437517e-01 5.52955771e-04 -1.44958940e-01 2.11403874e+02] [ 1.44955952e-01 3.69472050e-03 9.89431211e-01 4.85912272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.40, Z:48.59 [[-7.11403031e-04 -9.99993156e-01 3.63059473e-03 2.16125332e+02] [ 9.89437109e-01 -1.23017913e-03 -1.44957562e-01 2.11402497e+02] [ 1.44961036e-01 3.48912191e-03 9.89431212e-01 4.85910572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.40, Z:48.59 [[-2.94881493e-03 -9.99988861e-01 3.68546920e-03 2.16133581e+02] [ 9.89432056e-01 -3.45192196e-03 -1.44956167e-01 2.11403665e+02] [ 1.44967274e-01 3.21907246e-03 9.89431214e-01 4.85919847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.43, Z:48.61 [[ 5.32969578e-04 -9.99992863e-01 3.74044144e-03 2.16149312e+02] [ 9.89438285e-01 -1.48543454e-05 -1.44954748e-01 2.11427974e+02] [ 1.44953769e-01 3.77819243e-03 9.89431215e-01 4.86065452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.40, Z:48.59 [[-6.47875588e-03 -9.99971808e-01 3.79602893e-03 2.16148725e+02] [ 9.89414015e-01 -6.96061500e-03 -1.44953293e-01 2.11396785e+02] [ 1.44975629e-01 2.81672723e-03 9.89431217e-01 4.85928685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.44, Z:48.61 [[-1.31041183e-03 -9.99991724e-01 3.85157901e-03 2.16163279e+02] [ 9.89436976e-01 -1.85487865e-03 -1.44951817e-01 2.11437925e+02] [ 1.44957762e-01 3.62094812e-03 9.89431218e-01 4.86080810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.40, Z:48.59 [[-4.32966166e-03 -9.99982993e-01 3.90741328e-03 2.16163893e+02] [ 9.89427047e-01 -4.85034761e-03 -1.44950312e-01 2.11402909e+02] [ 1.44966799e-01 3.23851458e-03 9.89431220e-01 4.85938680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.41, Z:48.59 [[-2.81643243e-03 -9.99988207e-01 3.95639749e-03 2.16167230e+02] [ 9.89433426e-01 -3.36018778e-03 -1.44948975e-01 2.11409603e+02] [ 1.44960560e-01 3.50635293e-03 9.89431221e-01 4.85925022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.41, Z:48.59 [[-3.11710266e-03 -9.99987094e-01 4.01188222e-03 2.16173178e+02] [ 9.89432566e-01 -3.66572225e-03 -1.44947440e-01 2.11406547e+02] [ 1.44960276e-01 3.51767087e-03 9.89431223e-01 4.85890659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.43, Z:48.59 [[-3.11031852e-03 -9.99986919e-01 4.06051052e-03 2.16178798e+02] [ 9.89432764e-01 -3.66605407e-03 -1.44946078e-01 2.11426601e+02] [ 1.44959068e-01 3.56677368e-03 9.89431224e-01 4.85910873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.40, Z:48.59 [[-5.39993691e-03 -9.99976976e-01 4.10946310e-03 2.16185970e+02] [ 9.89421937e-01 -5.93859762e-03 -1.44944690e-01 2.11399379e+02] [ 1.44965757e-01 3.28330076e-03 9.89431225e-01 4.85873079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.41, Z:48.59 [[-1.17131563e-02 -9.99922752e-01 4.15835616e-03 2.16189159e+02] [ 9.89364843e-01 -1.21922527e-02 -1.44943287e-01 2.11413727e+02] [ 1.44982791e-01 2.41638801e-03 9.89431226e-01 4.85858459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.41, Z:48.59 [[-1.65082755e-02 -9.99854849e-01 4.21408569e-03 2.16192038e+02] [ 9.89295096e-01 -1.69448121e-02 -1.44941667e-01 2.11410906e+02] [ 1.44992036e-01 1.77623733e-03 9.89431228e-01 4.85865376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.42, Z:48.61 [[-1.76171842e-02 -9.99835687e-01 4.27011994e-03 2.16204764e+02] [ 9.89275788e-01 -1.80501309e-02 -1.44940017e-01 2.11416291e+02] [ 1.44993277e-01 1.67089129e-03 9.89431229e-01 4.86056268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.38, Z:48.59 [[-3.01435776e-02 -9.99536216e-01 4.32635898e-03 2.16200635e+02] [ 9.88971958e-01 -3.04523315e-02 -1.44938338e-01 2.11379898e+02] [ 1.45002866e-01 -9.03123273e-05 9.89431231e-01 4.85889712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.38, Z:48.59 [[-3.43395910e-02 -9.99400615e-01 4.38205949e-03 2.16199441e+02] [ 9.88835361e-01 -3.46120688e-02 -1.44936654e-01 2.11382368e+02] [ 1.45001454e-01 -6.43930051e-04 9.89431232e-01 4.85857586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:211.38, Z:48.60 [[-3.10256661e-02 -9.99508770e-01 4.43018988e-03 2.16207034e+02] [ 9.88944684e-01 -3.13401531e-02 -1.44935183e-01 2.11384808e+02] [ 1.45002830e-01 -1.15497870e-04 9.89431234e-01 4.86026406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:211.39, Z:48.60 [[-3.30570071e-02 -9.99443434e-01 4.47847861e-03 2.16206952e+02] [ 9.88878928e-01 -3.33570255e-02 -1.44933691e-01 2.11389295e+02] [ 1.45002415e-01 -3.62400935e-04 9.89431235e-01 4.86035853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.38, Z:48.60 [[-3.47868852e-02 -9.99384468e-01 4.53397579e-03 2.16204924e+02] [ 9.88819678e-01 -3.50766654e-02 -1.44931956e-01 2.11380165e+02] [ 1.45001782e-01 -5.58446828e-04 9.89431236e-01 4.86042968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.36, Z:48.58 [[-3.90015361e-02 -9.99228643e-01 4.58248128e-03 2.16195472e+02] [ 9.88662891e-01 -3.92537910e-02 -1.44930422e-01 2.11355444e+02] [ 1.44998509e-01 -1.12197989e-03 9.89431237e-01 4.85846837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.44, Z:48.61 [[-2.72198142e-02 -9.99618748e-01 4.63042343e-03 2.16196378e+02] [ 9.89056955e-01 -2.76035526e-02 -1.44928890e-01 2.11438343e+02] [ 1.45001452e-01 6.34815030e-04 9.89431239e-01 4.86104420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.43, Z:48.60 [[-3.04985984e-02 -9.99523856e-01 4.67944473e-03 2.16189388e+02] [ 9.88961100e-01 -3.08547981e-02 -1.44927308e-01 2.11434503e+02] [ 1.45002685e-01 2.07709040e-04 9.89431240e-01 4.85964623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.38, Z:48.58 [[-2.44216630e-02 -9.99690557e-01 4.73000467e-03 2.16184440e+02] [ 9.89130457e-01 -2.48493992e-02 -1.44925658e-01 2.11375751e+02] [ 1.44998349e-01 1.13926611e-03 9.89431241e-01 4.85847720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.41, Z:48.59 [[-1.75984404e-02 -9.99833712e-01 4.77940066e-03 2.16179914e+02] [ 9.89277120e-01 -1.81053951e-02 -1.44924029e-01 2.11414262e+02] [ 1.44986463e-01 2.17771483e-03 9.89431242e-01 4.85918043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.38, Z:48.59 [[-1.38520941e-02 -9.99892363e-01 4.83556816e-03 2.16176219e+02] [ 9.89338170e-01 -1.44067371e-02 -1.44922155e-01 2.11375851e+02] [ 1.44976221e-01 2.77653682e-03 9.89431244e-01 4.85853460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.40, Z:48.59 [[-1.00207797e-02 -9.99937877e-01 4.88120539e-03 2.16174452e+02] [ 9.89386263e-01 -1.06224690e-02 -1.44920618e-01 2.11401004e+02] [ 1.44963466e-01 3.37717996e-03 9.89431245e-01 4.85904856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.36, Z:48.58 [[-9.84970742e-03 -9.99939491e-01 4.89866561e-03 2.16172929e+02] [ 9.89388126e-01 -1.04557310e-02 -1.44920028e-01 2.11364304e+02] [ 1.44962478e-01 3.41926171e-03 9.89431245e-01 4.85844949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.39, Z:48.59 [[-1.18268559e-02 -9.99917786e-01 4.95456197e-03 2.16171146e+02] [ 9.89365696e-01 -1.24201125e-02 -1.44918117e-01 2.11393678e+02] [ 1.44967739e-01 3.18794796e-03 9.89431247e-01 4.85882944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.38, Z:48.58 [[-1.28383848e-02 -9.99905067e-01 5.00335711e-03 2.16169031e+02] [ 9.89352776e-01 -1.34280351e-02 -1.44916433e-01 2.11375740e+02] [ 1.44969860e-01 3.08959232e-03 9.89431248e-01 4.85832664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.38, Z:48.59 [[-1.46789561e-02 -9.99879493e-01 5.05241927e-03 2.16169129e+02] [ 9.89326523e-01 -1.52562891e-02 -1.44914722e-01 2.11379295e+02] [ 1.44974340e-01 2.87129553e-03 9.89431249e-01 4.85851805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.36, Z:48.58 [[-1.56007494e-02 -9.99865252e-01 5.10831356e-03 2.16168527e+02] [ 9.89312194e-01 -1.61764511e-02 -1.44912752e-01 2.11359305e+02] [ 1.44975860e-01 2.79296937e-03 9.89431250e-01 4.85815634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.41, Z:48.60 [[-1.12979033e-02 -9.99922879e-01 5.15694468e-03 2.16174520e+02] [ 9.89372814e-01 -1.19260563e-02 -1.44911022e-01 2.11414645e+02] [ 1.44961348e-01 3.46495016e-03 9.89431252e-01 4.86046733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.34, Z:48.58 [[-2.31322918e-02 -9.99718856e-01 5.20630555e-03 2.16167045e+02] [ 9.89162440e-01 -2.36426830e-02 -1.44909248e-01 2.11339452e+02] [ 1.44991599e-01 1.79779888e-03 9.89431253e-01 4.85770490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.39, Z:48.60 [[-1.83260130e-02 -9.99818313e-01 5.24388655e-03 2.16176514e+02] [ 9.89264764e-01 -1.88925920e-02 -1.44907889e-01 2.11389674e+02] [ 1.44980631e-01 2.53200833e-03 9.89431254e-01 4.86014710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.36, Z:48.60 [[-2.24220702e-02 -9.99734615e-01 5.28672015e-03 2.16176963e+02] [ 9.89179145e-01 -2.29516145e-02 -1.44906326e-01 2.11364375e+02] [ 1.44989209e-01 1.98041350e-03 9.89431254e-01 4.85980072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.34, Z:48.58 [[-3.43590342e-02 -9.99395271e-01 5.34306817e-03 2.16168555e+02] [ 9.88834546e-01 -3.47706600e-02 -1.44904248e-01 2.11336160e+02] [ 1.45002403e-01 3.04640365e-04 9.89431256e-01 4.85800406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.36, Z:48.60 [[-3.27789089e-02 -9.99448086e-01 5.39138966e-03 2.16176966e+02] [ 9.88888312e-01 -3.32142369e-02 -1.44902451e-01 2.11357890e+02] [ 1.45001548e-01 5.81737985e-04 9.89431257e-01 4.85965448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.35, Z:48.60 [[-3.66438462e-02 -9.99313584e-01 5.43965301e-03 2.16176875e+02] [ 9.88752471e-01 -3.70453312e-02 -1.44900639e-01 2.11353714e+02] [ 1.45002691e-01 6.87536143e-05 9.89431258e-01 4.85955551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.34, Z:48.59 [[-4.16591702e-02 -9.99116767e-01 5.49532036e-03 2.16175881e+02] [ 9.88554043e-01 -4.20157146e-02 -1.44898528e-01 2.11342812e+02] [ 1.45001439e-01 -6.03931286e-04 9.89431260e-01 4.85934679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.34, Z:48.59 [[-4.44652969e-02 -9.98995509e-01 5.55078555e-03 2.16174784e+02] [ 9.88432078e-01 -4.48002162e-02 -1.44896404e-01 2.11340225e+02] [ 1.44999533e-01 -9.56287114e-04 9.89431261e-01 4.85933238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.31, Z:48.57 [[-5.63637616e-02 -9.98394560e-01 5.60606827e-03 2.16164114e+02] [ 9.87828053e-01 -5.65808291e-02 -1.44894265e-01 2.11307084e+02] [ 1.44978842e-01 -2.62895429e-03 9.89431263e-01 4.85731117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.33, Z:48.59 [[-5.02147631e-02 -9.98722440e-01 5.65381367e-03 2.16170579e+02] [ 9.88157658e-01 -5.05038189e-02 -1.44892402e-01 2.11333392e+02] [ 1.44992832e-01 -1.68887836e-03 9.89431264e-01 4.85932212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.33, Z:48.59 [[-5.01638385e-02 -9.98724728e-01 5.70148768e-03 2.16167346e+02] [ 9.88160153e-01 -5.04603486e-02 -1.44890526e-01 2.11329853e+02] [ 1.44993450e-01 -1.63428202e-03 9.89431265e-01 4.85932502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.33, Z:48.59 [[-4.95972276e-02 -9.98752710e-01 5.75659605e-03 2.16164111e+02] [ 9.88188539e-01 -4.99077249e-02 -1.44888337e-01 2.11333231e+02] [ 1.44994918e-01 -1.49745757e-03 9.89431267e-01 4.85931494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.33, Z:48.59 [[-4.91782797e-02 -9.98773107e-01 5.81180279e-03 2.16162292e+02] [ 9.88209310e-01 -4.95012161e-02 -1.44886123e-01 2.11329273e+02] [ 1.44996054e-01 -1.38197263e-03 9.89431268e-01 4.85925090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.35, Z:48.60 [[-4.72991718e-02 -9.98863537e-01 5.86708155e-03 2.16157609e+02] [ 9.88300631e-01 -4.76499993e-02 -1.44883884e-01 2.11345480e+02] [ 1.44998796e-01 -1.05444733e-03 9.89431270e-01 4.85974675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.33, Z:48.59 [[-4.22181370e-02 -9.99090862e-01 5.92272391e-03 2.16153583e+02] [ 9.88530191e-01 -4.26307540e-02 -1.44881610e-01 2.11326238e+02] [ 1.45002383e-01 -2.61840250e-04 9.89431271e-01 4.85926903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.33, Z:48.59 [[-3.68588510e-02 -9.99302599e-01 5.97840238e-03 2.16148464e+02] [ 9.88744656e-01 -3.73361771e-02 -1.44879312e-01 2.11328397e+02] [ 1.45001484e-01 5.71028415e-04 9.89431273e-01 4.85926408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.33, Z:48.59 [[-3.14962481e-02 -9.99485657e-01 6.03384179e-03 2.16143934e+02] [ 9.88930839e-01 -3.20382546e-02 -1.44877004e-01 2.11332280e+02] [ 1.44995801e-01 1.40397017e-03 9.89431274e-01 4.85927429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.33, Z:48.59 [[-2.80065474e-02 -9.99589191e-01 6.08949997e-03 2.16142014e+02] [ 9.89036777e-01 -2.85934660e-02 -1.44874665e-01 2.11327670e+02] [ 1.44989269e-01 1.96530027e-03 9.89431276e-01 4.85927828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.33, Z:48.59 [[-2.36246378e-02 -9.99702012e-01 6.14523990e-03 2.16138841e+02] [ 9.89152761e-01 -2.42658817e-02 -1.44872300e-01 2.11328603e+02] [ 1.44978250e-01 2.65602538e-03 9.89431277e-01 4.85939576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.33, Z:48.60 [[-1.93491720e-02 -9.99793557e-01 6.20099746e-03 2.16135931e+02] [ 9.89247675e-01 -2.00435992e-02 -1.44869914e-01 2.11332746e+02] [ 1.44964297e-01 3.33120943e-03 9.89431279e-01 4.85955824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.31, Z:48.58 [[-2.06691767e-02 -9.99766791e-01 6.25697630e-03 2.16128270e+02] [ 9.89220528e-01 -2.13577872e-02 -1.44867496e-01 2.11314152e+02] [ 1.44967347e-01 3.19523752e-03 9.89431280e-01 4.85830024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.33, Z:48.60 [[-1.17872998e-02 -9.99910645e-01 6.30569500e-03 2.16131327e+02] [ 9.89371443e-01 -1.25766185e-02 -1.44865376e-01 2.11333683e+02] [ 1.44931736e-01 4.53110294e-03 9.89431282e-01 4.85957708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.34, Z:48.60 [[-1.11446026e-02 -9.99917706e-01 6.35448690e-03 2.16130901e+02] [ 9.89379550e-01 -1.19477566e-02 -1.44863236e-01 2.11339746e+02] [ 1.44927236e-01 4.67255620e-03 9.89431283e-01 4.85961489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:211.30, Z:48.58 [[-1.82915836e-02 -9.99812141e-01 6.41094071e-03 2.16123742e+02] [ 9.89269083e-01 -1.90275662e-02 -1.44860738e-01 2.11297954e+02] [ 1.44955509e-01 3.69241314e-03 9.89431284e-01 4.85752846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.34, Z:48.59 [[-1.03473724e-02 -9.99925627e-01 6.45539702e-03 2.16130165e+02] [ 9.89389252e-01 -1.11735308e-02 -1.44858757e-01 2.11335238e+02] [ 1.44920113e-01 4.88799293e-03 9.89431285e-01 4.85930854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.33, Z:48.59 [[-1.09534802e-02 -9.99919059e-01 6.47277435e-03 2.16131777e+02] [ 9.89382382e-01 -1.17757665e-02 -1.44857980e-01 2.11328047e+02] [ 1.44922477e-01 4.81734987e-03 9.89431286e-01 4.85927751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.33, Z:48.59 [[-1.20756053e-02 -9.99905770e-01 6.52926416e-03 2.16133393e+02] [ 9.89368810e-01 -1.28942417e-02 -1.44855434e-01 2.11327780e+02] [ 1.44925974e-01 4.71063327e-03 9.89431287e-01 4.85939522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:211.30, Z:48.58 [[-1.87756981e-02 -9.99802031e-01 6.58571490e-03 2.16128246e+02] [ 9.89260407e-01 -1.95318811e-02 -1.44852868e-01 2.11297584e+02] [ 1.44952823e-01 3.79527329e-03 9.89431289e-01 4.85759730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.32, Z:48.59 [[-1.29688455e-02 -9.99893890e-01 6.63453195e-03 2.16138480e+02] [ 9.89357387e-01 -1.37933028e-02 -1.44850632e-01 2.11319228e+02] [ 1.44926774e-01 4.68537774e-03 9.89431290e-01 4.85920180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.31, Z:48.58 [[-1.86117992e-02 -9.99804448e-01 6.68324493e-03 2.16136161e+02] [ 9.89263975e-01 -1.93838302e-02 -1.44848385e-01 2.11313212e+02] [ 1.44949606e-01 3.91560440e-03 9.89431291e-01 4.85791046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:211.31, Z:48.58 [[-1.75538419e-02 -9.99823254e-01 6.73229870e-03 2.16142417e+02] [ 9.89284135e-01 -1.83441268e-02 -1.44846105e-01 2.11312865e+02] [ 1.44944002e-01 4.11755066e-03 9.89431292e-01 4.85806826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.29, Z:48.57 [[-1.95034911e-02 -9.99786791e-01 6.78126215e-03 2.16145089e+02] [ 9.89246672e-01 -2.02803115e-02 -1.44843813e-01 2.11293003e+02] [ 1.44950457e-01 3.88338101e-03 9.89431293e-01 4.85738498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:211.31, Z:48.58 [[-2.01775764e-02 -9.99773083e-01 6.82989913e-03 2.16152855e+02] [ 9.89232961e-01 -2.09543315e-02 -1.44841519e-01 2.11305534e+02] [ 1.44951768e-01 3.83381051e-03 9.89431295e-01 4.85771578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.32, Z:48.59 [[-1.76627984e-02 -9.99820340e-01 6.87844730e-03 2.16161070e+02] [ 9.89282744e-01 -1.84730894e-02 -1.44839214e-01 2.11323796e+02] [ 1.44940258e-01 4.24646338e-03 9.89431296e-01 4.85898342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:211.33, Z:48.58 [[-2.37689904e-02 -9.99693475e-01 6.92761761e-03 2.16163269e+02] [ 9.89151633e-01 -2.45220267e-02 -1.44836862e-01 2.11333361e+02] [ 1.44962345e-01 3.40983828e-03 9.89431297e-01 4.85811538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:211.35, Z:48.59 [[-2.14778613e-02 -9.99744977e-01 6.97733390e-03 2.16172219e+02] [ 9.89205423e-01 -2.22622527e-02 -1.44834468e-01 2.11351375e+02] [ 1.44952863e-01 3.79128192e-03 9.89431298e-01 4.85933059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.33, Z:48.59 [[-2.27800789e-02 -9.99715800e-01 7.02762403e-03 2.16178666e+02] [ 9.89175770e-01 -2.35580223e-02 -1.44832028e-01 2.11332226e+02] [ 1.44956423e-01 3.65227040e-03 9.89431299e-01 4.85902452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:211.34, Z:48.59 [[-2.39122576e-02 -9.99688953e-01 7.08523228e-03 2.16181829e+02] [ 9.89148660e-01 -2.46866049e-02 -1.44829209e-01 2.11344187e+02] [ 1.44959071e-01 3.54515465e-03 9.89431301e-01 4.85926151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.33, Z:48.59 [[-2.41623268e-02 -9.99682531e-01 7.14277086e-03 2.16187631e+02] [ 9.89142659e-01 -2.49423682e-02 -1.44826372e-01 2.11329765e+02] [ 1.44958552e-01 3.56587723e-03 9.89431303e-01 4.85918789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:211.33, Z:48.59 [[-2.30243507e-02 -9.99708975e-01 7.20035704e-03 2.16191944e+02] [ 9.89170629e-01 -2.38247260e-02 -1.44823509e-01 2.11326435e+02] [ 1.44952908e-01 3.78791444e-03 9.89431304e-01 4.85906542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.30, Z:48.59 [[-2.31421768e-02 -9.99705840e-01 7.25763894e-03 2.16197460e+02] [ 9.89168034e-01 -2.39496024e-02 -1.44820639e-01 2.11300393e+02] [ 1.44951856e-01 3.82755962e-03 9.89431306e-01 4.85862076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.32, Z:48.59 [[-2.47440434e-02 -9.99667061e-01 7.31438946e-03 2.16198880e+02] [ 9.89128595e-01 -2.55427987e-02 -1.44817773e-01 2.11322139e+02] [ 1.44956387e-01 3.65149452e-03 9.89431308e-01 4.85899249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.32, Z:48.59 [[-2.76823055e-02 -9.99589594e-01 7.37113885e-03 2.16202497e+02] [ 9.89049430e-01 -2.84582986e-02 -1.44814884e-01 2.11315403e+02] [ 1.44965221e-01 3.28161081e-03 9.89431309e-01 4.85895081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:211.29, Z:48.59 [[-3.08561508e-02 -9.99496232e-01 7.42829097e-03 2.16206603e+02] [ 9.88954245e-01 -3.16069492e-02 -1.44811953e-01 2.11289791e+02] [ 1.44973787e-01 2.87790044e-03 9.89431311e-01 4.85857436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:211.33, Z:48.59 [[-3.21829295e-02 -9.99453969e-01 7.48484782e-03 2.16205681e+02] [ 9.88911572e-01 -3.29279246e-02 -1.44809030e-01 2.11325786e+02] [ 1.44976420e-01 2.74147382e-03 9.89431312e-01 4.85915049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:211.30, Z:48.59 [[-3.24685715e-02 -9.99444303e-01 7.54171832e-03 2.16207297e+02] [ 9.88902278e-01 -3.32187905e-02 -1.44806068e-01 2.11297937e+02] [ 1.44976127e-01 2.75637625e-03 9.89431314e-01 4.85876186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:211.37, Z:48.60 [[-3.26547329e-02 -9.99437805e-01 7.59886693e-03 2.16202808e+02] [ 9.88896232e-01 -3.34112652e-02 -1.44803069e-01 2.11370809e+02] [ 1.44975549e-01 2.78598533e-03 9.89431316e-01 4.85985045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:211.11, Z:49.13 [[-1.49882728e-01 -9.88674131e-01 7.65710013e-03 2.15240775e+02] [ 9.78116313e-01 -1.49403615e-01 -1.44799990e-01 2.11110860e+02] [ 1.44304003e-01 -1.42134830e-02 9.89431317e-01 4.91336820e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:211.11, Z:49.12 [[-1.50148176e-01 -9.88356208e-01 2.46481633e-02 2.15234766e+02] [ 9.78125175e-01 -1.52131932e-01 -1.41869722e-01 2.11114660e+02] [ 1.43967594e-01 2.80750893e-03 9.89578420e-01 4.91247525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:211.14, Z:49.13 [[-1.51746104e-01 -9.88110759e-01 2.47031998e-02 2.15230274e+02] [ 9.77878055e-01 -1.53721213e-01 -1.41860139e-01 2.11138181e+02] [ 1.43970935e-01 2.62999364e-03 9.89578422e-01 4.91285043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:211.11, Z:49.12 [[-1.53934372e-01 -9.87770827e-01 2.47588823e-02 2.15235022e+02] [ 9.77535303e-01 -1.55894806e-01 -1.41850420e-01 2.11105023e+02] [ 1.43975488e-01 2.36702619e-03 9.89578423e-01 4.91229668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:210.82, Z:49.68 [[-2.61843712e-01 -9.64791228e-01 2.48144580e-02 2.14299517e+02] [ 9.54402653e-01 -2.62672406e-01 -1.41840698e-01 2.10820395e+02] [ 1.43364734e-01 -1.34571102e-02 9.89578425e-01 4.96750915e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:210.45, Z:50.22 [[-3.62917021e-01 -9.30963111e-01 3.99865186e-02 2.13391213e+02] [ 9.20853758e-01 -3.64879616e-01 -1.37445340e-01 2.10454355e+02] [ 1.42546806e-01 -1.30595172e-02 9.89701903e-01 5.02229967e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:210.44, Z:50.20 [[-3.68379067e-01 -9.28110105e-01 5.39304698e-02 2.13387370e+02] [ 9.18711029e-01 -3.72304460e-01 -1.31755202e-01 2.10439418e+02] [ 1.42361889e-01 1.01065896e-03 9.89814160e-01 5.02012628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:212.55, Y:209.97, Z:50.78 [[-4.53358743e-01 -8.89692551e-01 5.39723467e-02 2.12546139e+02] [ 8.79970175e-01 -4.56396295e-01 -1.31738045e-01 2.09966197e+02] [ 1.41839137e-01 -1.22305393e-02 9.89814161e-01 5.07786838e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:209.97, Z:50.78 [[-4.50878857e-01 -8.90150539e-01 6.58807613e-02 2.12542860e+02] [ 8.81260219e-01 -4.55664187e-01 -1.25501297e-01 2.09969947e+02] [ 1.41734550e-01 1.47221289e-03 9.89903606e-01 5.07802545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:209.39, Z:51.35 [[-5.32960469e-01 -8.43568135e-01 6.59237466e-02 2.11766656e+02] [ 8.34268156e-01 -5.36890805e-01 -1.25478713e-01 2.09392687e+02] [ 1.41243698e-01 -1.18771115e-02 9.89903608e-01 5.13476053e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:209.40, Z:51.35 [[-5.30495697e-01 -8.44214040e-01 7.66613962e-02 2.11763070e+02] [ 8.35849833e-01 -5.36004891e-01 -1.18548776e-01 2.09396727e+02] [ 1.41171425e-01 1.18779961e-03 9.89984453e-01 5.13519382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:208.75, Z:51.92 [[-6.01382647e-01 -7.95273384e-01 7.66756521e-02 2.11054415e+02] [ 7.86466017e-01 -6.06151448e-01 -1.18539555e-01 2.08750590e+02] [ 1.40748411e-01 -1.09848366e-02 9.89984454e-01 5.19227006e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.77, Z:51.94 [[-5.97812181e-01 -7.97069927e-01 8.54407817e-02 2.11042416e+02] [ 7.89182634e-01 -6.03886759e-01 -1.11855048e-01 2.08770572e+02] [ 1.40752852e-01 5.60070873e-04 9.90044606e-01 5.19354345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.77, Z:51.93 [[-5.98539975e-01 -7.96519707e-01 8.54766350e-02 2.11042755e+02] [ 7.88630743e-01 -6.04612380e-01 -1.11827643e-01 2.08767363e+02] [ 1.40753153e-01 4.76187302e-04 9.90044607e-01 5.19342265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.77, Z:51.93 [[-5.98609866e-01 -7.96462578e-01 8.55195295e-02 2.11039912e+02] [ 7.88577721e-01 -6.04687600e-01 -1.11794831e-01 2.08765047e+02] [ 1.40752998e-01 5.17307021e-04 9.90044608e-01 5.19312325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.76, Z:51.93 [[-5.98112760e-01 -7.96831347e-01 8.55624399e-02 2.11041812e+02] [ 7.88954935e-01 -6.04201433e-01 -1.11761980e-01 2.08758256e+02] [ 1.40752398e-01 6.58643019e-04 9.90044609e-01 5.19299780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.76, Z:51.93 [[-5.97953630e-01 -7.96946165e-01 8.56052950e-02 2.11040258e+02] [ 7.89075621e-01 -6.04049884e-01 -1.11729145e-01 2.08755319e+02] [ 1.40751982e-01 7.40203493e-04 9.90044611e-01 5.19301817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:208.76, Z:51.93 [[-5.97527437e-01 -7.97261166e-01 8.56480883e-02 2.11037479e+02] [ 7.89398538e-01 -6.03633894e-01 -1.11696332e-01 2.08755811e+02] [ 1.40751237e-01 8.68852892e-04 9.90044612e-01 5.19302606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:208.10, Z:52.50 [[-6.68239112e-01 -7.38994960e-01 8.56909467e-02 2.10376949e+02] [ 7.30608718e-01 -6.73603873e-01 -1.11663442e-01 2.08102552e+02] [ 1.40240475e-01 -1.20113268e-02 9.90044614e-01 5.24986489e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:208.09, Z:52.49 [[-6.68742431e-01 -7.37357977e-01 9.53245740e-02 2.10377491e+02] [ 7.30165540e-01 -6.75501601e-01 -1.02741773e-01 2.08093523e+02] [ 1.40149368e-01 8.94936004e-04 9.90129968e-01 5.24922477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:207.39, Z:53.06 [[-7.34289215e-01 -6.72104936e-01 9.53640622e-02 2.09784514e+02] [ 6.64320871e-01 -7.40357644e-01 -1.02705107e-01 2.07391681e+02] [ 1.39632122e-01 -1.20629158e-02 9.90129970e-01 5.30590725e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:209.30, Y:206.62, Z:53.63 [[-7.91539422e-01 -6.02168963e-01 1.04201168e-01 2.09296179e+02] [ 5.95085280e-01 -7.98286607e-01 -9.28008741e-02 2.06621884e+02] [ 1.39064203e-01 -1.14469689e-02 9.90217206e-01 5.36271042e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:206.64, Z:53.63 [[-7.86080962e-01 -6.07995642e-01 1.11436175e-01 2.09271269e+02] [ 6.02290034e-01 -7.93938368e-01 -8.31178854e-02 2.06641495e+02] [ 1.39008767e-01 1.77951015e-03 9.90289552e-01 5.36332388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:208.83, Y:205.86, Z:54.21 [[-8.45948414e-01 -5.21485455e-01 1.11463898e-01 2.08829943e+02] [ 5.14985984e-01 -8.53162959e-01 -8.30806913e-02 2.05855499e+02] [ 1.38422241e-01 -1.28796339e-02 9.90289553e-01 5.42102029e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:205.85, Z:54.20 [[-8.45594368e-01 -5.20371252e-01 1.19096288e-01 2.08835485e+02] [ 5.15624821e-01 -8.53937589e-01 -7.01543945e-02 2.05845475e+02] [ 1.38207127e-01 2.08684116e-03 9.90401149e-01 5.42014061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:208.48, Y:205.02, Z:54.78 [[-8.97073188e-01 -4.25522415e-01 1.19123343e-01 2.08484938e+02] [ 4.19904539e-01 -9.04856335e-01 -7.01084241e-02 2.05020418e+02] [ 1.37622218e-01 -1.28719550e-02 9.90401150e-01 5.47800780e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:204.16, Z:55.35 [[-9.37387961e-01 -3.24961192e-01 1.25315735e-01 2.08227837e+02] [ 3.20284865e-01 -9.45641855e-01 -5.63834029e-02 2.04157444e+02] [ 1.36826222e-01 -1.27163898e-02 9.90513442e-01 5.53522861e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:203.27, Z:55.93 [[-9.66184744e-01 -2.22731601e-01 1.29914106e-01 2.08061895e+02] [ 2.19028277e-01 -9.74800587e-01 -4.23134590e-02 2.03272988e+02] [ 1.36064891e-01 -1.24277557e-02 9.90621974e-01 5.59269900e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:203.27, Z:55.92 [[-9.66377954e-01 -2.20111908e-01 1.32907481e-01 2.08057994e+02] [ 2.18285419e-01 -9.75473280e-01 -2.83435374e-02 2.03269574e+02] [ 1.35886446e-01 1.62119551e-03 9.90723092e-01 5.59200994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:203.27, Z:55.92 [[-9.66181737e-01 -2.20965062e-01 1.32918369e-01 2.08058814e+02] [ 2.19153639e-01 -9.75280074e-01 -2.82923875e-02 2.03269556e+02] [ 1.35884266e-01 1.79395608e-03 9.90723094e-01 5.59191378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:202.38, Z:56.51 [[-9.84297153e-01 -1.16141838e-01 1.32929260e-01 2.07983175e+02] [ 1.13372595e-01 -9.93151093e-01 -2.82411231e-02 2.02377435e+02] [ 1.35298816e-01 -1.27271219e-02 9.90723095e-01 5.65078585e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:202.37, Z:56.50 [[-9.84201743e-01 -1.15226951e-01 1.34423502e-01 2.07989533e+02] [ 1.14470790e-01 -9.93336684e-01 -1.33667608e-02 2.02373561e+02] [ 1.35068007e-01 2.23197517e-03 9.90833816e-01 5.65004499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:208.02, Y:201.47, Z:57.09 [[-9.90921057e-01 -2.09685511e-03 1.34428653e-01 2.08022447e+02] [ 3.09595827e-04 -9.99911307e-01 -1.33147515e-02 2.01474819e+02] [ 1.34444650e-01 -1.31522490e-02 9.90833818e-01 5.70890971e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:200.59, Z:57.68 [[-9.84923247e-01 1.09230803e-01 1.34144808e-01 2.08178456e+02] [-1.09884449e-01 -9.93941113e-01 2.54379642e-03 2.00590068e+02] [ 1.33609900e-01 -1.22349841e-02 9.90958475e-01 5.76800113e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:199.72, Z:58.28 [[-9.66322300e-01 2.20652870e-01 1.32414212e-01 2.08375807e+02] [-2.20430485e-01 -9.75262761e-01 1.65211370e-02 1.99717154e+02] [ 1.32784087e-01 -1.32233860e-02 9.91056774e-01 5.82779014e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:198.89, Z:58.86 [[-9.35259686e-01 3.29807281e-01 1.28516447e-01 2.08736087e+02] [-3.28459045e-01 -9.43970358e-01 3.21654869e-02 1.98887917e+02] [ 1.31924129e-01 -1.21293065e-02 9.91185605e-01 5.88639600e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:198.88, Z:58.86 [[-9.35159312e-01 3.31924994e-01 1.23704730e-01 2.08723449e+02] [-3.28819170e-01 -9.43304219e-01 4.53332608e-02 1.98881583e+02] [ 1.31738436e-01 1.71733451e-03 9.91283025e-01 5.88611949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:198.07, Z:59.46 [[-8.94423430e-01 4.29766947e-01 1.23721862e-01 2.09111050e+02] [-4.27553903e-01 -9.02854804e-01 4.52864560e-02 1.98069011e+02] [ 1.31165499e-01 -1.23924976e-02 9.91283026e-01 5.94617843e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:209.60, Y:197.30, Z:60.05 [[-8.45369410e-01 5.21160645e-01 1.17226889e-01 2.09603605e+02] [-5.18007500e-01 -8.53382649e-01 5.83633808e-02 1.97304626e+02] [ 1.30456090e-01 -1.13857908e-02 9.91388709e-01 6.00539096e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:209.60, Y:197.30, Z:60.04 [[-8.44652568e-01 5.23814150e-01 1.10366550e-01 2.09604803e+02] [-5.19210135e-01 -8.51831676e-01 6.93082407e-02 1.97301201e+02] [ 1.30318360e-01 1.23795246e-03 9.91471428e-01 6.00446547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:196.56, Z:60.65 [[-7.87505168e-01 6.06341273e-01 1.10389627e-01 2.10137496e+02] [-6.02489979e-01 -7.95114640e-01 6.92714645e-02 1.96564961e+02] [ 1.29774557e-01 -1.19570080e-02 9.91471429e-01 6.06531457e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:196.58, Z:60.64 [[-7.87566497e-01 6.07762466e-01 1.01802741e-01 2.10156213e+02] [-6.02451412e-01 -7.94116774e-01 8.01925469e-02 1.96576289e+02] [ 1.29581284e-01 1.82575831e-03 9.91567122e-01 6.06436415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:196.57, Z:60.65 [[-7.87751809e-01 6.07517008e-01 1.01834043e-01 2.10142182e+02] [-6.02209051e-01 -7.94304596e-01 8.01527777e-02 1.96567297e+02] [ 1.29581424e-01 1.81511334e-03 9.91567123e-01 6.06459598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:196.57, Z:60.63 [[-7.85081948e-01 6.10958113e-01 1.01865204e-01 2.10156415e+02] [-6.05684019e-01 -7.91662018e-01 8.01131563e-02 1.96573431e+02] [ 1.29588596e-01 1.19726670e-03 9.91567125e-01 6.06343604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.56, Z:60.65 [[-7.89201094e-01 6.05622636e-01 1.01896303e-01 2.10133489e+02] [-6.00309169e-01 -7.95749409e-01 8.00735823e-02 1.96562334e+02] [ 1.29578297e-01 2.02487399e-03 9.91567126e-01 6.06473490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.56, Z:60.65 [[-7.90354532e-01 6.04111339e-01 1.01927443e-01 2.10126357e+02] [-5.98790463e-01 -7.96896827e-01 8.00339234e-02 1.96557014e+02] [ 1.29575057e-01 2.22199321e-03 9.91567127e-01 6.06488021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:196.56, Z:60.64 [[-7.88850761e-01 6.06068358e-01 1.01958927e-01 2.10140681e+02] [-6.00768897e-01 -7.95410413e-01 7.99937951e-02 1.96564107e+02] [ 1.29580900e-01 1.84941416e-03 9.91567128e-01 6.06382889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:196.55, Z:60.64 [[-7.88421018e-01 6.06622134e-01 1.01989633e-01 2.10120558e+02] [-6.01332345e-01 -7.94988471e-01 7.99546264e-02 1.96549051e+02] [ 1.29582829e-01 1.70824260e-03 9.91567130e-01 6.06414120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.56, Z:60.65 [[-7.90743180e-01 6.03586732e-01 1.02020980e-01 2.10130704e+02] [-5.98276895e-01 -7.97294432e-01 7.99146092e-02 1.96562426e+02] [ 1.29576157e-01 2.15513726e-03 9.91567131e-01 6.06508957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:196.58, Z:60.63 [[-7.88109570e-01 6.07016159e-01 1.02052379e-01 2.10156359e+02] [-6.01740025e-01 -7.94687994e-01 7.98744915e-02 1.96575665e+02] [ 1.29584908e-01 1.54084997e-03 9.91567132e-01 6.06343880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.56, Z:60.65 [[-7.92029468e-01 6.01887318e-01 1.02083190e-01 2.10125892e+02] [-5.96573665e-01 -7.98577623e-01 7.98350950e-02 1.96557394e+02] [ 1.29573082e-01 2.33160516e-03 9.91567133e-01 6.06495801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.56, Z:60.65 [[-7.92432281e-01 6.01351651e-01 1.02114011e-01 2.10130774e+02] [-5.96038651e-01 -7.98980964e-01 7.97956540e-02 1.96560620e+02] [ 1.29572399e-01 2.36875510e-03 9.91567135e-01 6.06500917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.64 [[-7.90201446e-01 6.04274812e-01 1.02145121e-01 2.10130812e+02] [-5.98991186e-01 -7.96773851e-01 7.97558101e-02 1.96552675e+02] [ 1.29580989e-01 1.83912914e-03 9.91567136e-01 6.06392853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:196.57, Z:60.65 [[-7.94423547e-01 5.98706641e-01 1.02184076e-01 2.10140244e+02] [-5.93383376e-01 -8.00963884e-01 7.97058699e-02 1.96565848e+02] [ 1.29566188e-01 2.68588785e-03 9.91567138e-01 6.06479209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:196.55, Z:60.65 [[-7.95908029e-01 5.96726514e-01 1.02214857e-01 2.10118836e+02] [-5.91392045e-01 -8.02439230e-01 7.96663768e-02 1.96547973e+02] [ 1.29560251e-01 2.95805547e-03 9.91567139e-01 6.06506537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.64 [[-7.93411656e-01 6.00036462e-01 1.02245726e-01 2.10132559e+02] [-5.94734348e-01 -7.99969148e-01 7.96267400e-02 1.96550311e+02] [ 1.29572373e-01 2.36773864e-03 9.91567140e-01 6.06384348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:196.54, Z:60.65 [[-7.96890409e-01 5.95403354e-01 1.02276692e-01 2.10106172e+02] [-5.90068223e-01 -8.03421067e-01 7.95869451e-02 1.96536945e+02] [ 1.29557583e-01 3.07184709e-03 9.91567142e-01 6.06543201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.96800013e-01 5.95518981e-01 1.02307779e-01 2.10127609e+02] [-5.90189927e-01 -8.03335628e-01 7.95469639e-02 1.96552581e+02] [ 1.29559211e-01 3.00200123e-03 9.91567143e-01 6.06494202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.95964070e-01 5.96630506e-01 1.02338840e-01 2.10128249e+02] [-5.91315714e-01 -8.02511287e-01 7.95069841e-02 1.96552798e+02] [ 1.29564366e-01 2.77013861e-03 9.91567144e-01 6.06471827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.94769589e-01 5.98215498e-01 1.02369523e-01 2.10131205e+02] [-5.92918851e-01 -8.01331492e-01 7.94674577e-02 1.96554002e+02] [ 1.29570588e-01 2.46149851e-03 9.91567145e-01 6.06497686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.93612345e-01 5.99744667e-01 1.02400101e-01 2.10126953e+02] [-5.94465748e-01 -8.00188516e-01 7.94280372e-02 1.96549142e+02] [ 1.29575926e-01 2.16171849e-03 9.91567147e-01 6.06510093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.54, Z:60.64 [[-7.88320012e-01 6.06679092e-01 1.02430652e-01 2.10131036e+02] [-6.01463148e-01 -7.94946243e-01 7.93886182e-02 1.96543392e+02] [ 1.29590277e-01 9.75373747e-04 9.91567148e-01 6.06411050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.15, Y:196.56, Z:60.64 [[-7.87263884e-01 6.08044249e-01 1.02458619e-01 2.10154748e+02] [-6.02844495e-01 -7.93902824e-01 7.93525083e-02 1.96561369e+02] [ 1.29592023e-01 7.04749388e-04 9.91567149e-01 6.06371592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.89977717e-01 6.04509104e-01 1.02488778e-01 2.10125986e+02] [-5.99284696e-01 -7.96597273e-01 7.93135379e-02 1.96545133e+02] [ 1.29588036e-01 1.23597172e-03 9.91567150e-01 6.06516012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.55, Z:60.65 [[-7.90310273e-01 6.04069803e-01 1.02515100e-01 2.10131350e+02] [-5.98846129e-01 -7.96930407e-01 7.92795009e-02 1.96547246e+02] [ 1.29587753e-01 1.26463324e-03 9.91567151e-01 6.06514092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.54, Z:60.65 [[-7.90924015e-01 6.03260824e-01 1.02545504e-01 2.10128026e+02] [-5.98035479e-01 -7.97542829e-01 7.92401548e-02 1.96544078e+02] [ 1.29586913e-01 1.34709175e-03 9.91567152e-01 6.06519186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.54, Z:60.65 [[-7.91263076e-01 6.02810867e-01 1.02575838e-01 2.10128034e+02] [-5.97586850e-01 -7.97882936e-01 7.92008685e-02 1.96544197e+02] [ 1.29586655e-01 1.37075085e-03 9.91567153e-01 6.06530533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:196.54, Z:60.65 [[-7.91910780e-01 6.01954561e-01 1.02606157e-01 2.10125731e+02] [-5.96728476e-01 -7.98529005e-01 7.91615705e-02 1.96542880e+02] [ 1.29585661e-01 1.46088526e-03 9.91567155e-01 6.06541944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:196.53, Z:60.66 [[-7.92617037e-01 6.01019130e-01 1.02636437e-01 2.10103727e+02] [-5.95790318e-01 -7.99233108e-01 7.91222921e-02 1.96526129e+02] [ 1.29584450e-01 1.56388132e-03 9.91567156e-01 6.06569871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:196.54, Z:60.65 [[-7.93625858e-01 5.99681153e-01 1.02666993e-01 2.10117677e+02] [-5.94446317e-01 -8.00237162e-01 7.90826243e-02 1.96537513e+02] [ 1.29582302e-01 1.73199994e-03 9.91567157e-01 6.06542367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:196.54, Z:60.64 [[-7.92093143e-01 6.01698977e-01 1.02697589e-01 2.10124805e+02] [-5.96486136e-01 -7.98721800e-01 7.90428720e-02 1.96536051e+02] [ 1.29586818e-01 1.35162891e-03 9.91567158e-01 6.06416776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:196.54, Z:60.65 [[-7.96353282e-01 5.96044653e-01 1.02724011e-01 2.10115029e+02] [-5.90789182e-01 -8.02948191e-01 7.90085187e-02 1.96536194e+02] [ 1.29574664e-01 2.23045864e-03 9.91567159e-01 6.06529777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:196.54, Z:60.64 [[-7.92693423e-01 6.00898900e-01 1.02750422e-01 2.10137831e+02] [-5.95688271e-01 -7.99323818e-01 7.89741566e-02 1.96544720e+02] [ 1.29586344e-01 1.39507324e-03 9.91567160e-01 6.06365080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:210.04, Y:196.47, Z:60.66 [[-7.93752050e-01 5.99494769e-01 1.02779888e-01 2.10036202e+02] [-5.94277378e-01 -8.00377123e-01 7.89357899e-02 1.96469534e+02] [ 1.29584264e-01 1.57568254e-03 9.91567161e-01 6.06557987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:196.53, Z:60.66 [[-7.97827120e-01 5.94056055e-01 1.02807053e-01 2.10097608e+02] [-5.88798067e-01 -8.04420018e-01 7.89003947e-02 1.96526546e+02] [ 1.29571309e-01 2.41628068e-03 9.91567162e-01 6.06564908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:196.52, Z:60.66 [[-8.00137853e-01 5.90934521e-01 1.02838746e-01 2.10081994e+02] [-5.85656122e-01 -8.06714420e-01 7.88590648e-02 1.96516121e+02] [ 1.29562043e-01 2.86998176e-03 9.91567164e-01 6.06588513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:196.53, Z:60.66 [[-8.02024068e-01 5.88366600e-01 1.02869517e-01 2.10094625e+02] [-5.83072292e-01 -8.08587833e-01 7.88189049e-02 1.96526951e+02] [ 1.29553451e-01 3.23429393e-03 9.91567165e-01 6.06551222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:196.53, Z:60.65 [[-8.01868434e-01 5.88573323e-01 1.02900236e-01 2.10099351e+02] [-5.83285850e-01 -8.08437704e-01 7.87787800e-02 1.96526933e+02] [ 1.29555519e-01 3.14996532e-03 9.91567166e-01 6.06473668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:196.53, Z:60.66 [[-8.04551313e-01 5.84895459e-01 1.02929529e-01 2.10093716e+02] [-5.79582852e-01 -8.11100273e-01 7.87404886e-02 1.96530664e+02] [ 1.29541123e-01 3.69457360e-03 9.91567167e-01 6.06567068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.52, Z:60.66 [[-8.04000925e-01 5.85647137e-01 1.02956026e-01 2.10068029e+02] [-5.80345087e-01 -8.10558433e-01 7.87058277e-02 1.96515246e+02] [ 1.29545718e-01 3.52953454e-03 9.91567168e-01 6.06625689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.52, Z:60.66 [[-8.04045523e-01 5.85580514e-01 1.02986691e-01 2.10071004e+02] [-5.80283055e-01 -8.10606740e-01 7.86656826e-02 1.96519834e+02] [ 1.29546796e-01 3.48935848e-03 9.91567170e-01 6.06611246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.52, Z:60.65 [[-8.03641838e-01 5.86128956e-01 1.03017678e-01 2.10066870e+02] [-5.80841174e-01 -8.10210854e-01 7.86250814e-02 1.96517206e+02] [ 1.29550478e-01 3.34949577e-03 9.91567171e-01 6.06549945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.52, Z:60.66 [[-8.03632405e-01 5.86137163e-01 1.03044577e-01 2.10069809e+02] [-5.80853964e-01 -8.10205106e-01 7.85898125e-02 1.96521479e+02] [ 1.29551652e-01 3.30346869e-03 9.91567172e-01 6.06554576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.53, Z:60.66 [[-8.05690590e-01 5.83299369e-01 1.03075310e-01 2.10074674e+02] [-5.77998176e-01 -8.12248784e-01 7.85494840e-02 1.96531301e+02] [ 1.29540660e-01 3.70923878e-03 9.91567173e-01 6.06575819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:196.52, Z:60.66 [[-8.06515401e-01 5.82153670e-01 1.03101953e-01 2.10048504e+02] [-5.76847627e-01 -8.13069671e-01 7.85144979e-02 1.96515040e+02] [ 1.29536574e-01 3.84903473e-03 9.91567174e-01 6.06609425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.54, Z:60.66 [[-8.06266257e-01 5.82496967e-01 1.03111623e-01 2.10072018e+02] [-5.77195336e-01 -8.12824097e-01 7.85017965e-02 1.96537327e+02] [ 1.29538670e-01 3.77780169e-03 9.91567174e-01 6.06589521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:196.54, Z:60.65 [[-8.01393475e-01 5.89177542e-01 1.03142239e-01 2.10078328e+02] [-5.83935771e-01 -8.07999258e-01 7.84615500e-02 1.96539358e+02] [ 1.29566636e-01 2.65013128e-03 9.91567176e-01 6.06488346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:196.53, Z:60.66 [[-8.00697762e-01 5.90117628e-01 1.03171114e-01 2.10049167e+02] [-5.84888504e-01 -8.07313559e-01 7.84235633e-02 1.96525873e+02] [ 1.29570567e-01 2.44997283e-03 9.91567177e-01 6.06620930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:196.54, Z:60.65 [[-7.96408084e-01 5.95889602e-01 1.03197609e-01 2.10068932e+02] [-5.90712951e-01 -8.03065018e-01 7.83886834e-02 1.96536116e+02] [ 1.29585391e-01 1.46921681e-03 9.91567178e-01 6.06470702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:210.04, Y:196.53, Z:60.66 [[-7.98346477e-01 5.93285385e-01 1.03224774e-01 2.10044601e+02] [-5.88091646e-01 -8.04990087e-01 7.83528955e-02 1.96526633e+02] [ 1.29580548e-01 1.84713078e-03 9.91567179e-01 6.06617474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:196.53, Z:60.65 [[-7.96465818e-01 5.95803129e-01 1.03251310e-01 2.10051849e+02] [-5.90634926e-01 -8.03129310e-01 7.83179123e-02 1.96527970e+02] [ 1.29586210e-01 1.39371041e-03 9.91567180e-01 6.06543084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:196.53, Z:60.66 [[-8.00813864e-01 5.89941014e-01 1.03279986e-01 2.10046260e+02] [-5.84728917e-01 -8.07443078e-01 7.82800775e-02 1.96527872e+02] [ 1.29573338e-01 2.29697678e-03 9.91567181e-01 6.06647335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:210.06, Y:196.53, Z:60.66 [[-8.01030345e-01 5.89642373e-01 1.03306619e-01 2.10058072e+02] [-5.84432336e-01 -8.07661178e-01 7.82449142e-02 1.96530349e+02] [ 1.29573263e-01 2.30082178e-03 9.91567182e-01 6.06550543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.66, Z:61.29 [[-7.27643860e-01 6.78127328e-01 1.03333151e-01 2.10537622e+02] [-6.73722055e-01 -7.34834547e-01 7.82098603e-02 1.95662006e+02] [ 1.28969013e-01 -1.27088980e-02 9.91567183e-01 6.12866175e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:195.84, Z:61.24 [[-7.26818682e-01 6.80549652e-01 9.26648506e-02 2.10730884e+02] [-6.74669332e-01 -7.32698074e-01 8.93018763e-02 1.95836092e+02] [ 1.28669718e-01 2.38813922e-03 9.91684627e-01 6.12434486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:195.81, Z:61.26 [[-7.30205040e-01 6.76900980e-01 9.27667078e-02 2.10702066e+02] [-6.71004725e-01 -7.36068437e-01 8.91959434e-02 1.95813025e+02] [ 1.28659467e-01 2.88442828e-03 9.91684638e-01 6.12594473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.77, Z:61.27 [[-7.29553264e-01 6.77598921e-01 9.27994438e-02 2.10655583e+02] [-6.71712605e-01 -7.35426636e-01 8.91618721e-02 1.95765664e+02] [ 1.28663171e-01 2.71377865e-03 9.91684639e-01 6.12672334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.83, Z:61.26 [[-7.27530198e-01 6.79764424e-01 9.28446992e-02 2.10723805e+02] [-6.73901603e-01 -7.33427021e-01 8.91147229e-02 1.95829400e+02] [ 1.28671829e-01 2.26546030e-03 9.91684641e-01 6.12561003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:195.80, Z:61.26 [[-7.25974984e-01 6.81418403e-01 9.28939327e-02 2.10699227e+02] [-6.75575584e-01 -7.31891622e-01 8.90633724e-02 1.95804592e+02] [ 1.28677712e-01 1.90090750e-03 9.91684644e-01 6.12611878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:195.83, Z:61.24 [[-7.18672288e-01 6.89111332e-01 9.29285397e-02 2.10740301e+02] [-6.83336526e-01 -7.24655326e-01 8.90272491e-02 1.95829116e+02] [ 1.28690847e-01 4.79951393e-04 9.91684645e-01 6.12398130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:195.82, Z:61.26 [[-7.22709114e-01 6.84871243e-01 9.29672881e-02 2.10725005e+02] [-6.79066542e-01 -7.28663150e-01 8.89867676e-02 1.95823934e+02] [ 1.28686315e-01 1.18057313e-03 9.91684647e-01 6.12580268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.82, Z:61.26 [[-7.22222100e-01 6.85380203e-01 9.30011570e-02 2.10724899e+02] [-6.79584256e-01 -7.28184657e-01 8.89513570e-02 1.95820534e+02] [ 1.28687515e-01 1.04051374e-03 9.91684648e-01 6.12580527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:195.81, Z:61.25 [[-7.17958329e-01 6.89840755e-01 9.30353156e-02 2.10728242e+02] [-6.84086484e-01 -7.23961114e-01 8.89156159e-02 1.95813461e+02] [ 1.28691566e-01 1.93505069e-04 9.91684649e-01 6.12451699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.81, Z:61.26 [[-7.21644102e-01 6.85979590e-01 9.30687517e-02 2.10720038e+02] [-6.80197716e-01 -7.27620303e-01 8.88806046e-02 1.95813492e+02] [ 1.28688994e-01 8.35011722e-04 9.91684650e-01 6.12593718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.81, Z:61.26 [[-7.22138924e-01 6.85454044e-01 9.31027866e-02 2.10720240e+02] [-6.79672418e-01 -7.28115363e-01 8.88449388e-02 1.95813313e+02] [ 1.28688692e-01 8.78992377e-04 9.91684651e-01 6.12592824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.81, Z:61.26 [[-7.22717699e-01 6.84839145e-01 9.31368470e-02 2.10721329e+02] [-6.79057036e-01 -7.28693670e-01 8.88092188e-02 1.95814069e+02] [ 1.28688260e-01 9.38763013e-04 9.91684653e-01 6.12596452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:195.82, Z:61.24 [[-7.18590347e-01 6.89164067e-01 9.31708208e-02 2.10735159e+02] [-6.83422548e-01 -7.24605324e-01 8.87735625e-02 1.95818761e+02] [ 1.28691622e-01 1.16785307e-04 9.91684654e-01 6.12444959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:195.82, Z:61.25 [[-7.19760686e-01 6.87935943e-01 9.32131616e-02 2.10729397e+02] [-6.82189920e-01 -7.25771357e-01 8.87290823e-02 1.95816957e+02] [ 1.28691368e-01 2.74625899e-04 9.91684656e-01 6.12460769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:195.81, Z:61.25 [[-7.21745327e-01 6.85849029e-01 9.32458689e-02 2.10715342e+02] [-6.80090068e-01 -7.27743602e-01 8.86946969e-02 1.95807785e+02] [ 1.28690256e-01 5.99393686e-04 9.91684657e-01 6.12496175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:195.75, Z:61.27 [[-7.26277369e-01 6.81043397e-01 9.32795547e-02 2.10649475e+02] [-6.75249299e-01 -7.32241709e-01 8.86592558e-02 1.95754601e+02] [ 1.28683981e-01 1.40425708e-03 9.91684658e-01 6.12686157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:195.80, Z:61.26 [[-7.28978501e-01 6.78146561e-01 9.33144540e-02 2.10693195e+02] [-6.72333466e-01 -7.34924324e-01 8.86225091e-02 1.95799428e+02] [ 1.28678112e-01 1.86547351e-03 9.91684659e-01 6.12611642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.79, Z:61.26 [[-7.30940122e-01 6.76020123e-01 9.33987770e-02 2.10681142e+02] [-6.70201087e-01 -7.36880121e-01 8.85335536e-02 1.95790131e+02] [ 1.28674166e-01 2.11676458e-03 9.91684667e-01 6.12628470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.79, Z:61.26 [[-7.33557538e-01 6.73174270e-01 9.34330802e-02 2.10676266e+02] [-6.67336802e-01 -7.39479421e-01 8.84973375e-02 1.95787496e+02] [ 1.28665971e-01 2.56655604e-03 9.91684668e-01 6.12638106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.79, Z:61.26 [[-7.35644266e-01 6.70888461e-01 9.34675708e-02 2.10673770e+02] [-6.65037219e-01 -7.41552539e-01 8.84608951e-02 1.95785835e+02] [ 1.28658508e-01 2.91633684e-03 9.91684669e-01 6.12624755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.79, Z:61.26 [[-7.36699497e-01 6.69724710e-01 9.35022108e-02 2.10674444e+02] [-6.63868778e-01 -7.42603120e-01 8.84242660e-02 1.95786672e+02] [ 1.28654949e-01 3.06891386e-03 9.91684671e-01 6.12618643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.78, Z:61.26 [[-7.36435362e-01 6.70010334e-01 9.35366729e-02 2.10671306e+02] [-6.64161318e-01 -7.42345836e-01 8.83877966e-02 1.95783114e+02] [ 1.28657297e-01 2.96845909e-03 9.91684672e-01 6.12625226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:195.75, Z:61.27 [[-7.34569631e-01 6.72050522e-01 9.35711091e-02 2.10638565e+02] [-6.66222565e-01 -7.40500869e-01 8.83513262e-02 1.95752223e+02] [ 1.28666042e-01 2.56101678e-03 9.91684673e-01 6.12689319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.79, Z:61.26 [[-7.32936699e-01 6.73826156e-01 9.36061242e-02 2.10682810e+02] [-6.68017306e-01 -7.38886648e-01 8.83142131e-02 1.95792997e+02] [ 1.28672742e-01 2.19821693e-03 9.91684674e-01 6.12614500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:195.76, Z:61.27 [[-7.30783832e-01 6.76154975e-01 9.36452937e-02 2.10652334e+02] [-6.70370409e-01 -7.36757390e-01 8.82726599e-02 1.95761923e+02] [ 1.28679860e-01 1.73119878e-03 9.91684676e-01 6.12676960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.79, Z:61.26 [[-7.28439018e-01 6.78675701e-01 9.36797199e-02 2.10682683e+02] [-6.72916506e-01 -7.34437040e-01 8.82361101e-02 1.95786925e+02] [ 1.28685560e-01 1.23599563e-03 9.91684677e-01 6.12637659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.77, Z:61.25 [[-7.23115033e-01 6.84340769e-01 9.37142544e-02 2.10681243e+02] [-6.78633320e-01 -7.29162314e-01 8.81994165e-02 1.95772654e+02] [ 1.28691359e-01 1.80708328e-04 9.91684678e-01 6.12539441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.78, Z:61.26 [[-7.28312647e-01 6.78801830e-01 9.37484083e-02 2.10680645e+02] [-6.73053067e-01 -7.34320664e-01 8.81630991e-02 1.95776984e+02] [ 1.28686666e-01 1.11264629e-03 9.91684680e-01 6.12636485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.77, Z:61.26 [[-7.29619231e-01 6.77392529e-01 9.37824036e-02 2.10678101e+02] [-6.71636809e-01 -7.35620583e-01 8.81269224e-02 1.95770619e+02] [ 1.28684785e-01 1.31138314e-03 9.91684681e-01 6.12630535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:195.77, Z:61.25 [[-7.27167958e-01 6.80018564e-01 9.38163849e-02 2.10698218e+02] [-6.74289185e-01 -7.33194461e-01 8.80907327e-02 1.95773036e+02] [ 1.28688987e-01 7.97384490e-04 9.91684682e-01 6.12458844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.75, Z:61.27 [[-7.34610277e-01 6.71967777e-01 9.38458751e-02 2.10666868e+02] [-6.66176378e-01 -7.40577202e-01 8.80593048e-02 1.95751184e+02] [ 1.28673131e-01 2.17136516e-03 9.91684683e-01 6.12667283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.76, Z:61.26 [[-7.36583359e-01 6.69800514e-01 9.38734608e-02 2.10674365e+02] [-6.63995306e-01 -7.42536849e-01 8.80298880e-02 1.95755277e+02] [ 1.28666968e-01 2.50981327e-03 9.91684684e-01 6.12644919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.74, Z:61.26 [[-7.37433974e-01 6.68858457e-01 9.39121852e-02 2.10663635e+02] [-6.63050902e-01 -7.43385173e-01 8.79885570e-02 1.95744296e+02] [ 1.28664816e-01 2.61719214e-03 9.91684685e-01 6.12645054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.76, Z:61.26 [[-7.35132284e-01 6.71382585e-01 9.39465291e-02 2.10681025e+02] [-6.65600151e-01 -7.41107892e-01 8.79518725e-02 1.95761927e+02] [ 1.28673870e-01 2.12543695e-03 9.91684687e-01 6.12607492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:195.76, Z:61.26 [[-7.33476847e-01 6.73185362e-01 9.39850206e-02 2.10675635e+02] [-6.67422886e-01 -7.39471701e-01 8.79107216e-02 1.95758495e+02] [ 1.28679474e-01 1.75272516e-03 9.91684688e-01 6.12617442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.76, Z:61.26 [[-7.30797085e-01 6.76086382e-01 9.40362926e-02 2.10673750e+02] [-6.70354763e-01 -7.36821445e-01 8.78558433e-02 1.95758324e+02] [ 1.28686096e-01 1.16711755e-03 9.91684691e-01 6.12612531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.76, Z:61.26 [[-7.29276528e-01 6.77721604e-01 9.40700460e-02 2.10670050e+02] [-6.72008156e-01 -7.35318122e-01 8.78196878e-02 1.95755850e+02] [ 1.28688709e-01 8.28998797e-04 9.91684692e-01 6.12607277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.76, Z:61.26 [[-7.26800556e-01 6.80370941e-01 9.41081003e-02 2.10671456e+02] [-6.74684798e-01 -7.32867853e-01 8.77788899e-02 1.95758698e+02] [ 1.28691007e-01 3.04441260e-04 9.91684694e-01 6.12602785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.76, Z:61.26 [[-7.25663536e-01 6.81578856e-01 9.41418922e-02 2.10668092e+02] [-6.75907515e-01 -7.31744669e-01 8.77426338e-02 1.95756318e+02] [ 1.28691352e-01 4.04174138e-05 9.91684695e-01 6.12611592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.75, Z:61.26 [[-7.24743505e-01 6.82550040e-01 9.41928577e-02 2.10662520e+02] [-6.76893961e-01 -7.30838833e-01 8.76878879e-02 1.95751801e+02] [ 1.28691170e-01 -2.07349328e-04 9.91684698e-01 6.12617854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.75, Z:61.26 [[-7.24572700e-01 6.82726705e-01 9.42265809e-02 2.10665850e+02] [-6.77076825e-01 -7.30673774e-01 8.76516353e-02 1.95754494e+02] [ 1.28691004e-01 -2.88652157e-04 9.91684699e-01 6.12603236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:195.75, Z:61.26 [[-7.25453831e-01 6.81785717e-01 9.42601449e-02 2.10665518e+02] [-6.76132615e-01 -7.31551916e-01 8.76155262e-02 1.95752788e+02] [ 1.28691204e-01 -1.71339144e-04 9.91684700e-01 6.12599121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.75, Z:61.26 [[-7.27900840e-01 6.79167919e-01 9.42937179e-02 2.10662275e+02] [-6.73497568e-01 -7.33982887e-01 8.75793794e-02 1.95748417e+02] [ 1.28691080e-01 2.42514156e-04 9.91684701e-01 6.12609430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.75, Z:61.26 [[-7.30256435e-01 6.76629826e-01 9.43271824e-02 2.10662322e+02] [-6.70942993e-01 -7.36323073e-01 8.75433219e-02 1.95745930e+02] [ 1.28689704e-01 6.40912105e-04 9.91684703e-01 6.12607352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.74, Z:61.26 [[-7.33848529e-01 6.72727584e-01 9.43606605e-02 2.10660541e+02] [-6.67013133e-01 -7.39889158e-01 8.75072222e-02 1.95741914e+02] [ 1.28684952e-01 1.27724653e-03 9.91684704e-01 6.12605295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.74, Z:61.26 [[-7.36841126e-01 6.69443726e-01 9.43941358e-02 2.10656634e+02] [-6.63706981e-01 -7.42860586e-01 8.74710977e-02 1.95736807e+02] [ 1.28678661e-01 1.80225525e-03 9.91684705e-01 6.12612967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:195.72, Z:61.26 [[-7.39236341e-01 6.66793107e-01 9.44276691e-02 2.10638710e+02] [-6.61039403e-01 -7.45239591e-01 8.74348827e-02 1.95720173e+02] [ 1.28672215e-01 2.21463274e-03 9.91684706e-01 6.12649383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:195.71, Z:61.26 [[-7.42813152e-01 6.62801362e-01 9.44615069e-02 2.10634026e+02] [-6.57020050e-01 -7.48789817e-01 8.73983105e-02 1.95714421e+02] [ 1.28659534e-01 2.85751051e-03 9.91684707e-01 6.12646063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:195.70, Z:61.27 [[-7.44904417e-01 6.60445285e-01 9.44956834e-02 2.10615313e+02] [-6.54649755e-01 -7.50867294e-01 8.73613432e-02 1.95696485e+02] [ 1.28651105e-01 3.21427442e-03 9.91684709e-01 6.12664605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:195.67, Z:61.27 [[-7.45177177e-01 6.60132574e-01 9.45302001e-02 2.10584461e+02] [-6.54339276e-01 -7.51142220e-01 8.73239783e-02 1.95669082e+02] [ 1.28651027e-01 3.21701306e-03 9.91684710e-01 6.12718665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:195.69, Z:61.27 [[-7.44113049e-01 6.61326795e-01 9.45655372e-02 2.10607838e+02] [-6.55547930e-01 -7.50092074e-01 8.72856942e-02 1.95693053e+02] [ 1.28657228e-01 2.95818185e-03 9.91684711e-01 6.12682335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:195.72, Z:61.25 [[-7.40215781e-01 6.65681055e-01 9.46009019e-02 2.10638125e+02] [-6.59942265e-01 -7.46233279e-01 8.72473492e-02 1.95716402e+02] [ 1.28673249e-01 2.15073124e-03 9.91684713e-01 6.12533167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:195.73, Z:61.26 [[-7.41277370e-01 6.64493501e-01 9.46374563e-02 2.10641383e+02] [-6.58750131e-01 -7.47290496e-01 8.72076807e-02 1.95728255e+02] [ 1.28670609e-01 2.30264344e-03 9.91684714e-01 6.12615168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:195.69, Z:61.27 [[-7.39524361e-01 6.66439125e-01 9.46710717e-02 2.10595983e+02] [-6.60716247e-01 -7.45556992e-01 8.71711734e-02 1.95688961e+02] [ 1.28676960e-01 1.91449119e-03 9.91684715e-01 6.12684902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:195.74, Z:61.24 [[-7.31916403e-01 6.74780924e-01 9.47052457e-02 2.10658990e+02] [-6.69131617e-01 -7.38017981e-01 8.71340302e-02 1.95742879e+02] [ 1.28690556e-01 4.04551742e-04 9.91684717e-01 6.12446603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:195.73, Z:61.26 [[-7.32901684e-01 6.73705291e-01 9.47433501e-02 2.10625507e+02] [-6.68052386e-01 -7.38999928e-01 8.70925787e-02 1.95726718e+02] [ 1.28690060e-01 5.36776570e-04 9.91684718e-01 6.12619059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:195.74, Z:61.25 [[-7.27235882e-01 6.79812174e-01 9.47806938e-02 2.10644783e+02] [-6.74215774e-01 -7.33386019e-01 8.70519199e-02 1.95737093e+02] [ 1.28689791e-01 -5.95359131e-04 9.91684720e-01 6.12481082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:195.74, Z:61.26 [[-7.32301701e-01 6.74347763e-01 9.48119872e-02 2.10630319e+02] [-6.68709883e-01 -7.38413835e-01 8.70178237e-02 1.95737292e+02] [ 1.28690758e-01 3.21587488e-04 9.91684721e-01 6.12621399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:195.72, Z:61.27 [[-7.35184136e-01 6.71200338e-01 9.48387727e-02 2.10609732e+02] [-6.65540058e-01 -7.41275530e-01 8.69886212e-02 1.95718869e+02] [ 1.28688453e-01 8.33652081e-04 9.91684722e-01 6.12653698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:195.73, Z:61.26 [[-7.37955716e-01 6.68147155e-01 9.48722312e-02 2.10619148e+02] [-6.62466366e-01 -7.44027986e-01 8.69521153e-02 1.95727811e+02] [ 1.28684404e-01 1.31714821e-03 9.91684723e-01 6.12633062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:195.71, Z:61.27 [[-7.41260549e-01 6.64473993e-01 9.49057980e-02 2.10599061e+02] [-6.58767807e-01 -7.47308958e-01 8.69154628e-02 1.95710632e+02] [ 1.28677018e-01 1.90611925e-03 9.91684724e-01 6.12666373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:195.70, Z:61.27 [[-7.42613642e-01 6.62956601e-01 9.49395819e-02 2.10582027e+02] [-6.57242773e-01 -7.48654831e-01 8.68785446e-02 1.95695187e+02] [ 1.28673681e-01 2.11883836e-03 9.91684725e-01 6.12707473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:195.71, Z:61.27 [[-7.43300095e-01 6.62180702e-01 9.49825546e-02 2.10599437e+02] [-6.56466571e-01 -7.49340994e-01 8.68315383e-02 1.95711636e+02] [ 1.28672491e-01 2.18901883e-03 9.91684727e-01 6.12679641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:195.70, Z:61.27 [[-7.42946155e-01 6.62572884e-01 9.50167579e-02 2.10590295e+02] [-6.56866726e-01 -7.48994586e-01 8.67940950e-02 1.95704806e+02] [ 1.28674451e-01 2.06999249e-03 9.91684729e-01 6.12696046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:195.68, Z:61.26 [[-7.39235649e-01 6.66704125e-01 9.50592741e-02 2.10574304e+02] [-6.61037761e-01 -7.45321372e-01 8.67475054e-02 1.95682044e+02] [ 1.28684628e-01 1.28907867e-03 9.91684731e-01 6.12631028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:195.72, Z:61.27 [[-7.42223027e-01 6.63370591e-01 9.51022459e-02 2.10605877e+02] [-6.57682933e-01 -7.48288852e-01 8.67003697e-02 1.95719404e+02] [ 1.28678426e-01 1.80388688e-03 9.91684733e-01 6.12659905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:195.72, Z:61.26 [[-7.42518083e-01 6.63035465e-01 9.51360584e-02 2.10603484e+02] [-6.57349823e-01 -7.48585794e-01 8.66632517e-02 1.95717273e+02] [ 1.28678311e-01 1.81136042e-03 9.91684734e-01 6.12644281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:195.71, Z:61.26 [[-7.43008132e-01 6.62481492e-01 9.51692597e-02 2.10593773e+02] [-6.56795996e-01 -7.49075979e-01 8.66267766e-02 1.95708687e+02] [ 1.28677643e-01 1.85761073e-03 9.91684735e-01 6.12648338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.66, Z:61.27 [[-7.43129599e-01 6.62340447e-01 9.52025790e-02 2.10540343e+02] [-6.56658489e-01 -7.49200758e-01 8.65901435e-02 1.95660744e+02] [ 1.28677999e-01 1.83211691e-03 9.91684736e-01 6.12731366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.66, Z:61.27 [[-7.43079854e-01 6.62391324e-01 9.52368839e-02 2.10541564e+02] [-6.56714617e-01 -7.49155921e-01 8.65523968e-02 1.95663704e+02] [ 1.28678832e-01 1.77188865e-03 9.91684738e-01 6.12732544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.66, Z:61.27 [[-7.42707497e-01 6.62803733e-01 9.52721615e-02 2.10537951e+02] [-6.57135381e-01 -7.48791357e-01 8.65135479e-02 1.95663834e+02] [ 1.28680474e-01 1.64755254e-03 9.91684739e-01 6.12743754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.67, Z:61.27 [[-7.42841115e-01 6.62648916e-01 9.53073553e-02 2.10541266e+02] [-6.56984271e-01 -7.48928424e-01 8.64747597e-02 1.95667696e+02] [ 1.28680793e-01 1.62157356e-03 9.91684740e-01 6.12740207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.69, Z:61.27 [[-7.43511649e-01 6.61888832e-01 9.53603809e-02 2.10561732e+02] [-6.56225464e-01 -7.49600142e-01 8.64162465e-02 1.95687840e+02] [ 1.28680104e-01 1.67357577e-03 9.91684743e-01 6.12697056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.68, Z:61.27 [[-7.43371088e-01 6.62040477e-01 9.54035289e-02 2.10547093e+02] [-6.56384464e-01 -7.49466412e-01 8.63685852e-02 1.95675899e+02] [ 1.28681240e-01 1.58251490e-03 9.91684745e-01 6.12710262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:195.71, Z:61.26 [[-7.42026750e-01 6.63541983e-01 9.54376180e-02 2.10581431e+02] [-6.57903150e-01 -7.48137969e-01 8.63309004e-02 1.95709010e+02] [ 1.28684683e-01 1.27112790e-03 9.91684747e-01 6.12637012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.69, Z:61.27 [[-7.40802629e-01 6.64903511e-01 9.54713835e-02 2.10555069e+02] [-6.59280723e-01 -7.46928613e-01 8.62935440e-02 1.95685799e+02] [ 1.28687188e-01 9.84041465e-04 9.91684748e-01 6.12686396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.68, Z:61.26 [[-7.35860766e-01 6.70363905e-01 9.55048069e-02 2.10554176e+02] [-6.64791378e-01 -7.42032502e-01 8.62565372e-02 1.95678961e+02] [ 1.28690940e-01 -1.79706352e-05 9.91684749e-01 6.12623133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.69, Z:61.27 [[-7.36865036e-01 6.69255022e-01 9.55386505e-02 2.10555954e+02] [-6.63678068e-01 -7.43032772e-01 8.62190357e-02 1.95685239e+02] [ 1.28690871e-01 1.24885869e-04 9.91684750e-01 6.12715259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.69, Z:61.27 [[-7.36132473e-01 6.70055890e-01 9.55724166e-02 2.10559917e+02] [-6.64490507e-01 -7.42310649e-01 8.61815905e-02 1.95685441e+02] [ 1.28690905e-01 -6.58961384e-05 9.91684752e-01 6.12713765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.69, Z:61.27 [[-7.36363998e-01 6.69796650e-01 9.56060152e-02 2.10564452e+02] [-6.64233932e-01 -7.42544573e-01 8.61443018e-02 1.95687079e+02] [ 1.28690892e-01 -7.11969318e-05 9.91684753e-01 6.12702340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters Centerline goodness : 0.999837 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.67, Z:61.27 [[-7.36504018e-01 6.69635440e-01 9.56567224e-02 2.10551490e+02] [-6.64078685e-01 -7.42689951e-01 8.60879590e-02 1.95672193e+02] [ 1.28690835e-01 -1.19462743e-04 9.91684756e-01 6.12727414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.68, Z:61.27 [[-7.37104574e-01 6.68969515e-01 9.56903080e-02 2.10564368e+02] [-6.63412020e-01 -7.43289839e-01 8.60506113e-02 1.95681731e+02] [ 1.28690869e-01 -5.38013232e-05 9.91684757e-01 6.12709687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:195.69, Z:61.27 [[-7.38884703e-01 6.66998022e-01 9.57237434e-02 2.10577439e+02] [-6.61428842e-01 -7.45059449e-01 8.60134015e-02 1.95689462e+02] [ 1.28690648e-01 2.39541848e-04 9.91684758e-01 6.12693291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.67, Z:61.27 [[-7.41246796e-01 6.64367227e-01 9.57568551e-02 2.10564998e+02] [-6.58780895e-01 -7.47406027e-01 8.59765234e-02 1.95674164e+02] [ 1.28689235e-01 6.47035779e-04 9.91684759e-01 6.12718504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.66, Z:61.28 [[-7.42989919e-01 6.62412476e-01 9.57898369e-02 2.10548088e+02] [-6.56814678e-01 -7.49138729e-01 8.59397615e-02 1.95656476e+02] [ 1.28687447e-01 9.36205531e-04 9.91684761e-01 6.12753878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:195.64, Z:61.28 [[-7.46036805e-01 6.58974192e-01 9.58232795e-02 2.10533534e+02] [-6.53352848e-01 -7.52164094e-01 8.59024569e-02 1.95639219e+02] [ 1.28682332e-01 1.47998197e-03 9.91684762e-01 6.12776105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.65, Z:61.27 [[-7.48281480e-01 6.56419237e-01 9.58572480e-02 2.10548216e+02] [-6.50781828e-01 -7.54393991e-01 8.58645355e-02 1.95648925e+02] [ 1.28677265e-01 1.86868661e-03 9.91684763e-01 6.12741842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:195.67, Z:61.26 [[-7.46973864e-01 6.57900644e-01 9.58998949e-02 2.10582268e+02] [-6.52281474e-01 -7.53103142e-01 8.58168782e-02 1.95665174e+02] [ 1.28681492e-01 1.54924030e-03 9.91684765e-01 6.12557368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.63, Z:61.26 [[-7.48484969e-01 6.56176374e-01 9.59313132e-02 2.10545901e+02] [-6.50547586e-01 -7.54605414e-01 8.57817428e-02 1.95632311e+02] [ 1.28678241e-01 1.79846094e-03 9.91684766e-01 6.12641918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.64, Z:61.26 [[-7.48639205e-01 6.55995542e-01 9.59645218e-02 2.10564303e+02] [-6.50370036e-01 -7.54762667e-01 8.57445762e-02 1.95644553e+02] [ 1.28678498e-01 1.77930184e-03 9.91684768e-01 6.12594762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.63, Z:61.26 [[-7.48323766e-01 6.56350441e-01 9.59981200e-02 2.10554983e+02] [-6.50732665e-01 -7.54454318e-01 8.57069440e-02 1.95633920e+02] [ 1.28679987e-01 1.66743058e-03 9.91684769e-01 6.12621841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:195.66, Z:61.27 [[-7.51710651e-01 6.52463841e-01 9.60314218e-02 2.10566466e+02] [-6.46819137e-01 -7.57816416e-01 8.56696145e-02 1.95655442e+02] [ 1.28670514e-01 2.28380030e-03 9.91684770e-01 6.12710037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.65, Z:61.27 [[-7.49633293e-01 6.54844658e-01 9.60645648e-02 2.10561344e+02] [-6.49224110e-01 -7.55761299e-01 8.56324342e-02 1.95649158e+02] [ 1.28677822e-01 1.82549203e-03 9.91684771e-01 6.12712338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.65, Z:61.27 [[-7.48279650e-01 6.56386198e-01 9.60974743e-02 2.10560909e+02] [-6.50783017e-01 -7.54423540e-01 8.55954871e-02 1.95647280e+02] [ 1.28681893e-01 1.51075685e-03 9.91684773e-01 6.12713213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.65, Z:61.27 [[-7.46682088e-01 6.58198147e-01 9.61304296e-02 2.10561700e+02] [-6.52614641e-01 -7.52843861e-01 8.55584600e-02 1.95645585e+02] [ 1.28685624e-01 1.14884367e-03 9.91684774e-01 6.12703036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:195.65, Z:61.27 [[-7.44487631e-01 6.60674488e-01 9.61633377e-02 2.10567221e+02] [-6.55116257e-01 -7.50672212e-01 8.55214572e-02 1.95647890e+02] [ 1.28688990e-01 6.71501214e-04 9.91684775e-01 6.12682106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:195.65, Z:61.27 [[-7.42313690e-01 6.63111374e-01 9.61961121e-02 2.10568331e+02] [-6.57578225e-01 -7.48520718e-01 8.54845762e-02 1.95647113e+02] [ 1.28690578e-01 1.99902557e-04 9.91684776e-01 6.12684316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:195.64, Z:61.27 [[-7.40608452e-01 6.65010623e-01 9.62288572e-02 2.10565786e+02] [-6.59498181e-01 -7.46833877e-01 8.54476999e-02 1.95642993e+02] [ 1.28690599e-01 -1.79467609e-04 9.91684777e-01 6.12682673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.63, Z:61.27 [[-7.38280227e-01 6.67589704e-01 9.62615882e-02 2.10559731e+02] [-6.62103818e-01 -7.44529064e-01 8.54108109e-02 1.95634933e+02] [ 1.28688928e-01 -6.78052167e-04 9.91684779e-01 6.12684260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.64, Z:61.27 [[-7.37703728e-01 6.68221981e-01 9.62943093e-02 2.10562517e+02] [-6.62746267e-01 -7.43961479e-01 8.53739046e-02 1.95635268e+02] [ 1.28687976e-01 -8.38046368e-04 9.91684780e-01 6.12665162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.63, Z:61.26 [[-7.38799552e-01 6.67005490e-01 9.63270380e-02 2.10561219e+02] [-6.61524288e-01 -7.45052495e-01 8.53369611e-02 1.95631156e+02] [ 1.28688922e-01 -6.75766595e-04 9.91684781e-01 6.12643806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.63, Z:61.26 [[-7.42552559e-01 6.62819510e-01 9.63638681e-02 2.10564001e+02] [-6.57308455e-01 -7.48779205e-01 8.52953520e-02 1.95631540e+02] [ 1.28690684e-01 -4.50339628e-06 9.91684783e-01 6.12637809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.63, Z:61.26 [[-7.44200094e-01 6.60964404e-01 9.63964592e-02 2.10558814e+02] [-6.55442600e-01 -7.50417208e-01 8.52585036e-02 1.95625936e+02] [ 1.28690398e-01 2.67040500e-04 9.91684784e-01 6.12647083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:195.62, Z:61.27 [[-7.49648653e-01 6.54773499e-01 9.64290470e-02 2.10555274e+02] [-6.49205097e-01 -7.55824064e-01 8.52216304e-02 1.95621426e+02] [ 1.28684259e-01 1.28405167e-03 9.91684785e-01 6.12653694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:195.62, Z:61.27 [[-7.53048585e-01 6.50855564e-01 9.64617173e-02 2.10551327e+02] [-6.45259772e-01 -7.59199186e-01 8.51846353e-02 1.95616701e+02] [ 1.28676551e-01 1.90530340e-03 9.91684786e-01 6.12650400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:195.61, Z:61.27 [[-7.57007287e-01 6.46241427e-01 9.64986288e-02 2.10540597e+02] [-6.40613480e-01 -7.63128477e-01 8.51428011e-02 1.95608103e+02] [ 1.28663657e-01 2.63539852e-03 9.91684788e-01 6.12653528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:210.52, Y:195.59, Z:61.27 [[-7.59414497e-01 6.43406005e-01 9.65315186e-02 2.10520189e+02] [-6.37759943e-01 -7.65518980e-01 8.51054958e-02 1.95592872e+02] [ 1.28654097e-01 3.06641148e-03 9.91684789e-01 6.12674869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.59, Z:61.27 [[-7.60684540e-01 6.41898955e-01 9.65648091e-02 2.10511534e+02] [-6.36245590e-01 -7.66782260e-01 8.50677063e-02 1.95587392e+02] [ 1.28649054e-01 3.27075508e-03 9.91684790e-01 6.12686925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:210.52, Y:195.60, Z:61.27 [[-7.61750065e-01 6.40629045e-01 9.65984703e-02 2.10518475e+02] [-6.34970358e-01 -7.67842845e-01 8.50294655e-02 1.95596591e+02] [ 1.28644789e-01 3.43403557e-03 9.91684791e-01 6.12662209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.58, Z:61.27 [[-7.62359352e-01 6.39898794e-01 9.66320419e-02 2.10499582e+02] [-6.34239103e-01 -7.68451196e-01 8.49912960e-02 1.95582979e+02] [ 1.28642836e-01 3.50608971e-03 9.91684793e-01 6.12695688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.59, Z:61.27 [[-7.62149932e-01 6.40143130e-01 9.66656844e-02 2.10505115e+02] [-6.34490240e-01 -7.68248086e-01 8.49530154e-02 1.95592366e+02] [ 1.28645316e-01 3.41350160e-03 9.91684794e-01 6.12688148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.52, Y:195.61, Z:61.26 [[-7.60977701e-01 6.41531105e-01 9.66994266e-02 2.10523774e+02] [-6.35894215e-01 -7.67090646e-01 8.49145905e-02 1.95614013e+02] [ 1.28652577e-01 3.12750391e-03 9.91684795e-01 6.12647581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.60, Z:61.27 [[-7.57737143e-01 6.45350468e-01 9.67326034e-02 2.10497170e+02] [-6.39749218e-01 -7.63882760e-01 8.48767797e-02 1.95596592e+02] [ 1.28667638e-01 2.42968113e-03 9.91684797e-01 6.12671879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.59, Z:61.27 [[-7.55134814e-01 6.48388621e-01 9.67657430e-02 2.10478381e+02] [-6.42816941e-01 -7.61307249e-01 8.48389816e-02 1.95585369e+02] [ 1.28677092e-01 1.86220963e-03 9.91684798e-01 6.12712871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.61, Z:61.27 [[-7.50944673e-01 6.53231933e-01 9.67994802e-02 2.10500779e+02] [-6.47705029e-01 -7.57157233e-01 8.48004710e-02 1.95611991e+02] [ 1.28686802e-01 9.82951838e-04 9.91684799e-01 6.12684629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.61, Z:61.27 [[-7.47407573e-01 6.57271078e-01 9.68331052e-02 2.10495013e+02] [-6.51782724e-01 -7.53654214e-01 8.47620577e-02 1.95612450e+02] [ 1.28690327e-01 2.37658739e-04 9.91684800e-01 6.12701921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.62, Z:61.27 [[-7.45717020e-01 6.59183641e-01 9.68661612e-02 2.10505245e+02] [-6.53716217e-01 -7.51981986e-01 8.47242646e-02 1.95623970e+02] [ 1.28690457e-01 -1.42654220e-04 9.91684802e-01 6.12686684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.63, Z:61.27 [[-7.43191904e-01 6.62023839e-01 9.69031975e-02 2.10505484e+02] [-6.56585881e-01 -7.49482461e-01 8.46818835e-02 1.95627907e+02] [ 1.28688673e-01 -6.90380972e-04 9.91684803e-01 6.12686262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.63, Z:61.27 [[-7.41615820e-01 6.63783574e-01 9.69398910e-02 2.10509542e+02] [-6.58366033e-01 -7.47923967e-01 8.46398580e-02 1.95633728e+02] [ 1.28686215e-01 -1.05167382e-03 9.91684805e-01 6.12678698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.63, Z:61.27 [[-7.40880980e-01 6.64598930e-01 9.69723444e-02 2.10508717e+02] [-6.59193198e-01 -7.47199249e-01 8.46026598e-02 1.95634253e+02] [ 1.28684500e-01 -1.24300831e-03 9.91684806e-01 6.12671197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.62, Z:61.27 [[-7.43593727e-01 6.61557693e-01 9.70040557e-02 2.10500457e+02] [-6.56130863e-01 -7.49893882e-01 8.45662848e-02 1.95624836e+02] [ 1.28688224e-01 -7.64395858e-04 9.91684807e-01 6.12679927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:195.63, Z:61.27 [[-7.45722066e-01 6.59152906e-01 9.70363203e-02 2.10508127e+02] [-6.53710577e-01 -7.52008835e-01 8.45292465e-02 1.95630138e+02] [ 1.28689869e-01 -3.98344546e-04 9.91684808e-01 6.12656233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.61, Z:61.27 [[-7.48877460e-01 6.55560998e-01 9.70686725e-02 2.10489012e+02] [-6.50093332e-01 -7.55142204e-01 8.44920789e-02 1.95610492e+02] [ 1.28690363e-01 1.70516761e-04 9.91684810e-01 6.12685530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.60, Z:61.27 [[-7.51661943e-01 6.52361640e-01 9.71010522e-02 2.10477472e+02] [-6.46872117e-01 -7.57907542e-01 8.44548510e-02 1.95597134e+02] [ 1.28688725e-01 6.69534112e-04 9.91684811e-01 6.12740982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.60, Z:61.27 [[-7.52958161e-01 6.50860670e-01 9.71308202e-02 2.10484047e+02] [-6.45363114e-01 -7.59196689e-01 8.44206013e-02 1.95601163e+02] [ 1.28687446e-01 8.80532014e-04 9.91684812e-01 6.12721651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.61, Z:61.27 [[-7.55323307e-01 6.48109489e-01 9.71637430e-02 2.10494803e+02] [-6.42594086e-01 -7.61546061e-01 8.43826921e-02 1.95606848e+02] [ 1.28683889e-01 1.29936749e-03 9.91684813e-01 6.12720578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.60, Z:61.27 [[-7.57336098e-01 6.45743899e-01 9.72463463e-02 2.10486889e+02] [-6.40221289e-01 -7.63552446e-01 8.42873903e-02 1.95597101e+02] [ 1.28680754e-01 1.57470206e-03 9.91684821e-01 6.12749433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.58, Z:61.28 [[-7.58288118e-01 6.44620799e-01 9.72787543e-02 2.10466719e+02] [-6.39093780e-01 -7.64500544e-01 8.42499708e-02 1.95576795e+02] [ 1.28678944e-01 1.71550488e-03 9.91684822e-01 6.12784406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.58, Z:61.28 [[-7.58200936e-01 6.44718386e-01 9.73115772e-02 2.10475114e+02] [-6.39197033e-01 -7.64418397e-01 8.42120424e-02 1.95580598e+02] [ 1.28679812e-01 1.64837798e-03 9.91684823e-01 6.12775289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.58, Z:61.28 [[-7.57015292e-01 6.46105162e-01 9.73445791e-02 2.10482739e+02] [-6.40600105e-01 -7.63247184e-01 8.41738770e-02 1.95584788e+02] [ 1.28683152e-01 1.36196454e-03 9.91684825e-01 6.12766755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.59, Z:61.28 [[-7.56371698e-01 6.46853535e-01 9.73774008e-02 2.10485500e+02] [-6.41359533e-01 -7.62613337e-01 8.41358899e-02 1.95585524e+02] [ 1.28684902e-01 1.18408168e-03 9.91684826e-01 6.12768305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.59, Z:61.28 [[-7.54985409e-01 6.48466145e-01 9.74099123e-02 2.10492639e+02] [-6.42990332e-01 -7.61243010e-01 8.40982326e-02 1.95589383e+02] [ 1.28687472e-01 8.59306775e-04 9.91684827e-01 6.12761802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.58, Z:61.28 [[-7.54236787e-01 6.49331873e-01 9.74422317e-02 2.10489688e+02] [-6.43868082e-01 -7.60504885e-01 8.40607685e-02 1.95584796e+02] [ 1.28688630e-01 6.61781140e-04 9.91684828e-01 6.12760823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.59, Z:61.28 [[-7.52727889e-01 6.51075615e-01 9.74744459e-02 2.10493457e+02] [-6.45631183e-01 -7.59012809e-01 8.40233975e-02 1.95585924e+02] [ 1.28689938e-01 3.14212787e-04 9.91684830e-01 6.12759818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:195.59, Z:61.28 [[-7.51980897e-01 6.51933425e-01 9.75066089e-02 2.10496240e+02] [-6.46501003e-01 -7.58276200e-01 8.39860570e-02 1.95586794e+02] [ 1.28690259e-01 1.17790074e-04 9.91684831e-01 6.12781745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.58, Z:61.28 [[-7.52347103e-01 6.51505988e-01 9.75386307e-02 2.10491751e+02] [-6.46074812e-01 -7.58643478e-01 8.39488516e-02 1.95582843e+02] [ 1.28690226e-01 1.41422719e-04 9.91684832e-01 6.12802267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.58, Z:61.28 [[-7.53843520e-01 6.49769127e-01 9.75706384e-02 2.10490295e+02] [-6.44328260e-01 -7.60131522e-01 8.39116340e-02 1.95578658e+02] [ 1.28689707e-01 3.88721815e-04 9.91684833e-01 6.12808309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.57, Z:61.28 [[-7.55271977e-01 6.48103353e-01 9.76026898e-02 2.10488149e+02] [-6.42653437e-01 -7.61552136e-01 8.38743368e-02 1.95574889e+02] [ 1.28688776e-01 6.23232045e-04 9.91684834e-01 6.12805999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.57, Z:61.28 [[-7.57531545e-01 6.45455972e-01 9.76347637e-02 2.10487454e+02] [-6.39988922e-01 -7.63796792e-01 8.38369844e-02 1.95572853e+02] [ 1.28686202e-01 1.02399313e-03 9.91684836e-01 6.12804418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:195.57, Z:61.28 [[-7.59692286e-01 6.42906540e-01 9.76668339e-02 2.10485301e+02] [-6.37423270e-01 -7.65943341e-01 8.37996074e-02 1.95569633e+02] [ 1.28682577e-01 1.40680276e-03 9.91684837e-01 6.12813519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:195.57, Z:61.28 [[-7.62775433e-01 6.39240615e-01 9.76989005e-02 2.10483465e+02] [-6.33732092e-01 -7.69004245e-01 8.37622058e-02 1.95565285e+02] [ 1.28675073e-01 1.97682419e-03 9.91684838e-01 6.12832258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:195.54, Z:61.29 [[-7.64687884e-01 6.36946694e-01 9.77310002e-02 2.10456584e+02] [-6.31424273e-01 -7.70904376e-01 8.37247363e-02 1.95540853e+02] [ 1.28669450e-01 2.31356575e-03 9.91684839e-01 6.12883693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.55, Z:61.29 [[-7.65390227e-01 6.36097553e-01 9.77635093e-02 2.10471358e+02] [-6.30573082e-01 -7.71604895e-01 8.36867592e-02 1.95552945e+02] [ 1.28667745e-01 2.40599022e-03 9.91684840e-01 6.12860399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.55, Z:61.29 [[-7.66112876e-01 6.35221986e-01 9.77961618e-02 2.10473870e+02] [-6.29695282e-01 -7.72325557e-01 8.36485844e-02 1.95554931e+02] [ 1.28665895e-01 2.50247587e-03 9.91684842e-01 6.12857256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.55, Z:61.28 [[-7.66413520e-01 6.34854241e-01 9.78284740e-02 2.10471209e+02] [-6.29329377e-01 -7.72627836e-01 8.36107779e-02 1.95552963e+02] [ 1.28665659e-01 2.51409796e-03 9.91684843e-01 6.12849779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:195.55, Z:61.29 [[-7.65741836e-01 6.35659281e-01 9.78607125e-02 2.10463265e+02] [-6.30145772e-01 -7.71966226e-01 8.35730281e-02 1.95548089e+02] [ 1.28669136e-01 2.32884964e-03 9.91684844e-01 6.12874893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:195.55, Z:61.29 [[-7.64853485e-01 6.36722939e-01 9.78930330e-02 2.10458204e+02] [-6.31222931e-01 -7.71089806e-01 8.35351527e-02 1.95545570e+02] [ 1.28673068e-01 2.09982540e-03 9.91684845e-01 6.12876658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.56, Z:61.29 [[-7.62942244e-01 6.39006836e-01 9.79254575e-02 2.10467392e+02] [-6.33530377e-01 -7.69199254e-01 8.34971254e-02 1.95556408e+02] [ 1.28679423e-01 1.66473232e-03 9.91684847e-01 6.12855744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.56, Z:61.29 [[-7.61504780e-01 6.40714255e-01 9.79577111e-02 2.10468791e+02] [-6.35256693e-01 -7.67778278e-01 8.34592690e-02 1.95559853e+02] [ 1.28683346e-01 1.32634064e-03 9.91684848e-01 6.12853667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:195.56, Z:61.29 [[-7.58863166e-01 6.43835317e-01 9.79937699e-02 2.10465394e+02] [-6.38409027e-01 -7.65163730e-01 8.34169094e-02 1.95562004e+02] [ 1.28688031e-01 7.41912655e-04 9.91684849e-01 6.12858600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:195.56, Z:61.29 [[-7.57064791e-01 6.45944174e-01 9.80256427e-02 2.10461656e+02] [-6.40540285e-01 -7.63384577e-01 8.33794381e-02 1.95563382e+02] [ 1.28689726e-01 3.34263753e-04 9.91684850e-01 6.12867228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:195.57, Z:61.29 [[-7.57297399e-01 6.45666616e-01 9.80574801e-02 2.10458759e+02] [-6.40265261e-01 -7.63619349e-01 8.33419795e-02 1.95566634e+02] [ 1.28689723e-01 3.31866259e-04 9.91684852e-01 6.12862516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:195.55, Z:61.29 [[-7.57969881e-01 6.44872199e-01 9.80892773e-02 2.10436408e+02] [-6.39469062e-01 -7.64290307e-01 8.33045393e-02 1.95550462e+02] [ 1.28689465e-01 4.17273623e-04 9.91684853e-01 6.12893502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:195.56, Z:61.29 [[-7.59897507e-01 6.42594727e-01 9.81213284e-02 2.10442299e+02] [-6.37177523e-01 -7.66205879e-01 8.32667705e-02 1.95559390e+02] [ 1.28687926e-01 7.53506340e-04 9.91684854e-01 6.12874638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.43, Y:195.55, Z:61.29 [[-7.63345646e-01 6.38489853e-01 9.81536174e-02 2.10429043e+02] [-6.33043622e-01 -7.69628974e-01 8.32286916e-02 1.95551213e+02] [ 1.28682543e-01 1.39673795e-03 9.91684855e-01 6.12927135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.43, Y:195.55, Z:61.29 [[-7.65924353e-01 6.35389200e-01 9.81857938e-02 2.10428719e+02] [-6.29922400e-01 -7.72189792e-01 8.31907157e-02 1.95552246e+02] [ 1.28676550e-01 1.86836426e-03 9.91684857e-01 6.12932220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.55, Z:61.28 [[-7.66823320e-01 6.34298968e-01 9.82181992e-02 2.10424836e+02] [-6.28828161e-01 -7.73085258e-01 8.31524393e-02 1.95545545e+02] [ 1.28674548e-01 2.00085998e-03 9.91684858e-01 6.12849736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:195.52, Z:61.30 [[-7.70241341e-01 6.30138968e-01 9.82504859e-02 2.10381246e+02] [-6.24639210e-01 -7.76477865e-01 8.31142730e-02 1.95516205e+02] [ 1.28662870e-01 2.64694312e-03 9.91684859e-01 6.12984072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.55, Z:61.29 [[-7.70315510e-01 6.30043811e-01 9.82792558e-02 2.10423790e+02] [-6.24547621e-01 -7.76555177e-01 8.30802399e-02 1.95553176e+02] [ 1.28663456e-01 2.61792193e-03 9.91684860e-01 6.12914494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:195.51, Z:61.30 [[-7.70329933e-01 6.30021032e-01 9.83122263e-02 2.10376879e+02] [-6.24529635e-01 -7.76573817e-01 8.30412066e-02 1.95513872e+02] [ 1.28664407e-01 2.57022825e-03 9.91684861e-01 6.13005559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.43, Y:195.55, Z:61.29 [[-7.70464906e-01 6.29850838e-01 9.83450625e-02 2.10425149e+02] [-6.24363023e-01 -7.76711937e-01 8.30023010e-02 1.95553952e+02] [ 1.28664853e-01 2.54733949e-03 9.91684863e-01 6.12925767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.54, Z:61.30 [[-7.71032077e-01 6.29150633e-01 9.83819983e-02 2.10404501e+02] [-6.23662729e-01 -7.77279028e-01 8.29584984e-02 1.95535688e+02] [ 1.28663656e-01 2.60647771e-03 9.91684864e-01 6.12960389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.54, Z:61.29 [[-7.70938540e-01 6.29260205e-01 9.84142314e-02 2.10413050e+02] [-6.23778069e-01 -7.77190552e-01 8.29202427e-02 1.95541077e+02] [ 1.28665020e-01 2.53777164e-03 9.91684865e-01 6.12940146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.53, Z:61.30 [[-7.69747932e-01 6.30709068e-01 9.84590880e-02 2.10405470e+02] [-6.25245513e-01 -7.76016184e-01 8.28669464e-02 1.95533510e+02] [ 1.28670780e-01 2.22555761e-03 9.91684868e-01 6.12964179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.53, Z:61.30 [[-7.68974574e-01 6.31646706e-01 9.84913339e-02 2.10402422e+02] [-6.26195702e-01 -7.75253743e-01 8.28286031e-02 1.95529539e+02] [ 1.28674190e-01 2.01823979e-03 9.91684869e-01 6.12968578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.53, Z:61.30 [[-7.67831490e-01 6.33030714e-01 9.85236951e-02 2.10409868e+02] [-6.27595968e-01 -7.74124733e-01 8.27900922e-02 1.95533652e+02] [ 1.28678300e-01 1.73576605e-03 9.91684870e-01 6.12961268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.54, Z:61.30 [[-7.67728681e-01 6.33150375e-01 9.85559488e-02 2.10415820e+02] [-6.27721538e-01 -7.74027021e-01 8.27516788e-02 1.95538025e+02] [ 1.28679224e-01 1.66514546e-03 9.91684872e-01 6.12955666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.53, Z:61.30 [[-7.66920013e-01 6.34124682e-01 9.85879406e-02 2.10403444e+02] [-6.28708747e-01 -7.73229449e-01 8.27135474e-02 1.95525006e+02] [ 1.28681801e-01 1.45157419e-03 9.91684873e-01 6.12977047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.53, Z:61.30 [[-7.66325643e-01 6.34837859e-01 9.86199871e-02 2.10416905e+02] [-6.29432713e-01 -7.72644324e-01 8.26753207e-02 1.95534701e+02] [ 1.28683597e-01 1.28157226e-03 9.91684874e-01 6.12955655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.54, Z:61.30 [[-7.64246607e-01 6.37334222e-01 9.86519815e-02 2.10421161e+02] [-6.31954646e-01 -7.70587069e-01 8.26371261e-02 1.95535999e+02] [ 1.28687410e-01 8.11565182e-04 9.91684875e-01 6.12952364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.53, Z:61.30 [[-7.62379442e-01 6.39561664e-01 9.86836603e-02 2.10411414e+02] [-6.34205511e-01 -7.68739702e-01 8.25992788e-02 1.95526667e+02] [ 1.28689380e-01 3.86270950e-04 9.91684877e-01 6.12982467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.53, Z:61.30 [[-7.61528925e-01 6.40569238e-01 9.87154935e-02 2.10419120e+02] [-6.35226433e-01 -7.67900400e-01 8.25612172e-02 1.95530349e+02] [ 1.28689843e-01 1.66064110e-04 9.91684878e-01 6.12975529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.53, Z:61.30 [[-7.61760569e-01 6.40288842e-01 9.87473227e-02 2.10422817e+02] [-6.34948629e-01 -7.68134215e-01 8.25231306e-02 1.95531081e+02] [ 1.28689837e-01 1.63389835e-04 9.91684879e-01 6.12960685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.52, Z:61.30 [[-7.61892794e-01 6.40126637e-01 9.87788433e-02 2.10413212e+02] [-6.34789959e-01 -7.68269399e-01 8.24853839e-02 1.95520495e+02] [ 1.28689854e-01 1.41201719e-04 9.91684880e-01 6.12971903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.52, Z:61.30 [[-7.62548431e-01 6.39340591e-01 9.88104170e-02 2.10419930e+02] [-6.34002243e-01 -7.68923636e-01 8.24475442e-02 1.95524825e+02] [ 1.28689727e-01 2.24219501e-04 9.91684881e-01 6.12972537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.52, Z:61.30 [[-7.64324314e-01 6.37210960e-01 9.88460243e-02 2.10418389e+02] [-6.31860371e-01 -7.70689247e-01 8.24048329e-02 1.95521236e+02] [ 1.28688831e-01 5.27131777e-04 9.91684883e-01 6.12990138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.52, Z:61.30 [[-7.67790433e-01 6.33025353e-01 9.88774636e-02 2.10416416e+02] [-6.27644927e-01 -7.74130162e-01 8.23670919e-02 1.95515390e+02] [ 1.28684484e-01 1.18072670e-03 9.91684884e-01 6.12985193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.51, Z:61.30 [[-7.70591251e-01 6.29607931e-01 9.89089350e-02 2.10412113e+02] [-6.24204242e-01 -7.76911162e-01 8.23292830e-02 1.95508585e+02] [ 1.28678625e-01 1.70284831e-03 9.91684885e-01 6.12988159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.51, Z:61.30 [[-7.72206257e-01 6.27621126e-01 9.89404852e-02 2.10411406e+02] [-6.22206035e-01 -7.78516399e-01 8.22913498e-02 1.95506941e+02] [ 1.28674580e-01 1.98452821e-03 9.91684887e-01 6.12997841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.50, Z:61.30 [[-7.73681226e-01 6.25797002e-01 9.89720782e-02 2.10402045e+02] [-6.20371894e-01 -7.79982757e-01 8.22533355e-02 1.95496896e+02] [ 1.28670405e-01 2.23836587e-03 9.91684888e-01 6.13005337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:195.50, Z:61.30 [[-7.73983252e-01 6.25418401e-01 9.90037823e-02 2.10407717e+02] [-6.19995090e-01 -7.80286329e-01 8.22151575e-02 1.95500515e+02] [ 1.28670170e-01 2.25129602e-03 9.91684889e-01 6.12993884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.49, Z:61.30 [[-7.74276208e-01 6.25050658e-01 9.90354930e-02 2.10401443e+02] [-6.19629239e-01 -7.80580910e-01 8.21769417e-02 1.95494981e+02] [ 1.28669967e-01 2.26236367e-03 9.91684890e-01 6.13006915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:195.50, Z:61.29 [[-7.71514719e-01 6.28451062e-01 9.90671571e-02 2.10416781e+02] [-6.23062335e-01 -7.77847384e-01 8.21387520e-02 1.95498728e+02] [ 1.28679315e-01 1.64624194e-03 9.91684891e-01 6.12914436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.50, Z:61.30 [[-7.75388353e-01 6.23660449e-01 9.90986656e-02 2.10402579e+02] [-6.18237459e-01 -7.81691701e-01 8.21007203e-02 1.95495324e+02] [ 1.28667577e-01 2.39343506e-03 9.91684893e-01 6.13002772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.49, Z:61.30 [[-7.75743218e-01 6.23214617e-01 9.91261894e-02 2.10400972e+02] [-6.17792250e-01 -7.82047100e-01 8.20674755e-02 1.95494237e+02] [ 1.28666999e-01 2.42389600e-03 9.91684894e-01 6.13016606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:195.49, Z:61.30 [[-7.75612848e-01 6.23371837e-01 9.91577643e-02 2.10392932e+02] [-6.17955623e-01 -7.81922017e-01 8.20293078e-02 1.95487627e+02] [ 1.28668399e-01 2.34788707e-03 9.91684895e-01 6.13023964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.49, Z:61.30 [[-7.74468728e-01 6.24787668e-01 9.91895147e-02 2.10396215e+02] [-6.19387905e-01 -7.80791980e-01 8.19908976e-02 1.95490782e+02] [ 1.28673279e-01 2.06260046e-03 9.91684896e-01 6.12998751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.49, Z:61.30 [[-7.72159844e-01 6.27633920e-01 9.92211542e-02 2.10398086e+02] [-6.22262387e-01 -7.78507093e-01 8.19525914e-02 1.95493742e+02] [ 1.28680599e-01 1.53890791e-03 9.91684897e-01 6.13011089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.50, Z:61.30 [[-7.70295712e-01 6.29915415e-01 9.92526380e-02 2.10399218e+02] [-6.24567596e-01 -7.76662953e-01 8.19144440e-02 1.95496021e+02] [ 1.28685018e-01 1.10836346e-03 9.91684898e-01 6.13007499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.50, Z:61.30 [[-7.65974529e-01 6.35158020e-01 9.92839930e-02 2.10399489e+02] [-6.29858709e-01 -7.72382197e-01 8.18764229e-02 1.95499343e+02] [ 1.28689655e-01 1.80366773e-04 9.91684900e-01 6.13012612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:195.50, Z:61.30 [[-7.62347639e-01 6.39501810e-01 9.93152202e-02 2.10395698e+02] [-6.34243944e-01 -7.68789356e-01 8.18385273e-02 1.95500223e+02] [ 1.28688371e-01 -6.00668969e-04 9.91684901e-01 6.13017639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:195.50, Z:61.30 [[-7.61142869e-01 6.40930440e-01 9.93463870e-02 2.10390555e+02] [-6.35689605e-01 -7.67598447e-01 8.18006757e-02 1.95498128e+02] [ 1.28686675e-01 -8.91464569e-04 9.91684902e-01 6.13026899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:195.50, Z:61.30 [[-7.61541467e-01 6.40451944e-01 9.93775751e-02 2.10392690e+02] [-6.35211997e-01 -7.67997766e-01 8.17627688e-02 1.95501023e+02] [ 1.28686880e-01 -8.60089075e-04 9.91684903e-01 6.13021493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:195.50, Z:61.30 [[-7.63531186e-01 6.38073692e-01 9.94087130e-02 2.10386539e+02] [-6.32818565e-01 -7.69975133e-01 8.17248934e-02 1.95496947e+02] [ 1.28688741e-01 -5.08174269e-04 9.91684904e-01 6.13017001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:195.50, Z:61.30 [[-7.65856371e-01 6.35275492e-01 9.94437916e-02 2.10386205e+02] [-6.30002365e-01 -7.72285595e-01 8.16821873e-02 1.95497103e+02] [ 1.28689700e-01 -9.30003634e-05 9.91684906e-01 6.13028182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:195.48, Z:61.31 [[-7.67786982e-01 6.32935932e-01 9.94748988e-02 2.10361582e+02] [-6.27648124e-01 -7.74204135e-01 8.16442867e-02 1.95478205e+02] [ 1.28689481e-01 2.50186846e-04 9.91684907e-01 6.13081183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:195.49, Z:61.31 [[-7.71068462e-01 6.28929187e-01 9.95063003e-02 2.10374000e+02] [-6.23612974e-01 -7.77462102e-01 8.16059976e-02 1.95487570e+02] [ 1.28686771e-01 8.70391204e-04 9.91684908e-01 6.13064089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:195.48, Z:61.31 [[-7.73911680e-01 6.25422204e-01 9.95378228e-02 2.10364660e+02] [-6.20081965e-01 -7.80285265e-01 8.15675305e-02 1.95478633e+02] [ 1.28682041e-01 1.40445584e-03 9.91684910e-01 6.13075159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:195.48, Z:61.31 [[-7.76440169e-01 6.22275365e-01 9.95692415e-02 2.10368684e+02] [-6.16914215e-01 -7.82796172e-01 8.15291601e-02 1.95480044e+02] [ 1.28676009e-01 1.87683440e-03 9.91684911e-01 6.13061288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:195.47, Z:61.31 [[-7.78622138e-01 6.19537948e-01 9.96006873e-02 2.10356062e+02] [-6.14159367e-01 -7.84963396e-01 8.14907262e-02 1.95468632e+02] [ 1.28669491e-01 2.27978836e-03 9.91684912e-01 6.13085734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:195.47, Z:61.31 [[-7.79301243e-01 6.18678425e-01 9.96322230e-02 2.10359508e+02] [-6.13297778e-01 -7.85640746e-01 8.14521520e-02 1.95470923e+02] [ 1.28667823e-01 2.37154234e-03 9.91684913e-01 6.13066169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:195.47, Z:61.31 [[-7.79285709e-01 6.18692899e-01 9.96638383e-02 2.10362292e+02] [-6.13317316e-01 -7.85629505e-01 8.14134497e-02 1.95473921e+02] [ 1.28668775e-01 2.31877999e-03 9.91684914e-01 6.13083731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.45, Z:61.31 [[-7.79111149e-01 6.18907641e-01 9.96952864e-02 2.10333572e+02] [-6.13538733e-01 -7.85460594e-01 8.13749218e-02 1.95450566e+02] [ 1.28670280e-01 2.23318909e-03 9.91684916e-01 6.13132432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.79404505e-01 6.18533048e-01 9.97270577e-02 2.10341742e+02] [-6.13166070e-01 -7.85755580e-01 8.13359669e-02 1.95457667e+02] [ 1.28670076e-01 2.24437099e-03 9.91684917e-01 6.13130391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.79917247e-01 6.17881231e-01 9.97590721e-02 2.10345975e+02] [-6.12513967e-01 -7.86268078e-01 8.12966823e-02 1.95462019e+02] [ 1.28669068e-01 2.30085970e-03 9.91684918e-01 6.13112300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.80904311e-01 6.16628130e-01 9.97908128e-02 2.10348116e+02] [-6.11255652e-01 -7.87250731e-01 8.12577026e-02 1.95463167e+02] [ 1.28666175e-01 2.45679190e-03 9.91684919e-01 6.13123423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.81619658e-01 6.15716008e-01 9.98223845e-02 2.10338183e+02] [-6.10341076e-01 -7.87963998e-01 8.12188995e-02 1.95455101e+02] [ 1.28664222e-01 2.55658692e-03 9.91684921e-01 6.13138607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.81902675e-01 6.15351431e-01 9.98540149e-02 2.10343680e+02] [-6.09978505e-01 -7.88248712e-01 8.11799933e-02 1.95459063e+02] [ 1.28664024e-01 2.56605120e-03 9.91684922e-01 6.13120461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.81878528e-01 6.15376979e-01 9.98856408e-02 2.10345809e+02] [-6.10009230e-01 -7.88228943e-01 8.11410617e-02 1.95460685e+02] [ 1.28665095e-01 2.51129104e-03 9.91684923e-01 6.13123368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.81305440e-01 6.16099313e-01 9.99171996e-02 2.10342567e+02] [-6.10742404e-01 -7.87665000e-01 8.11021818e-02 1.95458688e+02] [ 1.28668279e-01 2.34190519e-03 9.91684924e-01 6.13144896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.79754163e-01 6.18056408e-01 9.99485953e-02 2.10346758e+02] [-6.12720421e-01 -7.86131286e-01 8.10634722e-02 1.95462970e+02] [ 1.28674516e-01 1.96903461e-03 9.91684926e-01 6.13132490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.32 [[-7.78316753e-01 6.19860511e-01 9.99798976e-02 2.10337908e+02] [-6.14544265e-01 -7.84710342e-01 8.10248472e-02 1.95456630e+02] [ 1.28679363e-01 1.62092330e-03 9.91684927e-01 6.13155177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.47, Z:61.32 [[-7.76347726e-01 6.22320139e-01 1.00009265e-01 2.10351761e+02] [-6.17028821e-01 -7.82761958e-01 8.09885824e-02 1.95468326e+02] [ 1.28684274e-01 1.16670260e-03 9.91684928e-01 6.13152858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.32 [[-7.74575073e-01 6.24520109e-01 1.00040435e-01 2.10341903e+02] [-6.19251984e-01 -7.81008366e-01 8.09500621e-02 1.95458735e+02] [ 1.28687359e-01 7.51662295e-04 9.91684929e-01 6.13160894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.32 [[-7.73523975e-01 6.25816552e-01 1.00071487e-01 2.10338705e+02] [-6.20564177e-01 -7.79970132e-01 8.09116570e-02 1.95455701e+02] [ 1.28688625e-01 4.86326373e-04 9.91684930e-01 6.13156544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.32 [[-7.71319808e-01 6.28526220e-01 1.00102674e-01 2.10337050e+02] [-6.23301499e-01 -7.77788397e-01 8.08730552e-02 1.95455084e+02] [ 1.28689534e-01 -1.51573222e-05 9.91684932e-01 6.13152592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.70697579e-01 6.29284062e-01 1.00133966e-01 2.10345934e+02] [-6.24070737e-01 -7.77175355e-01 8.08342923e-02 1.95462507e+02] [ 1.28689382e-01 -1.91884718e-04 9.91684933e-01 6.13146205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.70790333e-01 6.29164882e-01 1.00168927e-01 2.10347316e+02] [-6.23956188e-01 -7.77271831e-01 8.07909460e-02 1.95463285e+02] [ 1.28689311e-01 -2.28141788e-04 9.91684934e-01 6.13139399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:195.46, Z:61.31 [[-7.70678314e-01 6.29297194e-01 1.00199695e-01 2.10345072e+02] [-6.24094575e-01 -7.77164688e-01 8.07527692e-02 1.95462517e+02] [ 1.28689156e-01 -2.99677870e-04 9.91684936e-01 6.13131228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.71041903e-01 6.28846761e-01 1.00230407e-01 2.10340493e+02] [-6.23645310e-01 -7.77529212e-01 8.07146311e-02 1.95459966e+02] [ 1.28689204e-01 -2.73860507e-04 9.91684937e-01 6.13129849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:195.46, Z:61.31 [[-7.72226845e-01 6.27386169e-01 1.00261135e-01 2.10337044e+02] [-6.22177405e-01 -7.78708282e-01 8.06764436e-02 1.95458692e+02] [ 1.28689461e-01 -7.96975902e-05 9.91684938e-01 6.13129740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.45, Z:61.32 [[-7.75723276e-01 6.23052915e-01 1.00291895e-01 2.10321409e+02] [-6.17812890e-01 -7.82179465e-01 8.06381880e-02 1.95446708e+02] [ 1.28688118e-01 5.91294092e-04 9.91684939e-01 6.13166750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.44, Z:61.32 [[-7.78300779e-01 6.19825157e-01 1.00322842e-01 2.10314264e+02] [-6.14563322e-01 -7.84739203e-01 8.05996677e-02 1.95439878e+02] [ 1.28684969e-01 1.07604511e-03 9.91684940e-01 6.13186654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.44, Z:61.32 [[-7.82045394e-01 6.15088663e-01 1.00354069e-01 2.10316463e+02] [-6.09792826e-01 -7.88455878e-01 8.05607688e-02 1.95441057e+02] [ 1.28676771e-01 1.80698694e-03 9.91684942e-01 6.13183781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.44, Z:61.32 [[-7.83496935e-01 6.13233514e-01 1.00385312e-01 2.10317190e+02] [-6.07927487e-01 -7.89898985e-01 8.05218187e-02 1.95441627e+02] [ 1.28672934e-01 2.06160756e-03 9.91684943e-01 6.13176648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.42, Z:61.32 [[-7.83319572e-01 6.13454958e-01 1.00416441e-01 2.10292868e+02] [-6.08155718e-01 -7.89727240e-01 8.04829800e-02 1.95422166e+02] [ 1.28674282e-01 1.97506061e-03 9.91684944e-01 6.13211269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.43, Z:61.32 [[-7.81809088e-01 6.15373691e-01 1.00447853e-01 2.10302272e+02] [-6.10095214e-01 -7.88233869e-01 8.04437568e-02 1.95430446e+02] [ 1.28679372e-01 1.60890563e-03 9.91684945e-01 6.13197467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.43, Z:61.32 [[-7.80853392e-01 6.16580787e-01 1.00479414e-01 2.10306879e+02] [-6.11317316e-01 -7.87290471e-01 8.04043159e-02 1.95434225e+02] [ 1.28682242e-01 1.35917692e-03 9.91684947e-01 6.13199376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.44, Z:61.32 [[-7.78942946e-01 6.18987470e-01 1.00510691e-01 2.10316854e+02] [-6.13748934e-01 -7.85400332e-01 8.03651997e-02 1.95440356e+02] [ 1.28686181e-01 9.11576080e-04 9.91684948e-01 6.13189253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.44, Z:61.32 [[-7.76882579e-01 6.21566428e-01 1.00541702e-01 2.10313277e+02] [-6.16354351e-01 -7.83361338e-01 8.03263836e-02 1.95435442e+02] [ 1.28688666e-01 4.34852288e-04 9.91684949e-01 6.13194939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.43, Z:61.32 [[-7.76126651e-01 6.22505084e-01 1.00572571e-01 2.10313360e+02] [-6.17305852e-01 -7.82615722e-01 8.02877160e-02 1.95434518e+02] [ 1.28689187e-01 2.29399336e-04 9.91684950e-01 6.13199746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.44, Z:61.32 [[-7.74744568e-01 6.24219353e-01 1.00603451e-01 2.10319439e+02] [-6.19039505e-01 -7.81249121e-01 8.02490047e-02 1.95437743e+02] [ 1.28689339e-01 -1.05029711e-04 9.91684951e-01 6.13196431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.43, Z:61.32 [[-7.73374567e-01 6.25910967e-01 1.00634193e-01 2.10319430e+02] [-6.20750364e-01 -7.79894398e-01 8.02104350e-02 1.95432981e+02] [ 1.28688634e-01 -4.36001294e-04 9.91684953e-01 6.13181064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.43, Z:61.32 [[-7.71906695e-01 6.27715418e-01 1.00664829e-01 2.10324909e+02] [-6.22575072e-01 -7.78442507e-01 8.01719677e-02 1.95432918e+02] [ 1.28686962e-01 -7.86134701e-04 9.91684954e-01 6.13153049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.41, Z:61.31 [[-7.67456407e-01 6.33143826e-01 1.00695376e-01 2.10304155e+02] [-6.28054736e-01 -7.74032207e-01 8.01335835e-02 1.95405370e+02] [ 1.28677547e-01 -1.74317558e-03 9.91684955e-01 6.13097075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.43, Z:61.31 [[-7.69165512e-01 6.31062153e-01 1.00722265e-01 2.10327371e+02] [-6.25959691e-01 -7.75730940e-01 8.00997712e-02 1.95428037e+02] [ 1.28681312e-01 -1.43809657e-03 9.91684956e-01 6.13149722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.42, Z:61.31 [[-7.68992778e-01 6.31267913e-01 1.00751821e-01 2.10328993e+02] [-6.26172079e-01 -7.75563350e-01 8.00625778e-02 1.95423503e+02] [ 1.28680356e-01 -1.52043323e-03 9.91684957e-01 6.13143454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.42, Z:61.31 [[-7.69482181e-01 6.30666414e-01 1.00782182e-01 2.10329536e+02] [-6.25570450e-01 -7.76052651e-01 8.00243423e-02 1.95419550e+02] [ 1.28680944e-01 -1.46904923e-03 9.91684958e-01 6.13142615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.41, Z:61.31 [[-7.71552244e-01 6.28127336e-01 1.00812623e-01 2.10326304e+02] [-6.23014761e-01 -7.78109794e-01 7.99859752e-02 1.95410620e+02] [ 1.28684667e-01 -1.09439342e-03 9.91684960e-01 6.13141839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:195.41, Z:61.31 [[-7.73682237e-01 6.25496991e-01 1.00842999e-01 2.10327895e+02] [-6.20367113e-01 -7.80226260e-01 7.99476604e-02 1.95407720e+02] [ 1.28687377e-01 -7.05595174e-04 9.91684961e-01 6.13135909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:210.20, Y:195.29, Z:61.33 [[-7.74583256e-01 6.24375957e-01 1.00873405e-01 2.10197030e+02] [-6.19241606e-01 -7.81123768e-01 7.99092777e-02 1.95293483e+02] [ 1.28688046e-01 -5.68620577e-04 9.91684962e-01 6.13287281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.39, Z:61.31 [[-7.81584050e-01 6.15585269e-01 1.00901683e-01 2.10320482e+02] [-6.10381965e-01 -7.88069840e-01 7.98735554e-02 1.95392289e+02] [ 1.28686557e-01 8.39329674e-04 9.91684963e-01 6.13145568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.39, Z:61.31 [[-7.84758263e-01 6.11526838e-01 1.00942533e-01 2.10319885e+02] [-6.06296636e-01 -7.91222380e-01 7.98218964e-02 1.95389055e+02] [ 1.28681223e-01 1.43977455e-03 9.91684965e-01 6.13141737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:195.38, Z:61.31 [[-7.88300886e-01 6.06948226e-01 1.00973086e-01 2.10316851e+02] [-6.01685434e-01 -7.94738495e-01 7.97832284e-02 1.95384243e+02] [ 1.28671488e-01 2.13915430e-03 9.91684966e-01 6.13148487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.38, Z:61.32 [[-7.91073999e-01 6.03324281e-01 1.01003660e-01 2.10312514e+02] [-5.98036942e-01 -7.97491461e-01 7.97445043e-02 1.95378980e+02] [ 1.28661352e-01 2.67988385e-03 9.91684967e-01 6.13160723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.37, Z:61.32 [[-7.93188950e-01 6.00535893e-01 1.01034305e-01 2.10306953e+02] [-5.95230939e-01 -7.99591857e-01 7.97056591e-02 1.95372483e+02] [ 1.28652317e-01 3.08290374e-03 9.91684969e-01 6.13153653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.37, Z:61.31 [[-7.94241036e-01 5.99138575e-01 1.01065047e-01 2.10309274e+02] [-5.93827314e-01 -8.00638710e-01 7.96666602e-02 1.95373417e+02] [ 1.28647958e-01 3.25934520e-03 9.91684970e-01 6.13144559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:195.37, Z:61.31 [[-7.94618208e-01 5.98633063e-01 1.01095789e-01 2.10307887e+02] [-5.93322692e-01 -8.01016619e-01 7.96276302e-02 1.95373699e+02] [ 1.28647139e-01 3.29113913e-03 9.91684971e-01 6.13144272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.37, Z:61.32 [[-7.94246060e-01 5.99121556e-01 1.01126445e-01 2.10304205e+02] [-5.93820073e-01 -8.00651836e-01 7.95886787e-02 1.95371930e+02] [ 1.28650367e-01 3.16208151e-03 9.91684972e-01 6.13150522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.37, Z:61.32 [[-7.93407836e-01 6.00226000e-01 1.01157086e-01 2.10302095e+02] [-5.94938397e-01 -7.99825072e-01 7.95497154e-02 1.95372802e+02] [ 1.28655781e-01 2.93313303e-03 9.91684974e-01 6.13153222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.37, Z:61.32 [[-7.92539445e-01 6.01367003e-01 1.01187727e-01 2.10298135e+02] [-5.96093615e-01 -7.98968365e-01 7.95107213e-02 1.95371703e+02] [ 1.28660917e-01 2.69802516e-03 9.91684975e-01 6.13156485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:195.37, Z:61.32 [[-7.90465752e-01 6.04085044e-01 1.01218352e-01 2.10295907e+02] [-5.98838755e-01 -7.96916804e-01 7.94717153e-02 1.95373264e+02] [ 1.28670281e-01 2.20619709e-03 9.91684976e-01 6.13158039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.37, Z:61.32 [[-7.88033221e-01 6.07249776e-01 1.01248963e-01 2.10290657e+02] [-6.02034407e-01 -7.94509295e-01 7.94326975e-02 1.95373521e+02] [ 1.28678730e-01 1.64024504e-03 9.91684977e-01 6.13166242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.38, Z:61.32 [[-7.86037561e-01 6.09825716e-01 1.01279559e-01 2.10293780e+02] [-6.04636599e-01 -7.92534686e-01 7.93936680e-02 1.95380219e+02] [ 1.28683864e-01 1.16907711e-03 9.91684978e-01 6.13156227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.38, Z:61.31 [[-7.85216470e-01 6.10877520e-01 1.01310166e-01 2.10289605e+02] [-6.05702146e-01 -7.91724547e-01 7.93545929e-02 1.95379396e+02] [ 1.28685682e-01 9.46748445e-04 9.91684980e-01 6.13146744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.32 [[-7.84164181e-01 6.12222694e-01 1.01340565e-01 2.10284433e+02] [-6.07063502e-01 -7.90685092e-01 7.93157525e-02 1.95380031e+02] [ 1.28687378e-01 6.76413649e-04 9.91684981e-01 6.13153037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.38, Z:61.31 [[-7.83147320e-01 6.13517890e-01 1.01370970e-01 2.10287673e+02] [-6.08374514e-01 -7.89680713e-01 7.92768746e-02 1.95384637e+02] [ 1.28688480e-01 4.13957446e-04 9.91684982e-01 6.13145747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.39, Z:61.32 [[-7.81493169e-01 6.15618554e-01 1.01401294e-01 2.10286384e+02] [-6.10497775e-01 -7.88044285e-01 7.92380684e-02 1.95386844e+02] [ 1.28689136e-01 1.87446587e-05 9.91684983e-01 6.13150995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.39, Z:61.32 [[-7.80564863e-01 6.16790197e-01 1.01431495e-01 2.10283192e+02] [-6.11684276e-01 -7.87127565e-01 7.91993909e-02 1.95385538e+02] [ 1.28688933e-01 -2.23788599e-04 9.91684984e-01 6.13151469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.32 [[-7.80181224e-01 6.17270435e-01 1.01461655e-01 2.10282723e+02] [-6.12173580e-01 -7.86750968e-01 7.91607333e-02 1.95384836e+02] [ 1.28688636e-01 -3.52427071e-04 9.91684986e-01 6.13151758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.32 [[-7.79411527e-01 6.18237080e-01 1.01491792e-01 2.10282186e+02] [-6.13153406e-01 -7.85991474e-01 7.91220770e-02 1.95383961e+02] [ 1.28687885e-01 -5.61378872e-04 9.91684987e-01 6.13151527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.31 [[-7.78446782e-01 6.19446457e-01 1.01521893e-01 2.10281245e+02] [-6.14378043e-01 -7.85038490e-01 7.90834348e-02 1.95382273e+02] [ 1.28686547e-01 -8.10576904e-04 9.91684988e-01 6.13144088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:195.38, Z:61.30 [[-7.74548221e-01 6.24309405e-01 1.01552051e-01 2.10291762e+02] [-6.19287450e-01 -7.81175391e-01 7.90446910e-02 1.95380845e+02] [ 1.28678307e-01 -1.66598562e-03 9.91684989e-01 6.13043103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.37, Z:61.31 [[-7.74372546e-01 6.24525772e-01 1.01561404e-01 2.10281334e+02] [-6.19507245e-01 -7.81002311e-01 7.90326709e-02 1.95371918e+02] [ 1.28677631e-01 -1.71729516e-03 9.91684989e-01 6.13060418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.31 [[-7.76841458e-01 6.21448065e-01 1.01585687e-01 2.10280981e+02] [-6.16407351e-01 -7.83454369e-01 7.90014469e-02 1.95378872e+02] [ 1.28683046e-01 -1.24656487e-03 9.91684990e-01 6.13136957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:195.38, Z:61.31 [[-7.76066044e-01 6.22411237e-01 1.01615688e-01 2.10280756e+02] [-6.17383784e-01 -7.82689040e-01 7.89628386e-02 1.95378747e+02] [ 1.28680844e-01 -1.45550052e-03 9.91684991e-01 6.13149721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.27, Y:195.37, Z:61.31 [[-7.74921948e-01 6.23830223e-01 1.01645597e-01 2.10271310e+02] [-6.18819947e-01 -7.81557947e-01 7.89243194e-02 1.95366099e+02] [ 1.28677300e-01 -1.74013594e-03 9.91684993e-01 6.13128874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:194.61, Z:61.98 [[-7.39931991e-01 6.64953154e-01 1.01675719e-01 2.10754595e+02] [-6.60315573e-01 -7.46833598e-01 7.88854966e-02 1.94611337e+02] [ 1.28390002e-01 -8.76815773e-03 9.91684994e-01 6.19823614e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:194.74, Z:61.96 [[-7.44669239e-01 6.60388812e-01 9.67178446e-02 2.10901018e+02] [-6.54952559e-01 -7.50923748e-01 8.45616359e-02 1.94737722e+02] [ 1.28471285e-01 -3.75150705e-04 9.91713158e-01 6.19565965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:194.74, Z:61.96 [[-7.48667443e-01 6.55844184e-01 9.67753349e-02 2.10899481e+02] [-6.50378472e-01 -7.54896221e-01 8.44957914e-02 1.94737063e+02] [ 1.28471408e-01 3.18653653e-04 9.91713162e-01 6.19566119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.89, Y:194.72, Z:61.95 [[-7.49933627e-01 6.54391205e-01 9.68075717e-02 2.10886497e+02] [-6.48918193e-01 -7.56155991e-01 8.44588415e-02 1.94722376e+02] [ 1.28470748e-01 5.18330782e-04 9.91713163e-01 6.19531780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.89, Y:194.73, Z:61.96 [[-7.55294798e-01 6.48191164e-01 9.68399858e-02 2.10889586e+02] [-6.42671845e-01 -7.61476121e-01 8.44216595e-02 1.94730678e+02] [ 1.28462711e-01 1.52690797e-03 9.91713164e-01 6.19567149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:194.73, Z:61.96 [[-7.57505303e-01 6.45601613e-01 9.68724554e-02 2.10883762e+02] [-6.40065928e-01 -7.63671973e-01 8.43843850e-02 1.94727251e+02] [ 1.28457474e-01 1.91686100e-03 9.91713166e-01 6.19564292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:194.72, Z:61.96 [[-7.59181230e-01 6.43625131e-01 9.69048517e-02 2.10872142e+02] [-6.38078141e-01 -7.65337731e-01 8.43471657e-02 1.94721451e+02] [ 1.28452895e-01 2.20191742e-03 9.91713167e-01 6.19582657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:194.73, Z:61.96 [[-7.59722131e-01 6.42981665e-01 9.69374112e-02 2.10875418e+02] [-6.37434234e-01 -7.65878232e-01 8.43097298e-02 1.94728373e+02] [ 1.28451864e-01 2.26074309e-03 9.91713168e-01 6.19571734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:194.73, Z:61.96 [[-7.59629074e-01 6.43088767e-01 9.69562208e-02 2.10874451e+02] [-6.37544963e-01 -7.65788442e-01 8.42880933e-02 1.94731206e+02] [ 1.28452679e-01 2.21373597e-03 9.91713169e-01 6.19567394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:194.73, Z:61.96 [[-7.58901315e-01 6.43942534e-01 9.69886938e-02 2.10867704e+02] [-6.38410435e-01 -7.65071196e-01 8.42507109e-02 1.94731856e+02] [ 1.28455872e-01 2.01938116e-03 9.91713170e-01 6.19580289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:194.74, Z:61.96 [[-7.57951457e-01 6.45055721e-01 9.70190993e-02 2.10865144e+02] [-6.39537165e-01 -7.64133453e-01 8.42156830e-02 1.94735199e+02] [ 1.28459347e-01 1.78407993e-03 9.91713171e-01 6.19592097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.73, Z:61.96 [[-7.57302447e-01 6.45812685e-01 9.70514308e-02 2.10853426e+02] [-6.40305082e-01 -7.63494202e-01 8.41784075e-02 1.94729286e+02] [ 1.28461688e-01 1.60598962e-03 9.91713172e-01 6.19602058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:194.74, Z:61.96 [[-7.55498259e-01 6.47917518e-01 9.70838391e-02 2.10855816e+02] [-6.42431970e-01 -7.61709560e-01 8.41410142e-02 1.94740334e+02] [ 1.28466125e-01 1.19862767e-03 9.91713173e-01 6.19590910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:194.71, Z:61.95 [[-7.49361338e-01 6.55000782e-01 9.71162223e-02 2.10823064e+02] [-6.49578794e-01 -7.55628197e-01 8.41036209e-02 1.94713350e+02] [ 1.28471693e-01 -6.06366417e-05 9.91713174e-01 6.19533408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.74, Z:61.96 [[-7.49665808e-01 6.54648048e-01 9.71447901e-02 2.10836015e+02] [-6.49227388e-01 -7.55933814e-01 8.40706106e-02 1.94737113e+02] [ 1.28471693e-01 -4.41961597e-05 9.91713175e-01 6.19608223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.76, Z:61.96 [[-7.45278128e-01 6.59634239e-01 9.71760358e-02 2.10852827e+02] [-6.54260221e-01 -7.51586169e-01 8.40344788e-02 1.94756620e+02] [ 1.28468184e-01 -9.49355590e-04 9.91713177e-01 6.19585026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:194.74, Z:61.96 [[-7.42802830e-01 6.62415649e-01 9.72083520e-02 2.10832957e+02] [-6.57070141e-01 -7.49135048e-01 8.39970801e-02 1.94739558e+02] [ 1.28463164e-01 -1.47943676e-03 9.91713178e-01 6.19604535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.75, Z:61.96 [[-7.42371995e-01 6.62893738e-01 9.72404933e-02 2.10845293e+02] [-6.57557182e-01 -7.48711757e-01 8.39598550e-02 1.94747654e+02] [ 1.28461563e-01 -1.61173970e-03 9.91713179e-01 6.19578408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.75, Z:61.96 [[-7.43009126e-01 6.62174193e-01 9.72768064e-02 2.10847978e+02] [-6.56837007e-01 -7.49348354e-01 8.39177614e-02 1.94747653e+02] [ 1.28462391e-01 -1.54334377e-03 9.91713180e-01 6.19607290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.74, Z:61.96 [[-7.45027300e-01 6.59898020e-01 9.73084076e-02 2.10848028e+02] [-6.54546252e-01 -7.51354221e-01 8.38811019e-02 1.94744276e+02] [ 1.28466056e-01 -1.19914264e-03 9.91713182e-01 6.19621037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.74, Z:61.96 [[-7.46519860e-01 6.58204353e-01 9.73402735e-02 2.10847995e+02] [-6.52843052e-01 -7.52838705e-01 8.38441068e-02 1.94739320e+02] [ 1.28468081e-01 -9.56630381e-04 9.91713183e-01 6.19599672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.74, Z:61.96 [[-7.47171687e-01 6.57459608e-01 9.73721359e-02 2.10849693e+02] [-6.52096833e-01 -7.53489279e-01 8.38070875e-02 1.94735171e+02] [ 1.28468635e-01 -8.77778432e-04 9.91713184e-01 6.19594303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.73, Z:61.96 [[-7.46034194e-01 6.58745356e-01 9.74039841e-02 2.10844414e+02] [-6.53398302e-01 -7.52365095e-01 8.37700560e-02 1.94727419e+02] [ 1.28466493e-01 -1.14827156e-03 9.91713185e-01 6.19616576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:194.72, Z:61.96 [[-7.45411824e-01 6.59444814e-01 9.74358757e-02 2.10833385e+02] [-6.54108549e-01 -7.51751820e-01 8.37329456e-02 1.94715098e+02] [ 1.28464854e-01 -1.31811160e-03 9.91713186e-01 6.19644890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.72, Z:61.96 [[-7.45661322e-01 6.59157932e-01 9.74680110e-02 2.10848619e+02] [-6.53824118e-01 -7.52003379e-01 8.36955226e-02 1.94724068e+02] [ 1.28464841e-01 -1.31842227e-03 9.91713188e-01 6.19621754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:194.72, Z:61.96 [[-7.47224062e-01 6.57381106e-01 9.75001702e-02 2.10850132e+02] [-6.52037099e-01 -7.53557531e-01 8.36580425e-02 1.94722120e+02] [ 1.28467204e-01 -1.06242579e-03 9.91713189e-01 6.19610783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.71, Z:61.96 [[-7.48127310e-01 6.56348267e-01 9.75319513e-02 2.10842795e+02] [-6.51000347e-01 -7.54457474e-01 8.36209746e-02 1.94714698e+02] [ 1.28468191e-01 -9.34199399e-04 9.91713190e-01 6.19624176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.71, Z:61.96 [[-7.50763174e-01 6.53326844e-01 9.75637860e-02 2.10841632e+02] [-6.47958276e-01 -7.57075834e-01 8.35838155e-02 1.94711683e+02] [ 1.28470735e-01 -4.65611986e-04 9.91713191e-01 6.19626101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.71, Z:61.96 [[-7.52515089e-01 6.51303401e-01 9.75957007e-02 2.10843042e+02] [-6.45922693e-01 -7.58817403e-01 8.35465344e-02 1.94712727e+02] [ 1.28471458e-01 -1.69250034e-04 9.91713192e-01 6.19626169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:194.71, Z:61.96 [[-7.55488467e-01 6.47847231e-01 9.76275645e-02 2.10838938e+02] [-6.42442504e-01 -7.61770194e-01 8.35092838e-02 1.94708192e+02] [ 1.28471027e-01 3.70203815e-04 9.91713194e-01 6.19632315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:194.70, Z:61.96 [[-7.58339399e-01 6.44502907e-01 9.76594036e-02 2.10832977e+02] [-6.39075274e-01 -7.64601343e-01 8.34720334e-02 1.94702880e+02] [ 1.28468479e-01 8.88421513e-04 9.91713195e-01 6.19640011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:194.70, Z:61.97 [[-7.59570455e-01 6.43046752e-01 9.76913438e-02 2.10824633e+02] [-6.37611923e-01 -7.65826153e-01 8.34346357e-02 1.94697208e+02] [ 1.28466958e-01 1.08531856e-03 9.91713196e-01 6.19654697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:194.69, Z:61.97 [[-7.60157282e-01 6.42348068e-01 9.77234228e-02 2.10813252e+02] [-6.36912320e-01 -7.66412180e-01 8.33970462e-02 1.94689436e+02] [ 1.28466353e-01 1.15361996e-03 9.91713197e-01 6.19659476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:194.70, Z:61.96 [[-7.60221066e-01 6.42267664e-01 9.77557067e-02 2.10821857e+02] [-6.36836122e-01 -7.66479615e-01 8.33591870e-02 1.94699972e+02] [ 1.28466667e-01 1.11704487e-03 9.91713198e-01 6.19632978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:194.69, Z:61.97 [[-7.60945088e-01 6.41404781e-01 9.77879327e-02 2.10809667e+02] [-6.35971001e-01 -7.67201692e-01 8.33213660e-02 1.94691082e+02] [ 1.28465790e-01 1.21269477e-03 9.91713200e-01 6.19656183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:194.70, Z:61.97 [[-7.63312527e-01 6.38580623e-01 9.78201068e-02 2.10816234e+02] [-6.33128536e-01 -7.69553184e-01 8.32835765e-02 1.94698815e+02] [ 1.28461053e-01 1.63869627e-03 9.91713201e-01 6.19659264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:194.70, Z:61.97 [[-7.65800327e-01 6.35590097e-01 9.78523797e-02 2.10809815e+02] [-6.30118486e-01 -7.72023870e-01 8.32456410e-02 1.94695149e+02] [ 1.28454478e-01 2.09094560e-03 9.91713202e-01 6.19675805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.68, Z:61.97 [[-7.67889785e-01 6.33059171e-01 9.78844444e-02 2.10789327e+02] [-6.27571854e-01 -7.74099483e-01 8.32079208e-02 1.94677969e+02] [ 1.28447835e-01 2.46499021e-03 9.91713203e-01 6.19714173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:194.67, Z:61.97 [[-7.70893609e-01 6.29392830e-01 9.79168492e-02 2.10783976e+02] [-6.23880825e-01 -7.77081402e-01 8.31697705e-02 1.94674301e+02] [ 1.28435820e-01 3.02659989e-03 9.91713204e-01 6.19729653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.68, Z:61.97 [[-7.72372718e-01 6.27571720e-01 9.79495851e-02 2.10793020e+02] [-6.22050012e-01 -7.78551852e-01 8.31311996e-02 1.94683289e+02] [ 1.28429621e-01 3.27872999e-03 9.91713206e-01 6.19699456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:194.70, Z:61.96 [[-7.66326848e-01 6.34935159e-01 9.79821732e-02 2.10816445e+02] [-6.29477754e-01 -7.72562845e-01 8.30927723e-02 1.94696970e+02] [ 1.28455909e-01 1.99862394e-03 9.91713207e-01 6.19582026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.68, Z:61.97 [[-7.65269460e-01 6.36204268e-01 9.80141961e-02 2.10788770e+02] [-6.30762042e-01 -7.71518708e-01 8.30549819e-02 1.94683768e+02] [ 1.28459720e-01 1.73580664e-03 9.91713208e-01 6.19714677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.69, Z:61.97 [[-7.62765089e-01 6.39199782e-01 9.80461980e-02 2.10795398e+02] [-6.33786956e-01 -7.69039817e-01 8.30171868e-02 1.94690283e+02] [ 1.28465998e-01 1.18221054e-03 9.91713209e-01 6.19693633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.70, Z:61.97 [[-7.58343366e-01 6.44434596e-01 9.80784970e-02 2.10802170e+02] [-6.39070022e-01 -7.64659395e-01 8.29790107e-02 1.94698463e+02] [ 1.28471189e-01 2.47555022e-04 9.91713211e-01 6.19684982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.70, Z:61.97 [[-7.54352133e-01 6.49097230e-01 9.81103745e-02 2.10801477e+02] [-6.43776597e-01 -7.60705221e-01 8.29413034e-02 1.94701009e+02] [ 1.28470044e-01 -5.94213882e-04 9.91713212e-01 6.19712283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.70, Z:61.97 [[-7.52210859e-01 6.51572683e-01 9.81420541e-02 2.10804557e+02] [-6.46277848e-01 -7.58585462e-01 8.29038011e-02 1.94703421e+02] [ 1.28466988e-01 -1.06589604e-03 9.91713213e-01 6.19710914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.70, Z:61.97 [[-7.50989793e-01 6.52974940e-01 9.81736156e-02 2.10803998e+02] [-6.47696894e-01 -7.57378302e-01 8.28664097e-02 1.94702083e+02] [ 1.28464255e-01 -1.35491795e-03 9.91713214e-01 6.19701855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:194.70, Z:61.97 [[-7.51973449e-01 6.51837168e-01 9.82050854e-02 2.10802082e+02] [-6.46554327e-01 -7.58357991e-01 8.28290983e-02 1.94698754e+02] [ 1.28465696e-01 -1.20964016e-03 9.91713215e-01 6.19695214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.69, Z:61.97 [[-7.53521382e-01 6.50041784e-01 9.82405483e-02 2.10794248e+02] [-6.44749215e-01 -7.59897861e-01 8.27870160e-02 1.94690426e+02] [ 1.28467802e-01 -9.58729683e-04 9.91713217e-01 6.19710871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.69, Z:61.97 [[-7.55747476e-01 6.47440870e-01 9.83161804e-02 2.10794781e+02] [-6.42138048e-01 -7.62115422e-01 8.26971006e-02 1.94688530e+02] [ 1.28469760e-01 -6.34435054e-04 9.91713224e-01 6.19731909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.69, Z:61.98 [[-7.57642290e-01 6.45217713e-01 9.83476631e-02 2.10792625e+02] [-6.39901067e-01 -7.63998697e-01 8.26596429e-02 1.94685203e+02] [ 1.28470952e-01 -3.06333373e-04 9.91713225e-01 6.19751137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.68, Z:61.98 [[-7.61479725e-01 6.40679464e-01 9.83791316e-02 2.10785954e+02] [-6.35329774e-01 -7.67808345e-01 8.26221733e-02 1.94676180e+02] [ 1.28470648e-01 4.11918274e-04 9.91713226e-01 6.19757280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:194.67, Z:61.97 [[-7.65101609e-01 6.36344924e-01 9.84106997e-02 2.10785438e+02] [-6.30964220e-01 -7.71403879e-01 8.25845559e-02 1.94672433e+02] [ 1.28466658e-01 1.09194624e-03 9.91713227e-01 6.19743899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:194.67, Z:61.97 [[-7.66885908e-01 6.34188542e-01 9.84423574e-02 2.10781360e+02] [-6.28794961e-01 -7.73177161e-01 8.25468023e-02 1.94667983e+02] [ 1.28463619e-01 1.40392108e-03 9.91713229e-01 6.19730290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:194.67, Z:61.97 [[-7.68490614e-01 6.32238118e-01 9.84740477e-02 2.10782249e+02] [-6.26833415e-01 -7.74772314e-01 8.25089804e-02 1.94668237e+02] [ 1.28460288e-01 1.68055342e-03 9.91713230e-01 6.19717505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:194.66, Z:61.97 [[-7.69886828e-01 6.30532231e-01 9.85057234e-02 2.10772975e+02] [-6.25118448e-01 -7.76160702e-01 8.24711463e-02 1.94660773e+02] [ 1.28456987e-01 1.91570425e-03 9.91713231e-01 6.19724891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:194.66, Z:61.97 [[-7.70780312e-01 6.29434731e-01 9.85374528e-02 2.10770707e+02] [-6.24016861e-01 -7.77050656e-01 8.24332184e-02 1.94659590e+02] [ 1.28454923e-01 2.04886985e-03 9.91713232e-01 6.19728939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.97 [[-7.71151371e-01 6.28975086e-01 9.85692836e-02 2.10764482e+02] [-6.23558343e-01 -7.77422687e-01 8.23951395e-02 1.94655941e+02] [ 1.28454487e-01 2.07542564e-03 9.91713233e-01 6.19732638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:194.66, Z:61.97 [[-7.71104344e-01 6.29027744e-01 9.86011580e-02 2.10767722e+02] [-6.23616306e-01 -7.77380235e-01 8.23569784e-02 1.94659467e+02] [ 1.28455416e-01 2.01653384e-03 9.91713235e-01 6.19729957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.97 [[-7.69797390e-01 6.30621527e-01 9.86329962e-02 2.10759637e+02] [-6.25227969e-01 -7.76088653e-01 8.23188306e-02 1.94656525e+02] [ 1.28459976e-01 1.70071306e-03 9.91713236e-01 6.19749529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:194.64, Z:61.98 [[-7.68735121e-01 6.31911048e-01 9.86647934e-02 2.10741662e+02] [-6.26532935e-01 -7.75039591e-01 8.22807021e-02 1.94643973e+02] [ 1.28463206e-01 1.43532275e-03 9.91713237e-01 6.19788475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.98 [[-7.66765952e-01 6.34294018e-01 9.86968801e-02 2.10758144e+02] [-6.28940454e-01 -7.73091280e-01 8.22421959e-02 1.94661258e+02] [ 1.28467430e-01 9.86055007e-04 9.91713238e-01 6.19754259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:194.66, Z:61.98 [[-7.65544295e-01 6.35762959e-01 9.87288819e-02 2.10748539e+02] [-6.30426488e-01 -7.71884049e-01 8.22037612e-02 1.94655444e+02] [ 1.28469356e-01 6.89318196e-04 9.91713240e-01 6.19773798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.98 [[-7.64238544e-01 6.37327041e-01 9.87607733e-02 2.10755670e+02] [-6.32008498e-01 -7.70593343e-01 8.21654287e-02 1.94663583e+02] [ 1.28470644e-01 3.76339610e-04 9.91713241e-01 6.19780328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:194.66, Z:61.98 [[-7.64077251e-01 6.37515471e-01 9.87926020e-02 2.10745262e+02] [-6.32203444e-01 -7.70437498e-01 8.21271415e-02 1.94655211e+02] [ 1.28470848e-01 2.94457226e-04 9.91713242e-01 6.19794518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.98 [[-7.64276062e-01 6.37272203e-01 9.88242933e-02 2.10755598e+02] [-6.31963084e-01 -7.70638734e-01 8.20889896e-02 1.94663942e+02] [ 1.28470860e-01 2.85344433e-04 9.91713243e-01 6.19771552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:194.65, Z:61.98 [[-7.64978922e-01 6.36423393e-01 9.88560236e-02 2.10744628e+02] [-6.31112154e-01 -7.71339823e-01 8.20507607e-02 1.94654142e+02] [ 1.28470611e-01 3.77864447e-04 9.91713244e-01 6.19800051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:194.66, Z:61.98 [[-7.66959605e-01 6.34030134e-01 9.88875807e-02 2.10755219e+02] [-6.28703951e-01 -7.73307996e-01 8.20127107e-02 1.94659811e+02] [ 1.28469087e-01 7.29423483e-04 9.91713246e-01 6.19778965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:194.65, Z:61.98 [[-7.68978571e-01 6.31574989e-01 9.89191126e-02 2.10743976e+02] [-6.26233431e-01 -7.75314030e-01 8.19746613e-02 1.94649207e+02] [ 1.28466522e-01 1.09030263e-03 9.91713247e-01 6.19786916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:194.63, Z:61.98 [[-7.71473860e-01 6.28519578e-01 9.89506144e-02 2.10726885e+02] [-6.23157808e-01 -7.77792220e-01 8.19366184e-02 1.94633541e+02] [ 1.28461787e-01 1.55011126e-03 9.91713248e-01 6.19804830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:194.43, Z:62.01 [[-7.70164933e-01 6.30117802e-01 9.89824864e-02 2.10488282e+02] [-6.24774093e-01 -7.76498574e-01 8.18980980e-02 1.94430078e+02] [ 1.28465209e-01 1.23334994e-03 9.91713249e-01 6.20119667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:194.63, Z:61.98 [[-7.77160512e-01 6.21474307e-01 9.89506152e-02 2.10720338e+02] [-6.16055275e-01 -7.83429827e-01 8.19365875e-02 1.94625493e+02] [ 1.28442347e-01 2.71883186e-03 9.91713251e-01 6.19845558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.60, Z:61.99 [[-7.80057108e-01 6.17787913e-01 9.92421438e-02 2.10694339e+02] [-6.12384268e-01 -7.86339552e-01 8.15819726e-02 1.94603242e+02] [ 1.28438379e-01 2.86427007e-03 9.91713355e-01 6.19889334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.61, Z:61.99 [[-7.82248620e-01 6.15005446e-01 9.92743587e-02 2.10700858e+02] [-6.09584428e-01 -7.88516078e-01 8.15427527e-02 1.94607007e+02] [ 1.28428665e-01 3.27060260e-03 9.91713356e-01 6.19859188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:194.62, Z:61.98 [[-7.84683975e-01 6.11889889e-01 9.93067111e-02 2.10719377e+02] [-6.06448971e-01 -7.90934164e-01 8.15033336e-02 1.94622021e+02] [ 1.28416136e-01 3.72990704e-03 9.91713358e-01 6.19796298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.61, Z:61.98 [[-7.85063404e-01 6.11397159e-01 9.93426680e-02 2.10698671e+02] [-6.05957859e-01 -7.91314998e-01 8.14594833e-02 1.94605879e+02] [ 1.28415440e-01 3.75338881e-03 9.91713359e-01 6.19822243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:194.62, Z:61.98 [[-7.83483011e-01 6.13415912e-01 9.93744930e-02 2.10712088e+02] [-6.07997642e-01 -7.89752839e-01 8.14206409e-02 1.94620479e+02] [ 1.28426005e-01 3.37223157e-03 9.91713361e-01 6.19807782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.62, Z:61.98 [[-7.80473889e-01 6.17234875e-01 9.94063293e-02 2.10703933e+02] [-6.11852237e-01 -7.86774332e-01 8.13817537e-02 1.94616687e+02] [ 1.28442005e-01 2.69434882e-03 9.91713362e-01 6.19843844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.61, Z:61.99 [[-7.78885746e-01 6.19232657e-01 9.94379746e-02 2.10693249e+02] [-6.13871117e-01 -7.85204150e-01 8.13430691e-02 1.94609568e+02] [ 1.28449395e-01 2.31485651e-03 9.91713363e-01 6.19865555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.61, Z:61.99 [[-7.76540808e-01 6.22165679e-01 9.94698022e-02 2.10687913e+02] [-6.16832990e-01 -7.82883581e-01 8.13041306e-02 1.94606513e+02] [ 1.28457914e-01 1.77971980e-03 9.91713364e-01 6.19858065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.62, Z:61.98 [[-7.75189188e-01 6.23841856e-01 9.95141246e-02 2.10696890e+02] [-6.18529848e-01 -7.81549288e-01 8.12498454e-02 1.94615238e+02] [ 1.28462248e-01 1.43154530e-03 9.91713367e-01 6.19830573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.59, Z:61.99 [[-7.73510984e-01 6.25916426e-01 9.95458941e-02 2.10661581e+02] [-6.20626487e-01 -7.79889449e-01 8.12109035e-02 1.94587366e+02] [ 1.28466031e-01 1.03670742e-03 9.91713368e-01 6.19882710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.62, Z:61.98 [[-7.72109867e-01 6.27638893e-01 9.95779779e-02 2.10704979e+02] [-6.22368258e-01 -7.78504291e-01 8.11715446e-02 1.94624092e+02] [ 1.28468302e-01 6.99177760e-04 9.91713369e-01 6.19793326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.61, Z:61.98 [[-7.71963523e-01 6.27813806e-01 9.96099600e-02 2.10688117e+02] [-6.22549686e-01 -7.78363309e-01 8.11322789e-02 1.94611873e+02] [ 1.28468703e-01 6.19010511e-04 9.91713370e-01 6.19802484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.62, Z:61.98 [[-7.72601400e-01 6.27023670e-01 9.96413244e-02 2.10693263e+02] [-6.21757974e-01 -7.78999889e-01 8.10937412e-02 1.94615867e+02] [ 1.28468276e-01 7.00349903e-04 9.91713372e-01 6.19797502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.61, Z:61.98 [[-7.74044425e-01 6.25236388e-01 9.96729009e-02 2.10685355e+02] [-6.19960917e-01 -7.80434855e-01 8.10549120e-02 1.94608748e+02] [ 1.28466686e-01 9.46799729e-04 9.91713373e-01 6.19819483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.58, Z:61.99 [[-7.74812109e-01 6.24277840e-01 9.97164681e-02 2.10657845e+02] [-6.19001363e-01 -7.81201706e-01 8.10012792e-02 1.94584947e+02] [ 1.28465979e-01 1.03614226e-03 9.91713375e-01 6.19872124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.62, Z:61.98 [[-7.76092888e-01 6.22679772e-01 9.97483389e-02 2.10697571e+02] [-6.17395184e-01 -7.82475776e-01 8.09620133e-02 1.94615055e+02] [ 1.28464067e-01 1.24989867e-03 9.91713377e-01 6.19798794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.61, Z:61.98 [[-7.77324313e-01 6.21133464e-01 9.98004655e-02 2.10689554e+02] [-6.15844431e-01 -7.83703514e-01 8.08977074e-02 1.94606530e+02] [ 1.28462249e-01 1.42219385e-03 9.91713380e-01 6.19804541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.60, Z:61.98 [[-7.78583522e-01 6.19549331e-01 9.98314864e-02 2.10683442e+02] [-6.14252228e-01 -7.84956022e-01 8.08594083e-02 1.94598421e+02] [ 1.28459719e-01 1.63408989e-03 9.91713381e-01 6.19795702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.59, Z:61.98 [[-7.78912082e-01 6.19130534e-01 9.98666621e-02 2.10675049e+02] [-6.13835575e-01 -7.85286362e-01 8.08159410e-02 1.94590709e+02] [ 1.28459544e-01 1.64680290e-03 9.91713383e-01 6.19809969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.60, Z:61.98 [[-7.77908990e-01 6.20385358e-01 9.98980035e-02 2.10687506e+02] [-6.15105657e-01 -7.84295912e-01 8.07771810e-02 1.94598652e+02] [ 1.28462576e-01 1.38946819e-03 9.91713384e-01 6.19796202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.60, Z:61.98 [[-7.76812431e-01 6.21752840e-01 9.99292410e-02 2.10689212e+02] [-6.16489355e-01 -7.83212721e-01 8.07385189e-02 1.94598654e+02] [ 1.28465256e-01 1.11337179e-03 9.91713385e-01 6.19808541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.58, Z:61.99 [[-7.76866133e-01 6.21680756e-01 9.99602365e-02 2.10670375e+02] [-6.16421616e-01 -7.83269992e-01 8.07001262e-02 1.94581866e+02] [ 1.28465569e-01 1.07554449e-03 9.91713386e-01 6.19850560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.58, Z:61.98 [[-7.77136623e-01 6.21337573e-01 9.99914442e-02 2.10678595e+02] [-6.16080582e-01 -7.83542245e-01 8.06614400e-02 1.94583849e+02] [ 1.28465504e-01 1.08217207e-03 9.91713388e-01 6.19842005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.58, Z:61.98 [[-7.76751673e-01 6.21813060e-01 1.00026780e-01 2.10679919e+02] [-6.16565634e-01 -7.83165131e-01 8.06175975e-02 1.94582330e+02] [ 1.28466561e-01 9.46778932e-04 9.91713389e-01 6.19841805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.59, Z:61.98 [[-7.74485980e-01 6.24627789e-01 1.00057945e-01 2.10690464e+02] [-6.19408670e-01 -7.80922493e-01 8.05788986e-02 1.94587157e+02] [ 1.28469319e-01 4.30468585e-04 9.91713390e-01 6.19823509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.58, Z:61.98 [[-7.70801514e-01 6.29163918e-01 1.00088910e-01 2.10683897e+02] [-6.23987673e-01 -7.77272555e-01 8.05404181e-02 1.94579357e+02] [ 1.28469488e-01 -3.73569950e-04 9.91713392e-01 6.19837688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.59, Z:61.98 [[-7.68349555e-01 6.32151063e-01 1.00119902e-01 2.10696927e+02] [-6.27004996e-01 -7.74844619e-01 8.05018736e-02 1.94587549e+02] [ 1.28466712e-01 -9.22100025e-04 9.91713393e-01 6.19818469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:194.59, Z:61.97 [[-7.60853647e-01 6.41148619e-01 1.00150767e-01 2.10717382e+02] [-6.36084390e-01 -7.67412719e-01 8.04634573e-02 1.94589392e+02] [ 1.28446007e-01 -2.48342457e-03 9.91713394e-01 6.19677505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.58, Z:61.98 [[-7.63950277e-01 6.37450352e-01 1.00184944e-01 2.10702257e+02] [-6.32359946e-01 -7.70489053e-01 8.04208808e-02 1.94582400e+02] [ 1.28455722e-01 -1.91539185e-03 9.91713396e-01 6.19823950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.58, Z:61.98 [[-7.63549879e-01 6.37925154e-01 1.00215169e-01 2.10701442e+02] [-6.32843757e-01 -7.70095657e-01 8.03832000e-02 1.94578301e+02] [ 1.28453731e-01 -2.04396110e-03 9.91713397e-01 6.19836014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:194.58, Z:61.99 [[-7.62788551e-01 6.38830538e-01 1.00245551e-01 2.10705121e+02] [-6.33761889e-01 -7.69344203e-01 8.03452929e-02 1.94575559e+02] [ 1.28450360e-01 -2.24534000e-03 9.91713398e-01 6.19869241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.57, Z:61.99 [[-7.62247577e-01 6.39471577e-01 1.00273289e-01 2.10703552e+02] [-6.34412994e-01 -7.68810998e-01 8.03106595e-02 1.94566932e+02] [ 1.28447592e-01 -2.39807212e-03 9.91713399e-01 6.19884288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.56, Z:61.99 [[-7.62735761e-01 6.38881990e-01 1.00319304e-01 2.10698508e+02] [-6.33825892e-01 -7.69301093e-01 8.02531396e-02 1.94558009e+02] [ 1.28448036e-01 -2.37303319e-03 9.91713402e-01 6.19895412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:194.55, Z:61.98 [[-7.60114332e-01 6.41993861e-01 1.00349807e-01 2.10713453e+02] [-6.36969670e-01 -7.66704112e-01 8.02149808e-02 1.94554603e+02] [ 1.28436135e-01 -2.94722685e-03 9.91713403e-01 6.19756218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.55, Z:61.99 [[-7.65334751e-01 6.35757281e-01 1.00376282e-01 2.10703443e+02] [-6.30683721e-01 -7.71886596e-01 8.01818375e-02 1.94553151e+02] [ 1.28455294e-01 -1.93974063e-03 9.91713404e-01 6.19881650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.55, Z:61.99 [[-7.68011677e-01 6.32516677e-01 1.00402777e-01 2.10700568e+02] [-6.27419807e-01 -7.74545403e-01 8.01486475e-02 1.94548611e+02] [ 1.28461866e-01 -1.43959394e-03 9.91713405e-01 6.19879854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:194.54, Z:61.99 [[-7.71621432e-01 6.28102514e-01 1.00437030e-01 2.10696371e+02] [-6.22973852e-01 -7.78130231e-01 8.01057017e-02 1.94543133e+02] [ 1.28467682e-01 -7.58367011e-04 9.91713406e-01 6.19887689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.54, Z:61.99 [[-7.73756382e-01 6.25465709e-01 1.00467450e-01 2.10694792e+02] [-6.20319821e-01 -7.80251569e-01 8.00675307e-02 1.94541338e+02] [ 1.28469381e-01 -3.69187953e-04 9.91713407e-01 6.19892450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:194.54, Z:61.99 [[-7.75739046e-01 6.23000084e-01 1.00497901e-01 2.10692877e+02] [-6.17838504e-01 -7.82221769e-01 8.00292919e-02 1.94537759e+02] [ 1.28469902e-01 -9.62632358e-06 9.91713408e-01 6.19911692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.53, Z:61.99 [[-7.77083358e-01 6.21317555e-01 1.00528357e-01 2.10678275e+02] [-6.16146889e-01 -7.83558835e-01 7.99910164e-02 1.94525665e+02] [ 1.28469705e-01 2.19452874e-04 9.91713410e-01 6.19937690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.52, Z:61.99 [[-7.78204678e-01 6.19907546e-01 1.00559000e-01 2.10674978e+02] [-6.14730128e-01 -7.84674755e-01 7.99524766e-02 1.94522453e+02] [ 1.28469252e-01 4.02744487e-04 9.91713411e-01 6.19941965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.52, Z:61.99 [[-7.79869072e-01 6.17807345e-01 1.00589836e-01 2.10676698e+02] [-6.12617508e-01 -7.86329190e-01 7.99136621e-02 1.94523387e+02] [ 1.28467972e-01 6.99098624e-04 9.91713412e-01 6.19927631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.52, Z:61.99 [[-7.82595442e-01 6.14345068e-01 1.00620637e-01 2.10674819e+02] [-6.09131639e-01 -7.89036535e-01 7.98748617e-02 1.94521039e+02] [ 1.28464086e-01 1.21848910e-03 9.91713413e-01 6.19936298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:194.53, Z:61.99 [[-7.84176299e-01 6.12320858e-01 1.00651377e-01 2.10680211e+02] [-6.07095775e-01 -7.90607941e-01 7.98361072e-02 1.94526032e+02] [ 1.28461092e-01 1.50055728e-03 9.91713414e-01 6.19920788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.52, Z:61.99 [[-7.85862192e-01 6.10150596e-01 1.00682001e-01 2.10674751e+02] [-6.04912701e-01 -7.92283401e-01 7.97974690e-02 1.94522967e+02] [ 1.28457151e-01 1.80599283e-03 9.91713416e-01 6.19937647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.52, Z:62.00 [[-7.87052903e-01 6.08608833e-01 1.00712544e-01 2.10666188e+02] [-6.03363292e-01 -7.93467867e-01 7.97589019e-02 1.94517397e+02] [ 1.28454140e-01 2.00822319e-03 9.91713417e-01 6.19950197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:194.52, Z:62.00 [[-7.88971189e-01 6.06114898e-01 1.00743209e-01 2.10667920e+02] [-6.00854026e-01 -7.95373584e-01 7.97201509e-02 1.94519637e+02] [ 1.28448058e-01 2.36493972e-03 9.91713418e-01 6.19968713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.52, Z:62.00 [[-7.91042884e-01 6.03403496e-01 1.00773889e-01 2.10664714e+02] [-5.98125620e-01 -7.97431267e-01 7.96813493e-02 1.94517704e+02] [ 1.28440255e-01 2.75591945e-03 9.91713419e-01 6.19994136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.51, Z:62.00 [[-7.92100090e-01 6.02009879e-01 1.00804524e-01 2.10657851e+02] [-5.96725693e-01 -7.98483254e-01 7.96425747e-02 1.94512339e+02] [ 1.28436341e-01 2.93224113e-03 9.91713420e-01 6.19991159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.51, Z:62.00 [[-7.92004359e-01 6.02130676e-01 1.00835230e-01 2.10658018e+02] [-5.96852411e-01 -7.98392419e-01 7.96036785e-02 1.94513819e+02] [ 1.28437900e-01 2.86271000e-03 9.91713422e-01 6.19968008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:194.52, Z:62.00 [[-7.91397691e-01 6.02922676e-01 1.00865958e-01 2.10659690e+02] [-5.97655764e-01 -7.97795113e-01 7.95647254e-02 1.94516431e+02] [ 1.28441745e-01 2.68421900e-03 9.91713423e-01 6.19969259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.51, Z:62.00 [[-7.90525005e-01 6.04061337e-01 1.00896568e-01 2.10651341e+02] [-5.98808593e-01 -7.96934063e-01 7.95258895e-02 1.94511056e+02] [ 1.28446427e-01 2.44947227e-03 9.91713424e-01 6.19983752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.52, Z:62.00 [[-7.89196423e-01 6.05790978e-01 1.00927184e-01 2.10654485e+02] [-6.00557250e-01 -7.95621018e-01 7.94870158e-02 1.94515776e+02] [ 1.28452306e-01 2.11831670e-03 9.91713425e-01 6.19979811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.51, Z:62.00 [[-7.87090989e-01 6.08518940e-01 1.00957785e-01 2.10649203e+02] [-6.03312466e-01 -7.93537689e-01 7.94481304e-02 1.94514485e+02] [ 1.28459499e-01 1.62381765e-03 9.91713427e-01 6.19992746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.52, Z:62.00 [[-7.85267227e-01 6.10865568e-01 1.00988315e-01 2.10649786e+02] [-6.05683351e-01 -7.91733440e-01 7.94093041e-02 1.94517254e+02] [ 1.28464236e-01 1.19058316e-03 9.91713428e-01 6.19994534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.52, Z:62.00 [[-7.81809218e-01 6.15279416e-01 1.01022708e-01 2.10650867e+02] [-6.10139363e-01 -7.88308995e-01 7.93655255e-02 1.94522444e+02] [ 1.28469084e-01 4.10768488e-04 9.91713429e-01 6.19985054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:194.53, Z:62.00 [[-7.79067093e-01 6.18742875e-01 1.01053056e-01 2.10648133e+02] [-6.13636730e-01 -7.85593541e-01 7.93268665e-02 1.94525495e+02] [ 1.28469561e-01 -2.08915586e-04 9.91713430e-01 6.19984189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:194.53, Z:62.00 [[-7.78238702e-01 6.19777005e-01 1.01098893e-01 2.10643971e+02] [-6.14687126e-01 -7.84777839e-01 7.92684066e-02 1.94525334e+02] [ 1.28468906e-01 -4.54446099e-04 9.91713433e-01 6.19977036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:194.52, Z:62.00 [[-7.79281875e-01 6.18459976e-01 1.01128717e-01 2.10637348e+02] [-6.13363984e-01 -7.85816248e-01 7.92303394e-02 1.94523843e+02] [ 1.28469383e-01 -2.85945469e-04 9.91713434e-01 6.19993107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:194.52, Z:62.00 [[-7.83223923e-01 6.13455104e-01 1.01158889e-01 2.10629554e+02] [-6.08322334e-01 -7.89729446e-01 7.91917983e-02 1.94520679e+02] [ 1.28468766e-01 4.87699434e-04 9.91713436e-01 6.20013124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:194.52, Z:62.00 [[-7.86646475e-01 6.09055708e-01 1.01185318e-01 2.10622814e+02] [-6.03890900e-01 -7.93126591e-01 7.91580157e-02 1.94516234e+02] [ 1.28464407e-01 1.16448134e-03 9.91713436e-01 6.20032382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:194.51, Z:62.00 [[-7.91676521e-01 6.02497855e-01 1.01215716e-01 2.10617087e+02] [-5.97284346e-01 -7.98117519e-01 7.91191278e-02 1.94512781e+02] [ 1.28451141e-01 2.18219301e-03 9.91713438e-01 6.20020447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:194.49, Z:62.01 [[-7.96195189e-01 5.96508529e-01 1.01246210e-01 2.10587778e+02] [-5.91251539e-01 -8.02600746e-01 7.90800862e-02 1.94492214e+02] [ 1.28432230e-01 3.10120640e-03 9.91713439e-01 6.20053002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:194.51, Z:61.99 [[-7.94794031e-01 5.98368278e-01 1.01281058e-01 2.10617719e+02] [-5.93131963e-01 -8.01216497e-01 7.90354306e-02 1.94509971e+02] [ 1.28440349e-01 2.74385572e-03 9.91713440e-01 6.19863144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:211.07, Y:193.68, Z:62.69 [[-7.15153781e-01 6.91585969e-01 1.01310990e-01 2.11066160e+02] [-6.87184741e-01 -7.22174909e-01 7.89970446e-02 1.93676508e+02] [ 1.27797502e-01 -1.31243310e-02 9.91713442e-01 6.26930036e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:193.85, Z:62.66 [[-7.16767573e-01 6.91513876e-01 8.97374268e-02 2.11242773e+02] [-6.85574837e-01 -7.22355437e-01 9.04973171e-02 1.93853998e+02] [ 1.27402469e-01 3.34382046e-03 9.91845467e-01 6.26592668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.86, Z:62.66 [[-7.14317901e-01 6.94031812e-01 8.98319491e-02 2.11245655e+02] [-6.88124267e-01 -7.19939038e-01 9.04033938e-02 1.93862797e+02] [ 1.27416358e-01 2.76121839e-03 9.91845476e-01 6.26589358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.87, Z:62.66 [[-7.10836041e-01 6.97592424e-01 8.98717572e-02 2.11248682e+02] [-6.91718042e-01 -7.16491824e-01 9.03638028e-02 1.93871403e+02] [ 1.27429483e-01 2.06793199e-03 9.91845477e-01 6.26586969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.88, Z:62.66 [[-7.06132734e-01 7.02348445e-01 8.99067529e-02 2.11247641e+02] [-6.96516595e-01 -7.11832361e-01 9.03289709e-02 1.93876429e+02] [ 1.27440948e-01 1.16269776e-03 9.91845478e-01 6.26572865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.88, Z:62.66 [[-7.02487922e-01 7.05989532e-01 8.99416490e-02 2.11250137e+02] [-7.00191674e-01 -7.08222122e-01 9.02942113e-02 1.93882012e+02] [ 1.27445434e-01 4.54199023e-04 9.91845480e-01 6.26568289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.89, Z:62.66 [[-6.95834716e-01 7.12543543e-01 8.99763700e-02 2.11248027e+02] [-7.06804166e-01 -7.01627448e-01 9.02595995e-02 1.93885312e+02] [ 1.27443786e-01 -7.89910363e-04 9.91845481e-01 6.26556563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.87, Z:62.66 [[-6.92056816e-01 7.16209045e-01 9.00109232e-02 2.11226217e+02] [-7.10504827e-01 -6.97884171e-01 9.02251285e-02 1.93867117e+02] [ 1.27437252e-01 -1.51228027e-03 9.91845482e-01 6.26612030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.89, Z:62.66 [[-6.89677220e-01 7.18496694e-01 9.00435039e-02 2.11249541e+02] [-7.12816047e-01 -6.95527554e-01 9.01926018e-02 1.93892359e+02] [ 1.27430824e-01 -1.98067160e-03 9.91845483e-01 6.26580656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:193.89, Z:62.66 [[-6.91746766e-01 7.16499220e-01 9.00848469e-02 2.11246329e+02] [-7.10807055e-01 -6.97585891e-01 9.01512896e-02 1.93888118e+02] [ 1.27435247e-01 -1.67108161e-03 9.91845485e-01 6.26575383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:193.88, Z:62.66 [[-6.95092180e-01 7.13249891e-01 9.01191102e-02 2.11242540e+02] [-7.07534868e-01 -7.00908933e-01 9.01170258e-02 1.93882723e+02] [ 1.27441248e-01 -1.12277275e-03 9.91845486e-01 6.26570496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.87, Z:62.66 [[-7.00336940e-01 7.08096426e-01 9.01533313e-02 2.11231605e+02] [-7.02343003e-01 -7.06115712e-01 9.00827781e-02 1.93869670e+02] [ 1.27445977e-01 -2.30264366e-04 9.91845487e-01 6.26569789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:193.86, Z:62.64 [[-7.00787063e-01 7.07646564e-01 9.01877592e-02 2.11235035e+02] [-7.01893869e-01 -7.06566558e-01 9.00482971e-02 1.93858651e+02] [ 1.27446023e-01 -1.97553550e-04 9.91845488e-01 6.26440868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.87, Z:62.65 [[-7.08010970e-01 7.00416080e-01 9.02096531e-02 2.11232535e+02] [-6.94607159e-01 -7.13733949e-01 9.00263586e-02 1.93867971e+02] [ 1.27441601e-01 1.07937866e-03 9.91845489e-01 6.26544712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:193.84, Z:62.66 [[-7.11461376e-01 6.96905948e-01 9.02486014e-02 2.11206630e+02] [-6.91073746e-01 -7.17160626e-01 8.99872976e-02 1.93840106e+02] [ 1.27435426e-01 1.65404749e-03 9.91845490e-01 6.26583074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:193.83, Z:62.66 [[-7.11191134e-01 6.97177210e-01 9.02834863e-02 2.11198542e+02] [-6.91351625e-01 -7.16897146e-01 8.99522844e-02 1.93829806e+02] [ 1.27436656e-01 1.55563225e-03 9.91845491e-01 6.26588429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:193.84, Z:62.66 [[-7.10277398e-01 6.98103505e-01 9.03189556e-02 2.11205399e+02] [-6.92289890e-01 -7.15995603e-01 8.99166566e-02 1.93836315e+02] [ 1.27439108e-01 1.33886908e-03 9.91845493e-01 6.26585884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.86, Z:62.65 [[-7.09107461e-01 6.99287257e-01 9.03545265e-02 2.11225175e+02] [-6.93487742e-01 -7.14839965e-01 8.98808986e-02 1.93855037e+02] [ 1.27441594e-01 1.07545926e-03 9.91845494e-01 6.26549497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:193.85, Z:62.65 [[-7.06546002e-01 7.01870698e-01 9.03895464e-02 2.11223081e+02] [-6.96096650e-01 -7.12304155e-01 8.98456669e-02 1.93851867e+02] [ 1.27444890e-01 5.60236320e-04 9.91845495e-01 6.26539994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.86, Z:62.65 [[-7.04378984e-01 7.04041005e-01 9.04240595e-02 2.11228284e+02] [-6.98289159e-01 -7.10159313e-01 8.98109183e-02 1.93856833e+02] [ 1.27446057e-01 1.18782942e-04 9.91845496e-01 6.26519119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.86, Z:62.65 [[-7.00739093e-01 7.07659501e-01 9.04585830e-02 2.11231618e+02] [-7.01941991e-01 -7.06553386e-01 8.97761326e-02 1.93858305e+02] [ 1.27444751e-01 -5.87032213e-04 9.91845497e-01 6.26502059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.86, Z:62.65 [[-6.98499600e-01 7.09865724e-01 9.04928889e-02 2.11231751e+02] [-7.04171058e-01 -7.04336267e-01 8.97415398e-02 1.93856438e+02] [ 1.27441867e-01 -1.03804364e-03 9.91845499e-01 6.26506389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.85, Z:62.65 [[-6.95624876e-01 7.12677570e-01 9.05356988e-02 2.11230884e+02] [-7.07012116e-01 -7.01489899e-01 8.96983305e-02 1.93853827e+02] [ 1.27435866e-01 -1.61344587e-03 9.91845500e-01 6.26531767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.85, Z:62.65 [[-6.94425239e-01 7.13842219e-01 9.05697220e-02 2.11230557e+02] [-7.08191080e-01 -7.00304054e-01 8.96639638e-02 1.93849634e+02] [ 1.27432266e-01 -1.87574971e-03 9.91845502e-01 6.26540997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:193.86, Z:62.64 [[-6.88602846e-01 7.19456100e-01 9.06037598e-02 2.11258754e+02] [-7.13857393e-01 -6.94531616e-01 8.96295563e-02 1.93857291e+02] [ 1.27411707e-01 -2.95899620e-03 9.91845503e-01 6.26355085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.84, Z:62.65 [[-6.97926078e-01 7.10410614e-01 9.06418757e-02 2.11228686e+02] [-7.04740037e-01 -7.03786142e-01 8.95909936e-02 1.93841850e+02] [ 1.27438889e-01 -1.35106804e-03 9.91845504e-01 6.26533473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:193.84, Z:62.65 [[-7.02852512e-01 7.05532631e-01 9.06755337e-02 2.11228852e+02] [-6.99825775e-01 -7.08677250e-01 8.95569153e-02 1.93837920e+02] [ 1.27445014e-01 -5.11772720e-04 9.91845505e-01 6.26532066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:193.83, Z:62.65 [[-7.07122119e-01 7.01248930e-01 9.07096827e-02 2.11220864e+02] [-6.95511224e-01 -7.12916469e-01 8.95223137e-02 1.93827068e+02] [ 1.27445853e-01 2.13605739e-04 9.91845507e-01 6.26548894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:193.82, Z:62.66 [[-7.12190852e-01 6.96089841e-01 9.07916498e-02 2.11213259e+02] [-6.90320764e-01 -7.17953960e-01 8.94391083e-02 1.93818201e+02] [ 1.27441879e-01 1.02235365e-03 9.91845513e-01 6.26557321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:193.81, Z:62.66 [[-7.14179530e-01 6.94044833e-01 9.08260303e-02 2.11207753e+02] [-6.88263696e-01 -7.19930537e-01 8.94041812e-02 1.93813442e+02] [ 1.27438943e-01 1.33837694e-03 9.91845515e-01 6.26568122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:193.82, Z:62.66 [[-7.15639916e-01 6.92534394e-01 9.08604646e-02 2.11211114e+02] [-6.86745561e-01 -7.21383175e-01 8.93691725e-02 1.93816957e+02] [ 1.27436436e-01 1.55812635e-03 9.91845516e-01 6.26550450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:193.80, Z:62.66 [[-7.18091482e-01 6.89987485e-01 9.08949666e-02 2.11196719e+02] [-6.84182724e-01 -7.23818640e-01 8.93340679e-02 1.93802852e+02] [ 1.27430860e-01 1.96126724e-03 9.91845517e-01 6.26580185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:193.79, Z:62.66 [[-7.19818470e-01 6.88181066e-01 9.09295933e-02 2.11179238e+02] [-6.82366385e-01 -7.25535554e-01 8.92988091e-02 1.93785357e+02] [ 1.27426402e-01 2.23163426e-03 9.91845518e-01 6.26610533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:193.80, Z:62.66 [[-7.20744350e-01 6.87206682e-01 9.09645967e-02 2.11197754e+02] [-6.81388770e-01 -7.26458145e-01 8.92631387e-02 1.93803119e+02] [ 1.27424198e-01 2.35364824e-03 9.91845519e-01 6.26564035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.80, Z:62.66 [[-7.21344893e-01 6.86571635e-01 9.09996462e-02 2.11190088e+02] [-6.80753198e-01 -7.27058152e-01 8.92273933e-02 1.93797259e+02] [ 1.27423032e-01 2.41542430e-03 9.91845521e-01 6.26565468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.80, Z:62.66 [[-7.19839818e-01 6.88135737e-01 9.11034767e-02 2.11192774e+02] [-6.82343133e-01 -7.25579251e-01 8.91212553e-02 1.93801811e+02] [ 1.27430313e-01 1.98919642e-03 9.91845532e-01 6.26556606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:193.80, Z:62.66 [[-7.15614440e-01 6.92524273e-01 9.11378364e-02 2.11181928e+02] [-6.86771346e-01 -7.21393641e-01 8.90861045e-02 1.93796254e+02] [ 1.27440545e-01 1.16044821e-03 9.91845533e-01 6.26595458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:193.79, Z:62.66 [[-7.12974381e-01 6.95236329e-01 9.11810221e-02 2.11175200e+02] [-6.89511040e-01 -7.18780961e-01 8.90418817e-02 1.93791715e+02] [ 1.27444334e-01 6.14259218e-04 9.91845535e-01 6.26625581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.81, Z:62.66 [[-7.11993401e-01 6.96236398e-01 9.12155402e-02 2.11191818e+02] [-6.90523796e-01 -7.17812461e-01 8.90065071e-02 1.93806949e+02] [ 1.27445221e-01 3.85544638e-04 9.91845536e-01 6.26590832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.81, Z:62.66 [[-7.11997161e-01 6.96228048e-01 9.12499250e-02 2.11191481e+02] [-6.90519896e-01 -7.17820585e-01 8.89712419e-02 1.93805655e+02] [ 1.27445349e-01 3.37382895e-04 9.91845537e-01 6.26593171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.80, Z:62.66 [[-7.12816770e-01 6.95384419e-01 9.12839622e-02 2.11188530e+02] [-6.89673848e-01 -7.18637820e-01 8.89363064e-02 1.93800077e+02] [ 1.27445029e-01 4.39129227e-04 9.91845538e-01 6.26615544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.80, Z:62.66 [[-7.13534809e-01 6.94642589e-01 9.13222294e-02 2.11190761e+02] [-6.88930996e-01 -7.19354854e-01 8.88969956e-02 1.93799252e+02] [ 1.27444728e-01 5.16386272e-04 9.91845540e-01 6.26626867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.80, Z:62.66 [[-7.13826819e-01 6.94338050e-01 9.13561423e-02 2.11190970e+02] [-6.88628435e-01 -7.19648803e-01 8.88621310e-02 1.93795843e+02] [ 1.27444697e-01 5.21735012e-04 9.91845541e-01 6.26620692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.79, Z:62.66 [[-7.13932706e-01 6.94224702e-01 9.13901265e-02 2.11191031e+02] [-6.88518637e-01 -7.19758168e-01 8.88271665e-02 1.93793727e+02] [ 1.27444803e-01 4.92813939e-04 9.91845542e-01 6.26611110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:193.79, Z:62.66 [[-7.14070428e-01 6.94078570e-01 9.14240861e-02 2.11185161e+02] [-6.88375789e-01 -7.19899103e-01 8.87922005e-02 1.93787699e+02] [ 1.27444881e-01 4.69757239e-04 9.91845543e-01 6.26616961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:193.79, Z:62.66 [[-7.13289612e-01 6.94876543e-01 9.14577425e-02 2.11183296e+02] [-6.89184729e-01 -7.19128996e-01 8.87575204e-02 1.93787890e+02] [ 1.27445433e-01 2.78537867e-04 9.91845544e-01 6.26624673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:193.79, Z:62.66 [[-7.12389846e-01 6.95794496e-01 9.14916800e-02 2.11184740e+02] [-6.90114699e-01 -7.18240917e-01 8.87225239e-02 1.93791945e+02] [ 1.27445712e-01 6.52718936e-05 9.91845546e-01 6.26645690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:193.77, Z:62.67 [[-7.13265704e-01 6.94892145e-01 9.15256331e-02 2.11164690e+02] [-6.89209442e-01 -7.19113951e-01 8.86874845e-02 1.93772903e+02] [ 1.27445596e-01 1.77410525e-04 9.91845547e-01 6.26696588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:193.77, Z:62.67 [[-7.15430126e-01 6.92658473e-01 9.15640442e-02 2.11163152e+02] [-6.86962587e-01 -7.21265533e-01 8.86478101e-02 1.93774265e+02] [ 1.27444646e-01 5.20241312e-04 9.91845548e-01 6.26726551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:192.98, Z:63.37 [[-6.53298863e-01 7.51538644e-01 9.15983748e-02 2.11716513e+02] [-7.46369837e-01 -6.59605884e-01 8.86123228e-02 1.92984142e+02] [ 1.27014412e-01 -1.04759343e-02 9.91845549e-01 6.33700557e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:193.19, Z:63.33 [[-6.56361235e-01 7.49840287e-01 8.32434600e-02 2.11898761e+02] [-7.43686203e-01 -6.61618091e-01 9.58766574e-02 1.93187776e+02] [ 1.26967559e-01 1.02270861e-03 9.91906343e-01 6.33267024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:193.17, Z:63.34 [[-6.57716559e-01 7.48639505e-01 8.33535853e-02 2.11883698e+02] [-7.42487959e-01 -6.62976368e-01 9.57808222e-02 1.93171923e+02] [ 1.26966765e-01 1.10759927e-03 9.91906353e-01 6.33358329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:193.19, Z:63.33 [[-6.54417531e-01 7.51521203e-01 8.33881035e-02 2.11894846e+02] [-7.45396649e-01 -6.59708744e-01 9.57507609e-02 1.93189059e+02] [ 1.26970588e-01 5.03763605e-04 9.91906354e-01 6.33346765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:193.19, Z:63.34 [[-6.51784125e-01 7.53801641e-01 8.34298487e-02 2.11896812e+02] [-7.47700256e-01 -6.57102036e-01 9.57143739e-02 1.93193357e+02] [ 1.26971576e-01 4.59021072e-06 9.91906356e-01 6.33353578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:193.18, Z:63.34 [[-6.48837834e-01 7.56335108e-01 8.34665742e-02 2.11888441e+02] [-7.50258607e-01 -6.54184159e-01 9.56823372e-02 1.93183983e+02] [ 1.26970422e-01 -5.39195264e-04 9.91906357e-01 6.33372215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:193.19, Z:63.33 [[-6.47588122e-01 7.57401358e-01 8.35033362e-02 2.11897899e+02] [-7.51337796e-01 -6.52949116e-01 9.56502440e-02 1.93194206e+02] [ 1.26969054e-01 -7.97250655e-04 9.91906358e-01 6.33343178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:193.19, Z:63.33 [[-6.45510548e-01 7.59168258e-01 8.35445378e-02 2.11896573e+02] [-7.53124026e-01 -6.50893323e-01 9.56142437e-02 1.93194594e+02] [ 1.26965881e-01 -1.19939581e-03 9.91906360e-01 6.33349645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:193.19, Z:63.34 [[-6.45229233e-01 7.59403361e-01 8.35809304e-02 2.11893182e+02] [-7.53365211e-01 -6.50618828e-01 9.55824208e-02 1.93190592e+02] [ 1.26964939e-01 -1.29439317e-03 9.91906361e-01 6.33402479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.10, Z:63.34 [[-6.45500197e-01 7.59169045e-01 8.36173228e-02 2.11819203e+02] [-7.53133062e-01 -6.50892217e-01 9.55505736e-02 1.93100674e+02] [ 1.26964902e-01 -1.29705629e-03 9.91906362e-01 6.33441087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:193.17, Z:63.34 [[-6.52029748e-01 7.53564742e-01 8.36503834e-02 2.11873183e+02] [-7.47486120e-01 -6.57373653e-01 9.55216219e-02 1.93165367e+02] [ 1.26971284e-01 -2.44561496e-04 9.91906363e-01 6.33424332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:193.18, Z:63.34 [[-6.58588972e-01 7.47833072e-01 8.37034160e-02 2.11885530e+02] [-7.41713850e-01 -6.63886334e-01 9.54751284e-02 1.93178047e+02] [ 1.26969013e-01 7.94883781e-04 9.91906366e-01 6.33403487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:193.16, Z:63.34 [[-6.63074980e-01 7.43854247e-01 8.37402505e-02 2.11871824e+02] [-7.37707321e-01 -6.68340167e-01 9.54428105e-02 1.93161510e+02] [ 1.26962513e-01 1.50994385e-03 9.91906367e-01 6.33444254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.12, Z:63.35 [[-6.68370538e-01 7.39095562e-01 8.37769255e-02 2.11834520e+02] [-7.32915189e-01 -6.73596423e-01 9.54106076e-02 1.93118585e+02] [ 1.26949394e-01 2.36825798e-03 9.91906368e-01 6.33521145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.15, Z:63.35 [[-6.72576397e-01 7.35266007e-01 8.38146170e-02 2.11862679e+02] [-7.29060007e-01 -6.77771821e-01 9.53774857e-02 1.93150327e+02] [ 1.26935009e-01 3.04276037e-03 9.91906369e-01 6.33461215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:193.16, Z:63.34 [[-6.74631148e-01 7.33376284e-01 8.38572628e-02 2.11866690e+02] [-7.27160388e-01 -6.79814724e-01 9.53399764e-02 1.93156655e+02] [ 1.26927480e-01 3.34163796e-03 9.91906371e-01 6.33413557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.12, Z:63.35 [[-6.75011492e-01 7.33021449e-01 8.38989969e-02 2.11836342e+02] [-7.26807386e-01 -6.80197263e-01 9.53032366e-02 1.93123617e+02] [ 1.26927185e-01 3.35236930e-03 9.91906372e-01 6.33452231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.14, Z:63.34 [[-6.73839647e-01 7.34094551e-01 8.39364104e-02 2.11845758e+02] [-7.27892846e-01 -6.79040190e-01 9.52702743e-02 1.93138592e+02] [ 1.26933585e-01 3.10017537e-03 9.91906374e-01 6.33436672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.13, Z:63.35 [[-6.73300897e-01 7.34584389e-01 8.39742727e-02 2.11834261e+02] [-7.28390625e-01 -6.78510893e-01 9.52368897e-02 1.93129005e+02] [ 1.26936991e-01 2.95701022e-03 9.91906375e-01 6.33461190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.14, Z:63.34 [[-6.73382610e-01 7.34505167e-01 8.40120185e-02 2.11843076e+02] [-7.28314941e-01 -6.78596806e-01 9.52035813e-02 1.93141957e+02] [ 1.26937810e-01 2.92122784e-03 9.91906376e-01 6.33447753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.15, Z:63.34 [[-6.73968601e-01 7.33962113e-01 8.40591553e-02 2.11851059e+02] [-7.27772870e-01 -6.79183962e-01 9.51619444e-02 1.93153469e+02] [ 1.26936892e-01 2.96018979e-03 9.91906378e-01 6.33425680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.13, Z:63.35 [[-6.73740190e-01 7.34166468e-01 8.41056103e-02 2.11824361e+02] [-7.27983927e-01 -6.78963491e-01 9.51208694e-02 1.93126253e+02] [ 1.26939191e-01 2.85922017e-03 9.91906380e-01 6.33486972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.13, Z:63.35 [[-6.74433464e-01 7.33525418e-01 8.41425167e-02 2.11832302e+02] [-7.27341981e-01 -6.79655703e-01 9.50882114e-02 1.93134888e+02] [ 1.26937561e-01 2.93028702e-03 9.91906381e-01 6.33491040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.14, Z:63.35 [[-6.73961350e-01 7.33954905e-01 8.41801458e-02 2.11834811e+02] [-7.27778952e-01 -6.79192436e-01 9.50548876e-02 1.93138735e+02] [ 1.26940519e-01 2.79878206e-03 9.91906382e-01 6.33478022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.13, Z:63.35 [[-6.72234263e-01 7.35530625e-01 8.42365476e-02 2.11823194e+02] [-7.29373194e-01 -6.77487134e-01 9.50048791e-02 1.93126933e+02] [ 1.26948175e-01 2.42565513e-03 9.91906385e-01 6.33490807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.15, Z:63.35 [[-6.71125970e-01 7.36537744e-01 8.42738639e-02 2.11840572e+02] [-7.30392351e-01 -6.76392916e-01 9.49717665e-02 1.93146506e+02] [ 1.26952535e-01 2.18503335e-03 9.91906386e-01 6.33471301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.12, Z:63.35 [[-6.67220150e-01 7.40073076e-01 8.43155586e-02 2.11816893e+02] [-7.33960271e-01 -6.72524881e-01 9.49347358e-02 1.93120566e+02] [ 1.26962953e-01 1.45809839e-03 9.91906388e-01 6.33521257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.14, Z:63.35 [[-6.61673459e-01 7.45032411e-01 8.43501011e-02 2.11829672e+02] [-7.38963283e-01 -6.67028104e-01 9.49040349e-02 1.93136372e+02] [ 1.26970470e-01 4.63853456e-04 9.91906389e-01 6.33485467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.15, Z:63.35 [[-6.58399703e-01 7.47922336e-01 8.43919984e-02 2.11840208e+02] [-7.41881487e-01 -6.63786228e-01 9.48667639e-02 1.93148635e+02] [ 1.26971218e-01 -1.48612047e-04 9.91906391e-01 6.33451217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.14, Z:63.33 [[-6.49627996e-01 7.55549137e-01 8.44332213e-02 2.11840518e+02] [-7.49576278e-01 -6.55089813e-01 9.48300608e-02 1.93136515e+02] [ 1.26960114e-01 -1.68487736e-03 9.91906392e-01 6.33336901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.15, Z:63.35 [[-6.51721037e-01 7.53739877e-01 8.44741887e-02 2.11843469e+02] [-7.47756584e-01 -6.57171419e-01 9.47935535e-02 1.93148498e+02] [ 1.26963704e-01 -1.38717786e-03 9.91906394e-01 6.33466440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.15, Z:63.35 [[-6.51221293e-01 7.54167619e-01 8.45105308e-02 2.11849070e+02] [-7.48192110e-01 -6.56680206e-01 9.47611429e-02 1.93149044e+02] [ 1.26962178e-01 -1.51963832e-03 9.91906395e-01 6.33462751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.15, Z:63.35 [[-6.52105764e-01 7.53398939e-01 8.45465029e-02 2.11847272e+02] [-7.47421155e-01 -6.57562185e-01 9.47290376e-02 1.93145199e+02] [ 1.26963340e-01 -1.41849337e-03 9.91906396e-01 6.33468915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.13, Z:63.34 [[-6.52492433e-01 7.53058498e-01 8.45962420e-02 2.11844315e+02] [-7.47083625e-01 -6.57952038e-01 9.46845985e-02 1.93129662e+02] [ 1.26963311e-01 -1.41948308e-03 9.91906398e-01 6.33420742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.12, Z:63.35 [[-6.59657424e-01 7.46785575e-01 8.46368065e-02 2.11837161e+02] [-7.40763428e-01 -6.65064837e-01 9.46483249e-02 1.93118633e+02] [ 1.26970968e-01 -2.60380814e-04 9.91906400e-01 6.33503447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.13, Z:63.34 [[-6.58526964e-01 7.47778755e-01 8.46709547e-02 2.11859035e+02] [-7.41768692e-01 -6.63947803e-01 9.46177668e-02 1.93128508e+02] [ 1.26970250e-01 -4.97912607e-04 9.91906401e-01 6.33368589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.12, Z:63.35 [[-6.65658722e-01 7.41433454e-01 8.47047799e-02 2.11846462e+02] [-7.35375570e-01 -6.71026066e-01 9.45874759e-02 1.93116670e+02] [ 1.26969434e-01 6.73152528e-04 9.91906402e-01 6.33493856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.10, Z:63.35 [[-6.66793673e-01 7.40409333e-01 8.47361649e-02 2.11835462e+02] [-7.34346778e-01 -6.72155740e-01 9.45593515e-02 1.93099982e+02] [ 1.26968526e-01 8.25847636e-04 9.91906403e-01 6.33515471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.11, Z:63.35 [[-6.67149356e-01 7.40084677e-01 8.47726823e-02 2.11848116e+02] [-7.34023673e-01 -6.72513174e-01 9.45266024e-02 1.93107286e+02] [ 1.26968436e-01 8.38206366e-04 9.91906404e-01 6.33517105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.09, Z:63.36 [[-6.66381350e-01 7.40772109e-01 8.48090711e-02 2.11841946e+02] [-7.34720794e-01 -6.71756094e-01 9.44939433e-02 1.93094700e+02] [ 1.26969488e-01 6.58013451e-04 9.91906405e-01 6.33567355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.10, Z:63.36 [[-6.65008811e-01 7.42000364e-01 8.48453989e-02 2.11855171e+02] [-7.35963138e-01 -6.70399373e-01 9.44613138e-02 1.93103684e+02] [ 1.26970631e-01 3.74519852e-04 9.91906406e-01 6.33554262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.10, Z:63.36 [[-6.63721955e-01 7.43147533e-01 8.48817455e-02 2.11856067e+02] [-7.37123801e-01 -6.69127591e-01 9.44286421e-02 1.93101138e+02] [ 1.26971130e-01 1.06008065e-04 9.91906407e-01 6.33550010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.10, Z:63.35 [[-6.61064838e-01 7.45507533e-01 8.49223021e-02 2.11858141e+02] [-7.39507785e-01 -6.66497079e-01 9.43921546e-02 1.93099918e+02] [ 1.26970529e-01 -4.01369191e-04 9.91906409e-01 6.33539243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:192.99, Z:63.37 [[-6.56932015e-01 7.49147857e-01 8.49577305e-02 2.11761381e+02] [-7.43182332e-01 -6.62401814e-01 9.43602567e-02 1.92985672e+02] [ 1.26965939e-01 -1.15081069e-03 9.91906410e-01 6.33652552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.10, Z:63.36 [[-6.57394855e-01 7.48737987e-01 8.49907707e-02 2.11859432e+02] [-7.42772898e-01 -6.62865130e-01 9.43304879e-02 1.93096207e+02] [ 1.26966238e-01 -1.11646365e-03 9.91906411e-01 6.33557886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.09, Z:63.36 [[-6.56324610e-01 7.49670371e-01 8.50431772e-02 2.11857292e+02] [-7.43719175e-01 -6.61809991e-01 9.42832179e-02 1.93090365e+02] [ 1.26963759e-01 -1.36784540e-03 9.91906413e-01 6.33601636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.09, Z:63.36 [[-6.56354172e-01 7.49640752e-01 8.50761077e-02 2.11859232e+02] [-7.43693159e-01 -6.61843459e-01 9.42534939e-02 1.93088086e+02] [ 1.26963325e-01 -1.40684531e-03 9.91906414e-01 6.33621264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.08, Z:63.36 [[-6.57044743e-01 7.49031488e-01 8.51118988e-02 2.11858090e+02] [-7.43082991e-01 -6.62533048e-01 9.42211634e-02 1.93083748e+02] [ 1.26964064e-01 -1.33768428e-03 9.91906415e-01 6.33629773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.08, Z:63.36 [[-6.59309085e-01 7.47035061e-01 8.51478019e-02 2.11858915e+02] [-7.41074134e-01 -6.64783886e-01 9.41887067e-02 1.93079837e+02] [ 1.26967153e-01 -1.00136349e-03 9.91906417e-01 6.33627046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.07, Z:63.36 [[-6.64066774e-01 7.42804872e-01 8.51835801e-02 2.11859953e+02] [-7.36813218e-01 -6.69507928e-01 9.41563382e-02 1.93074449e+02] [ 1.26970869e-01 -2.38292017e-04 9.91906418e-01 6.33611300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.07, Z:63.36 [[-6.67468014e-01 7.39745963e-01 8.52194821e-02 2.11857203e+02] [-7.33733523e-01 -6.72886188e-01 9.41238328e-02 1.93067993e+02] [ 1.26970738e-01 2.96257013e-04 9.91906419e-01 6.33615739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:193.06, Z:63.36 [[-6.70303717e-01 7.37172761e-01 8.52598790e-02 2.11855022e+02] [-7.31144176e-01 -6.75703920e-01 9.40872262e-02 1.93061268e+02] [ 1.26968975e-01 7.29753458e-04 9.91906420e-01 6.33617413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.06, Z:63.36 [[-6.72977290e-01 7.34728640e-01 8.52959143e-02 2.11854997e+02] [-7.28684584e-01 -6.78360170e-01 9.40545468e-02 1.93058569e+02] [ 1.26965920e-01 1.14275618e-03 9.91906422e-01 6.33633684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.05, Z:63.36 [[-6.75203317e-01 7.32679298e-01 8.53318592e-02 2.11852847e+02] [-7.26623026e-01 -6.80572447e-01 9.40219244e-02 1.93054031e+02] [ 1.26962430e-01 1.47982153e-03 9.91906423e-01 6.33649363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.05, Z:63.37 [[-6.78788010e-01 7.29355313e-01 8.53678210e-02 2.11847732e+02] [-7.23276856e-01 -6.84132011e-01 9.39892616e-02 1.93045499e+02] [ 1.26954426e-01 2.05421468e-03 9.91906424e-01 6.33667151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.04, Z:63.37 [[-6.81042865e-01 7.27246032e-01 8.54039009e-02 2.11845626e+02] [-7.21155134e-01 -6.86372679e-01 9.39564660e-02 1.93040601e+02] [ 1.26948371e-01 2.39891913e-03 9.91906425e-01 6.33672005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.04, Z:63.36 [[-6.83463742e-01 7.24967103e-01 8.54401120e-02 2.11846049e+02] [-7.18862549e-01 -6.88777908e-01 9.39235258e-02 1.93039193e+02] [ 1.26940728e-01 2.77362775e-03 9.91906426e-01 6.33648997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:193.04, Z:63.36 [[-6.83982141e-01 7.24473762e-01 8.54763104e-02 2.11845500e+02] [-7.18369488e-01 -6.89296626e-01 9.38905717e-02 1.93038591e+02] [ 1.26939788e-01 2.81590086e-03 9.91906428e-01 6.33642270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.03, Z:63.37 [[-6.82409828e-01 7.25950719e-01 8.55124542e-02 2.11840532e+02] [-7.19862071e-01 -6.87742206e-01 9.38576417e-02 1.93034268e+02] [ 1.26946546e-01 2.49220475e-03 9.91906429e-01 6.33653161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.04, Z:63.37 [[-6.80807196e-01 7.27449650e-01 8.55486272e-02 2.11843262e+02] [-7.21376884e-01 -6.86157653e-01 9.38246597e-02 1.93039576e+02] [ 1.26952561e-01 2.16370138e-03 9.91906430e-01 6.33666747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:193.04, Z:63.37 [[-6.78841074e-01 7.29279961e-01 8.55893370e-02 2.11839563e+02] [-7.23226302e-01 -6.84213138e-01 9.37875087e-02 1.93039188e+02] [ 1.26958700e-01 1.76635343e-03 9.91906431e-01 6.33690656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:192.95, Z:63.38 [[-6.76309742e-01 7.31623837e-01 8.56253099e-02 2.11758734e+02] [-7.25592956e-01 -6.81707362e-01 9.37546551e-02 1.92949216e+02] [ 1.26964545e-01 1.27806489e-03 9.91906433e-01 6.33758574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.04, Z:63.37 [[-6.76912714e-01 7.31061588e-01 8.56628965e-02 2.11834544e+02] [-7.25030569e-01 -6.82310179e-01 9.37203002e-02 1.93037638e+02] [ 1.26963978e-01 1.33224416e-03 9.91906434e-01 6.33684542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.04, Z:63.37 [[-6.75805738e-01 7.32079493e-01 8.57100950e-02 2.11833756e+02] [-7.26062078e-01 -6.81218362e-01 9.36771161e-02 1.93040821e+02] [ 1.26966386e-01 1.07668290e-03 9.91906436e-01 6.33667966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.03, Z:63.37 [[-6.75674400e-01 7.32196517e-01 8.57459367e-02 2.11826361e+02] [-7.26184203e-01 -6.81092688e-01 9.36442977e-02 1.93033591e+02] [ 1.26966959e-01 1.00571001e-03 9.91906437e-01 6.33679330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:193.04, Z:63.37 [[-6.75466754e-01 7.32383879e-01 8.57818070e-02 2.11829637e+02] [-7.26377241e-01 -6.80891331e-01 9.36114278e-02 1.93039248e+02] [ 1.26967589e-01 9.21454982e-04 9.91906438e-01 6.33657018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.04, Z:63.37 [[-6.76111229e-01 7.31784761e-01 8.58176472e-02 2.11824996e+02] [-7.25777487e-01 -6.81535100e-01 9.35785602e-02 1.93037140e+02] [ 1.26967103e-01 9.84999024e-04 9.91906439e-01 6.33653516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:193.03, Z:63.37 [[-6.77592375e-01 7.30409315e-01 8.58533982e-02 2.11817588e+02] [-7.24395187e-01 -6.83008643e-01 9.35457492e-02 1.93031549e+02] [ 1.26965300e-01 1.19409793e-03 9.91906441e-01 6.33655587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:211.81, Y:193.03, Z:63.37 [[-6.80863433e-01 7.27355790e-01 8.58984290e-02 2.11814825e+02] [-7.21322589e-01 -6.86258445e-01 9.35043817e-02 1.93032640e+02] [ 1.26959476e-01 1.70323719e-03 9.91906442e-01 6.33662468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:193.02, Z:63.37 [[-6.83422675e-01 7.24947408e-01 8.59342932e-02 2.11801026e+02] [-7.18899340e-01 -6.88801013e-01 9.34714096e-02 1.93019545e+02] [ 1.26953484e-01 2.10237411e-03 9.91906444e-01 6.33688354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:193.03, Z:63.36 [[-6.86676032e-01 7.21862261e-01 8.59703590e-02 2.11804927e+02] [-7.15794182e-01 -6.92031781e-01 9.34382265e-02 1.93027184e+02] [ 1.26943750e-01 2.62470782e-03 9.91906445e-01 6.33649573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.02, Z:63.37 [[-6.88108685e-01 7.20492402e-01 8.60066058e-02 2.11792112e+02] [-7.14417828e-01 -6.93457065e-01 9.34048509e-02 1.93017156e+02] [ 1.26939374e-01 2.82803671e-03 9.91906446e-01 6.33665336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:193.03, Z:63.37 [[-6.87389927e-01 7.21173859e-01 8.60427481e-02 2.11796083e+02] [-7.15108751e-01 -6.92749037e-01 9.33715456e-02 1.93025717e+02] [ 1.26943149e-01 2.65273779e-03 9.91906447e-01 6.33654459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.03, Z:63.37 [[-6.85943122e-01 7.22545264e-01 8.60835299e-02 2.11792722e+02] [-7.16495588e-01 -6.91319644e-01 9.33339321e-02 1.93025348e+02] [ 1.26949226e-01 2.34329946e-03 9.91906449e-01 6.33657109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.03, Z:63.37 [[-6.82346494e-01 7.25938475e-01 8.61196397e-02 2.11790755e+02] [-7.19919743e-01 -6.87757633e-01 9.33006017e-02 1.93027893e+02] [ 1.26959936e-01 1.66410959e-03 9.91906450e-01 6.33662873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.03, Z:63.36 [[-6.79656218e-01 7.28453582e-01 8.61557006e-02 2.11793782e+02] [-7.22459097e-01 -6.85094202e-01 9.32672907e-02 1.93034416e+02] [ 1.26965663e-01 1.14572443e-03 9.91906451e-01 6.33645972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.04, Z:63.36 [[-6.75802305e-01 7.32026145e-01 8.61914620e-02 2.11790842e+02] [-7.26064623e-01 -6.81276406e-01 9.32342309e-02 1.93036643e+02] [ 1.26970104e-01 4.27336781e-04 9.91906452e-01 6.33641330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.04, Z:63.37 [[-6.73229136e-01 7.34389150e-01 8.62270695e-02 2.11790018e+02] [-7.28451060e-01 -6.78728644e-01 9.32012881e-02 1.93039035e+02] [ 1.26970797e-01 -6.63775697e-05 9.91906453e-01 6.33651064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:193.04, Z:63.36 [[-6.72846467e-01 7.34735583e-01 8.62627123e-02 2.11787518e+02] [-7.28804555e-01 -6.78353588e-01 9.31682873e-02 1.93037815e+02] [ 1.26970676e-01 -1.80704764e-04 9.91906455e-01 6.33641790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:193.03, Z:63.36 [[-6.73574414e-01 7.34063054e-01 8.63072530e-02 2.11776407e+02] [-7.28131815e-01 -6.79081306e-01 9.31270086e-02 1.93028981e+02] [ 1.26970738e-01 -1.15086577e-04 9.91906456e-01 6.33648802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:193.03, Z:63.36 [[-6.76641010e-01 7.31233112e-01 8.63428078e-02 2.11773668e+02] [-7.25283048e-01 -6.82127555e-01 9.30940325e-02 1.93026284e+02] [ 1.26970247e-01 3.68265281e-04 9.91906458e-01 6.33641035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:192.35, Z:64.05 [[-6.14000032e-01 7.84565302e-01 8.63785146e-02 2.12397484e+02] [-7.79092779e-01 -6.19962993e-01 9.30608899e-02 1.92345447e+02] [ 1.26563828e-01 -1.01574876e-02 9.91906459e-01 6.40547532e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:192.48, Z:64.04 [[-6.22623144e-01 7.78611336e-01 7.81332731e-02 2.12504865e+02] [-7.72223905e-01 -6.27504339e-01 9.95416763e-02 1.92484038e+02] [ 1.26533245e-01 1.64057022e-03 9.91961011e-01 6.40378503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:192.48, Z:64.04 [[-6.24871395e-01 7.76801305e-01 7.82014877e-02 2.12502122e+02] [-7.70406439e-01 -6.29742841e-01 9.94880575e-02 1.92481329e+02] [ 1.26529280e-01 1.92031163e-03 9.91961014e-01 6.40389063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:192.49, Z:64.04 [[-6.25113365e-01 7.76602223e-01 7.82449239e-02 2.12509960e+02] [-7.70210079e-01 -6.29988380e-01 9.94538845e-02 1.92489599e+02] [ 1.26529501e-01 1.90492341e-03 9.91961016e-01 6.40365560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:192.49, Z:64.04 [[-6.25025497e-01 7.76669068e-01 7.82833757e-02 2.12509023e+02] [-7.70281234e-01 -6.29906157e-01 9.94236089e-02 1.92488047e+02] [ 1.26530422e-01 1.84207530e-03 9.91961017e-01 6.40367723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:192.48, Z:64.04 [[-6.24378036e-01 7.77185816e-01 7.83216185e-02 2.12507311e+02] [-7.70805799e-01 -6.29268907e-01 9.93934739e-02 1.92483975e+02] [ 1.26532557e-01 1.68834427e-03 9.91961018e-01 6.40365098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:192.48, Z:64.04 [[-6.22485643e-01 7.78697534e-01 7.83694825e-02 2.12506186e+02] [-7.72334146e-01 -6.27398126e-01 9.93557202e-02 1.92480921e+02] [ 1.26536921e-01 1.32008199e-03 9.91961020e-01 6.40363960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:192.48, Z:64.03 [[-6.20640500e-01 7.80165113e-01 7.84076992e-02 2.12509129e+02] [-7.73817151e-01 -6.25572899e-01 9.93255521e-02 1.92483494e+02] [ 1.26540062e-01 9.72237916e-04 9.91961021e-01 6.40344923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:191.83, Z:64.73 [[-5.52914852e-01 8.29536869e-01 7.84458347e-02 2.13154172e+02] [-8.23629826e-01 -5.58367558e-01 9.92954243e-02 1.91826012e+02] [ 1.26170825e-01 -9.70841431e-03 9.91961022e-01 6.47337345e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:191.87, Z:64.72 [[-5.48964593e-01 8.32869787e-01 7.04683845e-02 2.13194532e+02] [-8.26266430e-01 -5.53468458e-01 1.04673072e-01 1.91874627e+02] [ 1.26181067e-01 -7.63850106e-04 9.92006933e-01 6.47204553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:192.01, Z:64.71 [[-5.50640969e-01 8.31756917e-01 7.05333580e-02 2.13282263e+02] [-8.25150064e-01 -5.55139700e-01 1.04629272e-01 1.92012019e+02] [ 1.26181988e-01 -5.87441069e-04 9.92006936e-01 6.47106937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:192.00, Z:64.71 [[-5.48538948e-01 8.33133017e-01 7.06710600e-02 2.13280809e+02] [-8.26549428e-01 -5.53071631e-01 1.04536182e-01 1.92004547e+02] [ 1.26178703e-01 -1.07095709e-03 9.92006950e-01 6.47103725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:192.00, Z:64.71 [[-5.47909819e-01 8.33542664e-01 7.07209830e-02 2.13283246e+02] [-8.26966822e-01 -5.52453731e-01 1.04502397e-01 1.92002978e+02] [ 1.26177277e-01 -1.22601705e-03 9.92006951e-01 6.47087743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:192.00, Z:64.71 [[-5.48218554e-01 8.33335841e-01 7.07657691e-02 2.13283965e+02] [-8.26762198e-01 -5.52765643e-01 1.04472061e-01 1.92001031e+02] [ 1.26177198e-01 -1.23294076e-03 9.92006953e-01 6.47089051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:192.00, Z:64.71 [[-5.48509452e-01 8.33140602e-01 7.08104458e-02 2.13282447e+02] [-8.26569248e-01 -5.53059847e-01 1.04441771e-01 1.91996960e+02] [ 1.26177094e-01 -1.24243862e-03 9.92006954e-01 6.47083409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:191.99, Z:64.71 [[-5.49658945e-01 8.32378880e-01 7.08550937e-02 2.13282815e+02] [-8.25805124e-01 -5.54205866e-01 1.04411472e-01 1.91992685e+02] [ 1.26178213e-01 -1.12179986e-03 9.92006956e-01 6.47084899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:191.99, Z:64.71 [[-5.51695346e-01 8.31027176e-01 7.08948336e-02 2.13281166e+02] [-8.24445746e-01 -5.56231150e-01 1.04384482e-01 1.91987987e+02] [ 1.26180256e-01 -8.60510977e-04 9.92006957e-01 6.47099540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:191.98, Z:64.71 [[-5.54858899e-01 8.28914026e-01 7.09446284e-02 2.13281440e+02] [-8.22319647e-01 -5.59375853e-01 1.04350629e-01 1.91983998e+02] [ 1.26182412e-01 -4.39286924e-04 9.92006959e-01 6.47112698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:191.98, Z:64.71 [[-5.57947479e-01 8.26834823e-01 7.09844038e-02 2.13279284e+02] [-8.20227053e-01 -5.62444820e-01 1.04323565e-01 1.91977636e+02] [ 1.26183166e-01 -1.62584656e-05 9.92006960e-01 6.47116004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.80, Z:64.73 [[-5.54693774e-01 8.29017716e-01 7.10242408e-02 2.13169025e+02] [-8.22431116e-01 -5.59222060e-01 1.04296436e-01 1.91802553e+02] [ 1.26181916e-01 -5.59961706e-04 9.92006961e-01 6.47282765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:191.97, Z:64.71 [[-5.59062262e-01 8.26074826e-01 7.10617306e-02 2.13274629e+02] [-8.19467634e-01 -5.63560448e-01 1.04270887e-01 1.91967363e+02] [ 1.26183135e-01 6.11296526e-05 9.92006962e-01 6.47117342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:191.97, Z:64.70 [[-5.54146858e-01 8.29374098e-01 7.11327307e-02 2.13283667e+02] [-8.22799902e-01 -5.58693124e-01 1.04222429e-01 1.91971483e+02] [ 1.26180751e-01 -7.73472209e-04 9.92006966e-01 6.46992220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:191.97, Z:64.71 [[-5.58897151e-01 8.26177008e-01 7.11725028e-02 2.13271882e+02] [-8.19580262e-01 -5.63410633e-01 1.04195262e-01 1.91966154e+02] [ 1.26183075e-01 -9.71432216e-05 9.92006967e-01 6.47099510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:191.97, Z:64.71 [[-5.59329897e-01 8.25879810e-01 7.12222258e-02 2.13270615e+02] [-8.19284993e-01 -5.63846195e-01 1.04161264e-01 1.91966041e+02] [ 1.26183066e-01 -9.07919134e-05 9.92006969e-01 6.47100501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:191.96, Z:64.71 [[-5.62366638e-01 8.23811562e-01 7.12620138e-02 2.13265642e+02] [-8.17203585e-01 -5.66863656e-01 1.04134036e-01 1.91959420e+02] [ 1.26182668e-01 3.25934367e-04 9.92006970e-01 6.47123177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:191.95, Z:64.71 [[-5.66394272e-01 8.21042429e-01 7.13222118e-02 2.13263723e+02] [-8.14417658e-01 -5.70866508e-01 1.04092790e-01 1.91953971e+02] [ 1.26180059e-01 8.71491127e-04 9.92006972e-01 6.47141179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:191.95, Z:64.71 [[-5.69379814e-01 8.18970925e-01 7.13670172e-02 2.13262060e+02] [-8.12333733e-01 -5.73833594e-01 1.04062062e-01 1.91950187e+02] [ 1.26176595e-01 1.27700193e-03 9.92006974e-01 6.47148121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:191.94, Z:64.72 [[-5.72185359e-01 8.17009771e-01 7.14069248e-02 2.13257952e+02] [-8.10360731e-01 -5.76621429e-01 1.04034670e-01 1.91942791e+02] [ 1.26172105e-01 1.66174735e-03 9.92006975e-01 6.47153518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:191.94, Z:64.72 [[-5.73225478e-01 8.16275963e-01 7.14570052e-02 2.13254927e+02] [-8.09625530e-01 -5.77659455e-01 1.04000261e-01 1.91936994e+02] [ 1.26170728e-01 1.76218360e-03 9.92006977e-01 6.47157123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:191.93, Z:64.72 [[-5.73605296e-01 8.16005593e-01 7.14971077e-02 2.13251193e+02] [-8.09356505e-01 -5.78041287e-01 1.03972685e-01 1.91932240e+02] [ 1.26170572e-01 1.77263335e-03 9.92006978e-01 6.47158795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:191.94, Z:64.71 [[-5.73523721e-01 8.16059405e-01 7.15373197e-02 2.13252455e+02] [-8.09414182e-01 -5.77965498e-01 1.03945010e-01 1.91935744e+02] [ 1.26171406e-01 1.71160789e-03 9.92006979e-01 6.47149006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:191.92, Z:64.72 [[-5.74069541e-01 8.15671573e-01 7.15824527e-02 2.13240449e+02] [-8.09027222e-01 -5.78512620e-01 1.03913920e-01 1.91917978e+02] [ 1.26170983e-01 1.74166335e-03 9.92006981e-01 6.47172289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:191.93, Z:64.71 [[-5.74862629e-01 8.15109278e-01 7.16227762e-02 2.13249402e+02] [-8.08464042e-01 -5.79304382e-01 1.03886120e-01 1.91931304e+02] [ 1.26169928e-01 1.81580866e-03 9.92006982e-01 6.47143041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:191.93, Z:64.71 [[-5.76268777e-01 8.14112215e-01 7.16630889e-02 2.13248024e+02] [-8.07462749e-01 -5.80704194e-01 1.03858304e-01 1.91932187e+02] [ 1.26167370e-01 1.98502276e-03 9.92006983e-01 6.47149654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:191.92, Z:64.72 [[-5.77942327e-01 8.12921480e-01 7.17030967e-02 2.13237009e+02] [-8.06266300e-01 -5.82369164e-01 1.03830675e-01 1.91916167e+02] [ 1.26163859e-01 2.19635158e-03 9.92006984e-01 6.47176300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:191.92, Z:64.72 [[-5.78767709e-01 8.12330497e-01 7.17433140e-02 2.13241113e+02] [-8.05674238e-01 -5.83192922e-01 1.03802879e-01 1.91922941e+02] [ 1.26162437e-01 2.27601481e-03 9.92006985e-01 6.47158934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:191.92, Z:64.71 [[-5.79052665e-01 8.12123395e-01 7.17886012e-02 2.13239529e+02] [-8.05469432e-01 -5.83481327e-01 1.03771550e-01 1.91924878e+02] [ 1.26162612e-01 2.26566881e-03 9.92006987e-01 6.47142501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:191.92, Z:64.71 [[-5.79136328e-01 8.12059539e-01 7.18360609e-02 2.13235006e+02] [-8.05409159e-01 -5.83570365e-01 1.03738686e-01 1.91921029e+02] [ 1.26163386e-01 2.22142012e-03 9.92006989e-01 6.47138948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:191.92, Z:64.71 [[-5.78860127e-01 8.12252469e-01 7.18810060e-02 2.13229616e+02] [-8.05607432e-01 -5.83302163e-01 1.03707534e-01 1.91916223e+02] [ 1.26165047e-01 2.12428374e-03 9.92006990e-01 6.47141958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:191.92, Z:64.71 [[-5.77984895e-01 8.12870605e-01 7.19363605e-02 2.13229098e+02] [-8.06235094e-01 -5.82441144e-01 1.03669124e-01 1.91920646e+02] [ 1.26168280e-01 1.92156930e-03 9.92006992e-01 6.47133075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:191.91, Z:64.71 [[-5.76796824e-01 8.13710533e-01 7.19763352e-02 2.13220983e+02] [-8.07084972e-01 -5.81267852e-01 1.03641363e-01 1.91913496e+02] [ 1.26171598e-01 1.68899028e-03 9.92006994e-01 6.47143000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:191.92, Z:64.72 [[-5.76463328e-01 8.13941941e-01 7.20315745e-02 2.13220358e+02] [-8.07322970e-01 -5.80944102e-01 1.03602957e-01 1.91917271e+02] [ 1.26173110e-01 1.57056079e-03 9.92006996e-01 6.47150555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:191.91, Z:64.72 [[-5.76002717e-01 8.14264430e-01 7.20715435e-02 2.13213784e+02] [-8.07651445e-01 -5.80492319e-01 1.03575145e-01 1.91914081e+02] [ 1.26174534e-01 1.45087880e-03 9.92006997e-01 6.47169142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:191.92, Z:64.72 [[-5.76243261e-01 8.14090682e-01 7.21114819e-02 2.13213593e+02] [-8.07479821e-01 -5.80735989e-01 1.03547332e-01 1.91917530e+02] [ 1.26174651e-01 1.43988567e-03 9.92006998e-01 6.47166527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:191.91, Z:64.72 [[-5.76555473e-01 8.13865622e-01 7.21563280e-02 2.13203359e+02] [-8.07256917e-01 -5.81051369e-01 1.03516072e-01 1.91909969e+02] [ 1.26174705e-01 1.43406297e-03 9.92007000e-01 6.47161035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:191.91, Z:64.71 [[-5.77176061e-01 8.13422088e-01 7.21962767e-02 2.13201882e+02] [-8.06813411e-01 -5.81671996e-01 1.03488203e-01 1.91914697e+02] [ 1.26174142e-01 1.48198886e-03 9.92007001e-01 6.47149539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:191.91, Z:64.72 [[-5.77914488e-01 8.12893629e-01 7.22412112e-02 2.13196097e+02] [-8.06284761e-01 -5.82410139e-01 1.03456826e-01 1.91908155e+02] [ 1.26173409e-01 1.54221112e-03 9.92007002e-01 6.47156200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:191.91, Z:64.72 [[-5.78930967e-01 8.12166024e-01 7.22861321e-02 2.13193612e+02] [-8.05555423e-01 -5.83424066e-01 1.03425430e-01 1.91912029e+02] [ 1.26172090e-01 1.64569877e-03 9.92007004e-01 6.47156667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.89, Z:64.72 [[-5.79282962e-01 8.11910082e-01 7.23413358e-02 2.13172890e+02] [-8.05302315e-01 -5.83780225e-01 1.03386804e-01 1.91886925e+02] [ 1.26172230e-01 1.63356890e-03 9.92007006e-01 6.47193389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.18, Y:191.91, Z:64.72 [[-5.78202620e-01 8.12676217e-01 7.23816026e-02 2.13182490e+02] [-8.06077937e-01 -5.82713788e-01 1.03358605e-01 1.91908212e+02] [ 1.26174838e-01 1.41700358e-03 9.92007007e-01 6.47150604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.90, Z:64.72 [[-5.77836748e-01 8.12931906e-01 7.24320939e-02 2.13171811e+02] [-8.06340056e-01 -5.82357303e-01 1.03323210e-01 1.91900965e+02] [ 1.26176093e-01 1.29904908e-03 9.92007009e-01 6.47166339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.90, Z:64.72 [[-5.78428465e-01 8.12506976e-01 7.24770728e-02 2.13169074e+02] [-8.05915756e-01 -5.82949937e-01 1.03291650e-01 1.91902075e+02] [ 1.26175691e-01 1.33641541e-03 9.92007011e-01 6.47160638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.90, Z:64.71 [[-5.78487559e-01 8.12460421e-01 7.25272909e-02 2.13162563e+02] [-8.05873257e-01 -5.83014934e-01 1.03256377e-01 1.91900373e+02] [ 1.26176213e-01 1.28472532e-03 9.92007012e-01 6.47143177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.90, Z:64.71 [[-5.77426079e-01 8.13210697e-01 7.25774537e-02 2.13158745e+02] [-8.06633846e-01 -5.81968420e-01 1.03221106e-01 1.91900043e+02] [ 1.26178294e-01 1.05912812e-03 9.92007014e-01 6.47130008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:191.89, Z:64.72 [[-5.78102684e-01 8.12725824e-01 7.26224544e-02 2.13150133e+02] [-8.06149141e-01 -5.82645264e-01 1.03189436e-01 1.91888883e+02] [ 1.26177849e-01 1.10956084e-03 9.92007016e-01 6.47167652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.90, Z:64.72 [[-5.75752781e-01 8.14387286e-01 7.26779400e-02 2.13159887e+02] [-8.07828644e-01 -5.80321366e-01 1.03150342e-01 1.91904515e+02] [ 1.26180889e-01 6.77774692e-04 9.92007018e-01 6.47158088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.91, Z:64.71 [[-5.65298286e-01 8.21674199e-01 7.27279781e-02 2.13162760e+02] [-8.15178979e-01 -5.69956594e-01 1.03115050e-01 1.91905446e+02] [ 1.26178767e-01 -9.95557780e-04 9.92007020e-01 6.47115539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.90, Z:64.72 [[-5.61082462e-01 8.24553921e-01 7.27825716e-02 2.13160149e+02] [-8.18087600e-01 -5.65780800e-01 1.03076502e-01 1.91903205e+02] [ 1.26171115e-01 -1.70810177e-03 9.92007022e-01 6.47158692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.90, Z:64.71 [[-5.57242951e-01 8.27148759e-01 7.28369674e-02 2.13165621e+02] [-8.20709329e-01 -5.61978076e-01 1.03038050e-01 1.91903584e+02] [ 1.26160574e-01 -2.36075145e-03 9.92007024e-01 6.47126940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.90, Z:64.71 [[-5.57585575e-01 8.26913505e-01 7.28860854e-02 2.13168610e+02] [-8.20476615e-01 -5.62324147e-01 1.03003294e-01 1.91900266e+02] [ 1.26160421e-01 -2.36817761e-03 9.92007026e-01 6.47095130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.89, Z:64.71 [[-5.60331069e-01 8.25051701e-01 7.29299908e-02 2.13169687e+02] [-8.18603106e-01 -5.65053698e-01 1.02972198e-01 1.91893363e+02] [ 1.26166749e-01 -2.00219491e-03 9.92007028e-01 6.47132252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.88, Z:64.71 [[-5.63264500e-01 8.23047942e-01 7.29738829e-02 2.13171510e+02] [-8.16586572e-01 -5.67969633e-01 1.02941084e-01 1.91884425e+02] [ 1.26172397e-01 -1.60643469e-03 9.92007029e-01 6.47137081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.88, Z:64.72 [[-5.67068770e-01 8.20427574e-01 7.30178407e-02 2.13171336e+02] [-8.13948472e-01 -5.71749454e-01 1.02909895e-01 1.91877714e+02] [ 1.26178026e-01 -1.07577234e-03 9.92007030e-01 6.47162350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.87, Z:64.72 [[-5.70468414e-01 8.18063415e-01 7.30618798e-02 2.13166511e+02] [-8.11568917e-01 -5.75127710e-01 1.02878620e-01 1.91866040e+02] [ 1.26181146e-01 -6.05747775e-04 9.92007032e-01 6.47193333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.86, Z:64.72 [[-5.74901443e-01 8.14950637e-01 7.31012357e-02 2.13166191e+02] [-8.08434466e-01 -5.79530378e-01 1.02850647e-01 1.91855923e+02] [ 1.26182587e-01 3.14272054e-05 9.92007033e-01 6.47188226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.86, Z:64.72 [[-5.77825576e-01 8.12876390e-01 7.31408091e-02 2.13170066e+02] [-8.06347165e-01 -5.82436076e-01 1.02822498e-01 1.91856809e+02] [ 1.26181827e-01 4.36584911e-04 9.92007034e-01 6.47167109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.85, Z:64.72 [[-5.81120208e-01 8.10520339e-01 7.31852758e-02 2.13168558e+02] [-8.03976407e-01 -5.85709809e-01 1.02790839e-01 1.91853715e+02] [ 1.26179399e-01 8.94598358e-04 9.92007036e-01 6.47180803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.18, Y:191.85, Z:64.71 [[-5.78638191e-01 8.12289680e-01 7.32346852e-02 2.13175271e+02] [-8.05764238e-01 -5.83254039e-01 1.02755624e-01 1.91850748e+02] [ 1.26181759e-01 4.48438272e-04 9.92007038e-01 6.47082000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:191.85, Z:64.72 [[-5.82156118e-01 8.09768149e-01 7.32789145e-02 2.13166525e+02] [-8.03226685e-01 -5.86749229e-01 1.02724073e-01 1.91846385e+02] [ 1.26179029e-01 9.41868135e-04 9.92007039e-01 6.47163328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.84, Z:64.72 [[-5.80076510e-01 8.11255176e-01 7.33231303e-02 2.13164054e+02] [-8.04729476e-01 -5.84691988e-01 1.02692503e-01 1.91843107e+02] [ 1.26181272e-01 5.64224730e-04 9.92007040e-01 6.47189278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.84, Z:64.72 [[-5.77666100e-01 8.12968850e-01 7.33725109e-02 2.13163894e+02] [-8.06461323e-01 -5.82307163e-01 1.02657210e-01 1.91842285e+02] [ 1.26182452e-01 1.29497656e-04 9.92007042e-01 6.47207638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.84, Z:64.72 [[-5.76729077e-01 8.13629403e-01 7.34218375e-02 2.13161173e+02] [-8.07131683e-01 -5.81383856e-01 1.02621919e-01 1.91838298e+02] [ 1.26182481e-01 -7.60469028e-05 9.92007044e-01 6.47229432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.84, Z:64.72 [[-5.75108423e-01 8.14771316e-01 7.34711129e-02 2.13162160e+02] [-8.08287345e-01 -5.79782332e-01 1.02586629e-01 1.91838829e+02] [ 1.26181896e-01 -3.87336661e-04 9.92007046e-01 6.47221998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.84, Z:64.72 [[-5.74904699e-01 8.14911094e-01 7.35152694e-02 2.13161901e+02] [-8.08432305e-01 -5.79585787e-01 1.02554976e-01 1.91836606e+02] [ 1.26181593e-01 -4.72781251e-04 9.92007047e-01 6.47211140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:191.83, Z:64.72 [[-5.75627633e-01 8.14396620e-01 7.35593152e-02 2.13159391e+02] [-8.07917684e-01 -5.80308516e-01 1.02523374e-01 1.91833826e+02] [ 1.26181786e-01 -4.14584703e-04 9.92007049e-01 6.47200786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:191.82, Z:64.72 [[-5.77886753e-01 8.12791587e-01 7.35984901e-02 2.13151919e+02] [-8.06303231e-01 -5.82554568e-01 1.02495244e-01 1.91824545e+02] [ 1.26182408e-01 -1.12056800e-04 9.92007050e-01 6.47233467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:191.83, Z:64.73 [[-5.80729469e-01 8.10758929e-01 7.36426700e-02 2.13152666e+02] [-8.04258261e-01 -5.85380119e-01 1.02463491e-01 1.91827930e+02] [ 1.26182145e-01 2.75843038e-04 9.92007052e-01 6.47251638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:191.82, Z:64.73 [[-5.83293715e-01 8.08912493e-01 7.36818853e-02 2.13149002e+02] [-8.02400666e-01 -5.87928724e-01 1.02435283e-01 1.91824965e+02] [ 1.26180877e-01 6.27463166e-04 9.92007053e-01 6.47261067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:191.81, Z:64.73 [[-5.86527985e-01 8.06566866e-01 7.37211880e-02 2.13137881e+02] [-8.00040058e-01 -5.91141873e-01 1.02406990e-01 1.91813146e+02] [ 1.26177766e-01 1.08466202e-03 9.92007054e-01 6.47285181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:191.82, Z:64.73 [[-5.89837172e-01 8.04145509e-01 7.37706645e-02 2.13139436e+02] [-7.97604218e-01 -5.94430501e-01 1.02371337e-01 1.91818125e+02] [ 1.26172984e-01 1.54262663e-03 9.92007056e-01 6.47273727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:191.81, Z:64.73 [[-5.93003905e-01 8.01808079e-01 7.38252835e-02 2.13132121e+02] [-7.95253586e-01 -5.97578371e-01 1.02331933e-01 1.91812001e+02] [ 1.26166964e-01 1.97341467e-03 9.92007058e-01 6.47285553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:191.81, Z:64.73 [[-5.94717474e-01 8.00534275e-01 7.38647421e-02 2.13129802e+02] [-7.93973519e-01 -5.99282952e-01 1.02303444e-01 1.91812498e+02] [ 1.26163294e-01 2.19499643e-03 9.92007059e-01 6.47288502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:191.81, Z:64.73 [[-5.94899854e-01 8.00394652e-01 7.39091617e-02 2.13126125e+02] [-7.93836808e-01 -5.99469511e-01 1.02271343e-01 1.91809579e+02] [ 1.26163725e-01 2.16939398e-03 9.92007061e-01 6.47286424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:191.81, Z:64.73 [[-5.93535201e-01 8.01403494e-01 7.39486692e-02 2.13123374e+02] [-7.94856974e-01 -5.98121064e-01 1.02242769e-01 1.91810603e+02] [ 1.26167969e-01 1.90606689e-03 9.92007062e-01 6.47272539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:191.81, Z:64.73 [[-5.91643079e-01 8.02797293e-01 7.39930624e-02 2.13116481e+02] [-7.96265593e-01 -5.96250024e-01 1.02210632e-01 1.91805703e+02] [ 1.26172784e-01 1.55408305e-03 9.92007063e-01 6.47297653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:191.81, Z:64.73 [[-5.90602276e-01 8.03557798e-01 7.40528012e-02 2.13115296e+02] [-7.97037456e-01 -5.95225277e-01 1.02167332e-01 1.91805726e+02] [ 1.26175456e-01 1.31740266e-03 9.92007066e-01 6.47301508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:191.81, Z:64.73 [[-5.88380852e-01 8.05181243e-01 7.41022177e-02 2.13115959e+02] [-7.98678171e-01 -5.93028111e-01 1.02131478e-01 1.91808399e+02] [ 1.26179049e-01 9.08382243e-04 9.92007068e-01 6.47294183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:191.80, Z:64.73 [[-5.86370089e-01 8.06642227e-01 7.41514365e-02 2.13107072e+02] [-8.00155253e-01 -5.91039790e-01 1.02095731e-01 1.91799456e+02] [ 1.26181177e-01 5.33221495e-04 9.92007070e-01 6.47321463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:191.80, Z:64.73 [[-5.83996461e-01 8.08358300e-01 7.41956375e-02 2.13106106e+02] [-8.01889129e-01 -5.88690790e-01 1.02063599e-01 1.91798267e+02] [ 1.26182246e-01 1.08105471e-04 9.92007071e-01 6.47333031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:191.81, Z:64.73 [[-5.82526490e-01 8.09414182e-01 7.42399529e-02 2.13112125e+02] [-8.02957627e-01 -5.87238156e-01 1.02031355e-01 1.91805766e+02] [ 1.26182158e-01 -1.75569531e-04 9.92007073e-01 6.47330948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:191.80, Z:64.73 [[-5.81133350e-01 8.10410953e-01 7.42840299e-02 2.13112572e+02] [-8.03966581e-01 -5.85861663e-01 1.01999254e-01 1.91804811e+02] [ 1.26181478e-01 -4.46709121e-04 9.92007074e-01 6.47338915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:191.80, Z:64.73 [[-5.81062444e-01 8.10457776e-01 7.43278540e-02 2.13113067e+02] [-8.04017871e-01 -5.85796835e-01 1.01967310e-01 1.91802815e+02] [ 1.26181221e-01 -5.11548751e-04 9.92007076e-01 6.47321875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:191.69, Z:64.75 [[-5.80514828e-01 8.10846102e-01 7.43715851e-02 2.13028911e+02] [-8.04413450e-01 -5.85259067e-01 1.01935404e-01 1.91687069e+02] [ 1.26180569e-01 -6.50489981e-04 9.92007077e-01 6.47469848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:191.79, Z:64.73 [[-5.83075541e-01 8.09003385e-01 7.44072427e-02 2.13104302e+02] [-8.02559059e-01 -5.87803910e-01 1.01909369e-01 1.91788689e+02] [ 1.26181893e-01 -2.95346211e-04 9.92007078e-01 6.47326177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:191.79, Z:64.73 [[-5.84401962e-01 8.08040003e-01 7.44694592e-02 2.13104510e+02] [-8.01593677e-01 -5.89127597e-01 1.01863885e-01 1.91786926e+02] [ 1.26182108e-01 -1.64793307e-04 9.92007081e-01 6.47324088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:191.78, Z:64.73 [[-5.87509078e-01 8.05779647e-01 7.45133840e-02 2.13104663e+02] [-7.99319214e-01 -5.92215408e-01 1.01831744e-01 1.91783521e+02] [ 1.26181921e-01 2.67094709e-04 9.92007082e-01 6.47331844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:191.76, Z:64.74 [[-5.91868668e-01 8.02577375e-01 7.45723699e-02 2.13092607e+02] [-7.96096922e-01 -5.96547388e-01 1.01788530e-01 1.91763609e+02] [ 1.26179124e-01 8.78607793e-04 9.92007085e-01 6.47363092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:191.76, Z:64.73 [[-5.95264167e-01 8.00056678e-01 7.46316559e-02 2.13095605e+02] [-7.93561863e-01 -5.99922925e-01 1.01745044e-01 1.91763242e+02] [ 1.26175043e-01 1.34034272e-03 9.92007088e-01 6.47332160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:191.77, Z:64.73 [[-5.96938079e-01 7.98803433e-01 7.46860403e-02 2.13097413e+02] [-7.92303831e-01 -6.01590152e-01 1.01705107e-01 1.91765082e+02] [ 1.26172775e-01 1.53761555e-03 9.92007090e-01 6.47328241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:191.76, Z:64.73 [[-5.98283975e-01 7.97791769e-01 7.47300390e-02 2.13091825e+02] [-7.91288336e-01 -6.02930690e-01 1.01672768e-01 1.91756414e+02] [ 1.26170732e-01 1.69617974e-03 9.92007091e-01 6.47318479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:191.75, Z:64.73 [[-5.97830298e-01 7.98128123e-01 7.47692042e-02 2.13086740e+02] [-7.91630906e-01 -6.02485697e-01 1.01643959e-01 1.91751776e+02] [ 1.26172278e-01 1.57622521e-03 9.92007093e-01 6.47326490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:191.76, Z:64.73 [[-5.97166080e-01 7.98621536e-01 7.48085280e-02 2.13091345e+02] [-7.92131789e-01 -6.01831886e-01 1.01615009e-01 1.91759130e+02] [ 1.26174092e-01 1.42282337e-03 9.92007094e-01 6.47332679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:191.76, Z:64.74 [[-5.95710016e-01 7.99704111e-01 7.48526010e-02 2.13087772e+02] [-7.93226923e-01 -6.00393236e-01 1.01582533e-01 1.91756290e+02] [ 1.26176965e-01 1.13863409e-03 9.92007095e-01 6.47367463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.75, Z:64.74 [[-5.93989139e-01 8.00978569e-01 7.49014998e-02 2.13083605e+02] [-7.94515975e-01 -5.98692476e-01 1.01546465e-01 1.91752695e+02] [ 1.26179507e-01 8.07059368e-04 9.92007097e-01 6.47376066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.75, Z:64.74 [[-5.92928579e-01 8.01760319e-01 7.49405839e-02 2.13083650e+02] [-7.95307571e-01 -5.97645414e-01 1.01517613e-01 1.91753413e+02] [ 1.26180690e-01 5.91880519e-04 9.92007098e-01 6.47358750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.74, Z:64.74 [[-5.90741496e-01 8.03369037e-01 7.49845015e-02 2.13072550e+02] [-7.96933252e-01 -5.95481447e-01 1.01485164e-01 1.91742117e+02] [ 1.26181918e-01 1.93855186e-04 9.92007100e-01 6.47354096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.74, Z:64.74 [[-5.88540148e-01 8.04978546e-01 7.50335507e-02 2.13068750e+02] [-7.98560347e-01 -5.93303881e-01 1.01448887e-01 1.91738286e+02] [ 1.26181874e-01 -2.12075350e-04 9.92007102e-01 6.47355099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.75, Z:64.73 [[-5.87514772e-01 8.05722161e-01 7.50878980e-02 2.13074305e+02] [-7.99315132e-01 -5.92293513e-01 1.01408646e-01 1.91745287e+02] [ 1.26181268e-01 -4.39815792e-04 9.92007104e-01 6.47343760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.74, Z:64.74 [[-5.87207476e-01 8.05940631e-01 7.51470584e-02 2.13070664e+02] [-7.99540990e-01 -5.91996102e-01 1.01364788e-01 1.91739462e+02] [ 1.26180766e-01 -5.60992431e-04 9.92007107e-01 6.47354418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.75, Z:64.74 [[-5.88184436e-01 8.05223827e-01 7.51908144e-02 2.13075556e+02] [-7.98822499e-01 -5.92970805e-01 1.01332320e-01 1.91745194e+02] [ 1.26181156e-01 -4.62020912e-04 9.92007108e-01 6.47356672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:191.73, Z:64.74 [[-5.89793273e-01 8.04041149e-01 7.52444421e-02 2.13063839e+02] [-7.97635304e-01 -5.94573591e-01 1.01292483e-01 1.91728290e+02] [ 1.26181683e-01 -2.75998161e-04 9.92007110e-01 6.47389103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:191.73, Z:64.74 [[-5.92317474e-01 8.02179800e-01 7.52833188e-02 2.13063917e+02] [-7.95762605e-01 -5.97082543e-01 1.01263581e-01 1.91725388e+02] [ 1.26181955e-01 7.25386067e-05 9.92007111e-01 6.47390554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.73, Z:64.74 [[-5.93205388e-01 8.01519287e-01 7.53272865e-02 2.13071792e+02] [-7.95100940e-01 -5.97968902e-01 1.01230864e-01 1.91732773e+02] [ 1.26181865e-01 1.57897834e-04 9.92007113e-01 6.47383408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.73, Z:64.74 [[-5.93212333e-01 8.01510038e-01 7.53710002e-02 2.13070499e+02] [-7.95095751e-01 -5.97981311e-01 1.01198307e-01 1.91728101e+02] [ 1.26181908e-01 1.04921755e-04 9.92007114e-01 6.47373762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.72, Z:64.74 [[-5.92726235e-01 8.01865940e-01 7.54097129e-02 2.13066035e+02] [-7.95458188e-01 -5.97503987e-01 1.01169452e-01 1.91721457e+02] [ 1.26181942e-01 -1.94853556e-05 9.92007116e-01 6.47366118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.72, Z:64.74 [[-5.91852794e-01 8.02507190e-01 7.54485295e-02 2.13069605e+02] [-7.96108304e-01 -5.96642412e-01 1.01140495e-01 1.91723657e+02] [ 1.26181767e-01 -2.04916030e-04 9.92007117e-01 6.47363632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.72, Z:64.74 [[-5.91833873e-01 8.02516577e-01 7.54970929e-02 2.13069276e+02] [-7.96122391e-01 -5.96629762e-01 1.01104232e-01 1.91721088e+02] [ 1.26181635e-01 -2.68016709e-04 9.92007119e-01 6.47378113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.71, Z:64.74 [[-5.92990529e-01 8.01658196e-01 7.55405150e-02 2.13068068e+02] [-7.95261201e-01 -5.97782667e-01 1.01071779e-01 1.91714018e+02] [ 1.26181831e-01 -1.39833013e-04 9.92007120e-01 6.47388033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.71, Z:64.74 [[-5.93000875e-01 8.01646446e-01 7.55839710e-02 2.13067570e+02] [-7.95253499e-01 -5.97798409e-01 1.01039271e-01 1.91708645e+02] [ 1.26181750e-01 -1.92041084e-04 9.92007121e-01 6.47390887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.70, Z:64.74 [[-5.90613793e-01 8.03401721e-01 7.56374434e-02 2.13067369e+02] [-7.97028157e-01 -5.95437044e-01 1.00999227e-01 1.91703618e+02] [ 1.26180288e-01 -6.33635791e-04 9.92007124e-01 6.47394343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.70, Z:64.74 [[-5.88121052e-01 8.05223742e-01 7.56858844e-02 2.13070071e+02] [-7.98869791e-01 -5.92970107e-01 1.00962914e-01 1.91701369e+02] [ 1.26177202e-01 -1.08475168e-03 9.92007125e-01 6.47394488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.70, Z:64.74 [[-5.86547184e-01 8.06365432e-01 7.57442470e-02 2.13073962e+02] [-8.00026570e-01 -5.91415945e-01 1.00919110e-01 1.91701031e+02] [ 1.26174037e-01 -1.40359010e-03 9.92007128e-01 6.47370447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.69, Z:64.74 [[-5.84003058e-01 8.08205850e-01 7.57874182e-02 2.13071455e+02] [-8.01886534e-01 -5.88897159e-01 1.00886680e-01 1.91690347e+02] [ 1.26168200e-01 -1.85478057e-03 9.92007130e-01 6.47369802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.69, Z:64.74 [[-5.82902792e-01 8.08996152e-01 7.58258595e-02 2.13078811e+02] [-8.02687227e-01 -5.87810279e-01 1.00857779e-01 1.91693967e+02] [ 1.26164775e-01 -2.07416769e-03 9.92007131e-01 6.47385824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.69, Z:64.74 [[-5.83450777e-01 8.08597431e-01 7.58642584e-02 2.13079548e+02] [-8.02288905e-01 -5.88358775e-01 1.00828888e-01 1.91690363e+02] [ 1.26165382e-01 -2.03635974e-03 9.92007132e-01 6.47406489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.67, Z:64.74 [[-5.88324372e-01 8.05054360e-01 7.59072512e-02 2.13075043e+02] [-7.98720445e-01 -5.93199557e-01 1.00796511e-01 1.91674978e+02] [ 1.26174819e-01 -1.32762914e-03 9.92007133e-01 6.47424324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.67, Z:64.74 [[-5.94127038e-01 8.00776559e-01 7.59602910e-02 2.13078109e+02] [-7.94412645e-01 -5.98962997e-01 1.00756525e-01 1.91670422e+02] [ 1.26180867e-01 -4.81639874e-04 9.92007135e-01 6.47403208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.66, Z:64.74 [[-5.98661884e-01 7.97386924e-01 7.60134406e-02 2.13077757e+02] [-7.91000720e-01 -6.03468364e-01 1.00716412e-01 1.91663566e+02] [ 1.26181657e-01 1.68390773e-04 9.92007138e-01 6.47398749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:191.66, Z:64.74 [[-6.00084557e-01 7.96313164e-01 7.60517530e-02 2.13075409e+02] [-7.89922026e-01 -6.04884472e-01 1.00687474e-01 1.91657990e+02] [ 1.26181285e-01 3.46043408e-04 9.92007139e-01 6.47395582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.65, Z:64.74 [[-5.98506385e-01 7.97495863e-01 7.60950436e-02 2.13071801e+02] [-7.91118370e-01 -6.03324412e-01 1.00654746e-01 1.91652714e+02] [ 1.26181741e-01 4.23215315e-05 9.92007140e-01 6.47387251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.66, Z:64.74 [[-5.93464735e-01 8.01251084e-01 7.61334964e-02 2.13073975e+02] [-7.94907805e-01 -5.98327719e-01 1.00625653e-01 1.91660012e+02] [ 1.26179195e-01 -8.01333903e-04 9.92007141e-01 6.47395632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.66, Z:64.74 [[-5.88136172e-01 8.05166858e-01 7.61720025e-02 2.13073326e+02] [-7.98859723e-01 -5.93045940e-01 1.00596496e-01 1.91661496e+02] [ 1.26170462e-01 -1.68630650e-03 9.92007143e-01 6.47392783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.66, Z:64.74 [[-5.86017235e-01 8.06706308e-01 7.62150507e-02 2.13072152e+02] [-8.00416308e-01 -5.90948933e-01 1.00563871e-01 1.91663788e+02] [ 1.26164712e-01 -2.07160772e-03 9.92007144e-01 6.47410324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:191.66, Z:64.74 [[-5.87309284e-01 8.05762526e-01 7.62532437e-02 2.13070044e+02] [-7.99468358e-01 -5.92235660e-01 1.00534903e-01 1.91662214e+02] [ 1.26167148e-01 -1.91697353e-03 9.92007145e-01 6.47421294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:191.65, Z:64.74 [[-5.92859217e-01 8.01683297e-01 7.63009770e-02 2.13062017e+02] [-7.95359887e-01 -5.97747998e-01 1.00498663e-01 1.91651583e+02] [ 1.26176856e-01 -1.10517764e-03 9.92007147e-01 6.47431492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:191.65, Z:64.74 [[-5.99103322e-01 7.97022779e-01 7.63537780e-02 2.13061735e+02] [-7.90666446e-01 -6.03949216e-01 1.00458532e-01 1.91650509e+02] [ 1.26181543e-01 -1.85330082e-04 9.92007149e-01 6.47421911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:191.62, Z:64.74 [[-6.00599570e-01 7.95892209e-01 7.63920687e-02 2.13039235e+02] [-7.89530457e-01 -6.05438347e-01 1.00429406e-01 1.91617203e+02] [ 1.26181670e-01 3.99336817e-06 9.92007150e-01 6.47447491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:191.64, Z:64.75 [[-6.04030252e-01 7.93288081e-01 7.64295500e-02 2.13054269e+02] [-7.86909077e-01 -6.08846260e-01 1.00400874e-01 1.91644147e+02] [ 1.26180662e-01 5.02058506e-04 9.92007151e-01 6.47485671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:191.64, Z:64.75 [[-6.05701658e-01 7.92008892e-01 7.64684054e-02 2.13047491e+02] [-7.85623453e-01 -6.10509130e-01 1.00371272e-01 1.91637086e+02] [ 1.26179600e-01 7.19673160e-04 9.92007153e-01 6.47511087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:191.64, Z:64.75 [[-6.07999529e-01 7.90240145e-01 7.65316061e-02 2.13046972e+02] [-7.83846786e-01 -6.12796458e-01 1.00323060e-01 1.91637004e+02] [ 1.26177606e-01 1.00731961e-03 9.92007156e-01 6.47504292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:191.62, Z:64.75 [[-6.10861240e-01 7.88026391e-01 7.65699194e-02 2.13035174e+02] [-7.81619314e-01 -6.15639829e-01 1.00293809e-01 1.91623731e+02] [ 1.26173661e-01 1.41707290e-03 9.92007157e-01 6.47536593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:191.63, Z:64.75 [[-6.12032385e-01 7.87113392e-01 7.66085401e-02 2.13039415e+02] [-7.80702878e-01 -6.16806360e-01 1.00264301e-01 1.91629861e+02] [ 1.26172009e-01 1.55649129e-03 9.92007158e-01 6.47522538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:191.63, Z:64.75 [[-6.13357289e-01 7.86077628e-01 7.66472330e-02 2.13035077e+02] [-7.79662748e-01 -6.18125393e-01 1.00234713e-01 1.91628464e+02] [ 1.26169867e-01 1.72069986e-03 9.92007159e-01 6.47522296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:191.63, Z:64.75 [[-6.13115913e-01 7.86262162e-01 7.66856643e-02 2.13032084e+02] [-7.79852392e-01 -6.17890883e-01 1.00205303e-01 1.91630674e+02] [ 1.26171011e-01 1.63396684e-03 9.92007160e-01 6.47505637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:191.63, Z:64.75 [[-6.13147086e-01 7.86234091e-01 7.67242062e-02 2.13029652e+02] [-7.79827795e-01 -6.17926713e-01 1.00175784e-01 1.91632055e+02] [ 1.26171553e-01 1.59082136e-03 9.92007162e-01 6.47514515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:191.63, Z:64.75 [[-6.12040013e-01 7.87092444e-01 7.67626668e-02 2.13026272e+02] [-7.80696546e-01 -6.16833544e-01 1.00146304e-01 1.91633400e+02] [ 1.26174187e-01 1.36519617e-03 9.92007163e-01 6.47525099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:191.63, Z:64.75 [[-6.09980376e-01 7.88685968e-01 7.68009379e-02 2.13020398e+02] [-7.82306289e-01 -6.14795469e-01 1.00116946e-01 1.91632108e+02] [ 1.26177699e-01 9.87515520e-04 9.92007164e-01 6.47535768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-6.08756027e-01 7.89627643e-01 7.68393504e-02 2.13014760e+02] [-7.83259132e-01 -6.13585880e-01 1.00087456e-01 1.91629971e+02] [ 1.26179362e-01 7.43718981e-04 9.92007165e-01 6.47544922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.76 [[-6.08742619e-01 7.89633771e-01 7.68825869e-02 2.13014338e+02] [-7.83269504e-01 -6.13578060e-01 1.00054233e-01 1.91631162e+02] [ 1.26179670e-01 6.87489899e-04 9.92007167e-01 6.47552001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-6.08454681e-01 7.89851921e-01 7.69210262e-02 2.13011907e+02] [-7.83493123e-01 -6.13297310e-01 1.00024672e-01 1.91629075e+02] [ 1.26180138e-01 5.93384928e-04 9.92007168e-01 6.47537104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-6.07091082e-01 7.90896748e-01 7.69594159e-02 2.13014447e+02] [-7.84550029e-01 -6.11949529e-01 9.99951264e-02 1.91632941e+02] [ 1.26181099e-01 3.27637458e-04 9.92007169e-01 6.47527397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-6.04752934e-01 7.92682308e-01 7.69977121e-02 2.13010125e+02] [-7.86353688e-01 -6.09634932e-01 9.99656294e-02 1.91628593e+02] [ 1.26181481e-01 -9.29271872e-05 9.92007170e-01 6.47533454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-6.00061626e-01 7.96234428e-01 7.70505055e-02 2.13007555e+02] [-7.89939929e-01 -6.04987535e-01 9.99249215e-02 1.91626937e+02] [ 1.26178258e-01 -9.04159996e-04 9.92007172e-01 6.47545848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.76 [[-5.96174889e-01 7.99145063e-01 7.70887180e-02 2.13010110e+02] [-7.92878420e-01 -6.01136185e-01 9.98954333e-02 1.91632240e+02] [ 1.26171760e-01 -1.56683214e-03 9.92007173e-01 6.47559032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-5.94756427e-01 8.00197175e-01 7.71315280e-02 2.13010250e+02] [-7.93943593e-01 -5.99734174e-01 9.98623681e-02 1.91630982e+02] [ 1.26167998e-01 -1.84429718e-03 9.92007175e-01 6.47545515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.75 [[-5.94084378e-01 8.00692591e-01 7.71694667e-02 2.13008607e+02] [-7.94446965e-01 -5.99072103e-01 9.98330422e-02 1.91628523e+02] [ 1.26165652e-01 -1.99779781e-03 9.92007176e-01 6.47533360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:191.63, Z:64.76 [[-5.95329733e-01 7.99763421e-01 7.72073819e-02 2.13007242e+02] [-7.93513810e-01 -6.00312462e-01 9.98037115e-02 1.91627804e+02] [ 1.26167911e-01 -1.84900687e-03 9.92007177e-01 6.47562586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:191.63, Z:64.76 [[-5.98483955e-01 7.97402108e-01 7.72452859e-02 2.13004613e+02] [-7.91136620e-01 -6.03446703e-01 9.97743664e-02 1.91625671e+02] [ 1.26173703e-01 -1.39821697e-03 9.92007178e-01 6.47552400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:191.62, Z:64.76 [[-6.04031082e-01 7.93204742e-01 7.72831787e-02 2.13000123e+02] [-7.86908518e-01 -6.08954775e-01 9.97450069e-02 1.91618451e+02] [ 1.26180173e-01 -5.65707174e-04 9.92007179e-01 6.47571630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:191.61, Z:64.76 [[-6.08001260e-01 7.90161950e-01 7.73211536e-02 2.12993721e+02] [-7.83844828e-01 -6.12898109e-01 9.97155607e-02 1.91608910e+02] [ 1.26181431e-01 1.94002121e-05 9.92007181e-01 6.47577759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:191.61, Z:64.76 [[-6.11163252e-01 7.87714114e-01 7.73689452e-02 2.12995327e+02] [-7.81382074e-01 -6.16040792e-01 9.96784660e-02 1.91612087e+02] [ 1.26180561e-01 4.65108552e-04 9.92007182e-01 6.47563696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:191.61, Z:64.76 [[-6.11096829e-01 7.87761897e-01 7.74071011e-02 2.12993043e+02] [-7.81433992e-01 -6.15979730e-01 9.96488266e-02 1.91610847e+02] [ 1.26180754e-01 4.06541919e-04 9.92007183e-01 6.47586431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:191.61, Z:64.76 [[-6.10212292e-01 7.88443533e-01 7.74451641e-02 2.12989301e+02] [-7.82124836e-01 -6.15107103e-01 9.96192362e-02 1.91605549e+02] [ 1.26181213e-01 2.17096154e-04 9.92007185e-01 6.47590393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:191.60, Z:64.76 [[-6.08903611e-01 7.89450444e-01 7.74879950e-02 2.12990101e+02] [-7.83144082e-01 -6.13814299e-01 9.95859096e-02 1.91604320e+02] [ 1.26181380e-01 -4.60448011e-05 9.92007186e-01 6.47594281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:190.90, Z:65.50 [[-5.49954324e-01 8.31588806e-01 7.75261155e-02 2.13606791e+02] [-8.25659873e-01 -5.55314624e-01 9.95562247e-02 1.90901353e+02] [ 1.25841228e-01 -9.25882643e-03 9.92007187e-01 6.54989137e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.08, Z:65.46 [[-5.48594456e-01 8.33127678e-01 7.03021624e-02 2.13733938e+02] [-8.26557771e-01 -5.53080100e-01 1.04425357e-01 1.91076787e+02] [ 1.25882382e-01 -8.21626633e-04 9.92044833e-01 6.54646632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.14, Z:65.46 [[-5.54366990e-01 8.29287853e-01 7.04194394e-02 2.13774251e+02] [-8.22696918e-01 -5.58821661e-01 1.04346213e-01 1.91140300e+02] [ 1.25884955e-01 -8.77599179e-05 9.92044843e-01 6.54648173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.13, Z:65.47 [[-5.56789735e-01 8.27658332e-01 7.04760701e-02 2.13770721e+02] [-8.21059201e-01 -5.61232252e-01 1.04307950e-01 1.91131940e+02] [ 1.25884788e-01 2.12570152e-04 9.92044845e-01 6.54664986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:191.04, Z:65.47 [[-5.56874814e-01 8.27597693e-01 7.05159587e-02 2.13718257e+02] [-8.21001492e-01 -5.61321679e-01 1.04280977e-01 1.91042968e+02] [ 1.25884833e-01 1.77742517e-04 9.92044846e-01 6.54672647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.12, Z:65.47 [[-5.63856483e-01 8.22853634e-01 7.05532661e-02 2.13770664e+02] [-8.16223181e-01 -5.68252110e-01 1.04255730e-01 1.91124325e+02] [ 1.25879249e-01 1.19805807e-03 9.92044847e-01 6.54659711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.12, Z:65.47 [[-5.63847242e-01 8.22855047e-01 7.06106211e-02 2.13767725e+02] [-8.16229468e-01 -5.68250209e-01 1.04216871e-01 1.91116780e+02] [ 1.25879878e-01 1.12792539e-03 9.92044850e-01 6.54685962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.12, Z:65.47 [[-5.63028616e-01 8.23411539e-01 7.06556078e-02 2.13768827e+02] [-8.16794139e-01 -5.67443863e-01 1.04186362e-01 1.91118000e+02] [ 1.25881344e-01 9.48817126e-04 9.92044851e-01 6.54698822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.12, Z:65.47 [[-5.61351181e-01 8.24552593e-01 7.06956345e-02 2.13767497e+02] [-8.17947588e-01 -5.65784947e-01 1.04159195e-01 1.91115397e+02] [ 1.25883260e-01 6.44563721e-04 9.92044852e-01 6.54710725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.95, Z:65.49 [[-5.57369433e-01 8.27245483e-01 7.07405483e-02 2.13657634e+02] [-8.20665771e-01 -5.61840645e-01 1.04128683e-01 1.90945509e+02] [ 1.25884898e-01 -1.62014666e-05 9.92044854e-01 6.54867524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:191.11, Z:65.47 [[-5.61285753e-01 8.24590063e-01 7.07780372e-02 2.13765587e+02] [-8.17992411e-01 -5.65730448e-01 1.04103195e-01 1.91110400e+02] [ 1.25883751e-01 5.35743008e-04 9.92044855e-01 6.54667036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:191.11, Z:65.47 [[-5.63786866e-01 8.22875936e-01 7.08488747e-02 2.13763062e+02] [-8.16270828e-01 -5.68220468e-01 1.04054964e-01 1.91106097e+02] [ 1.25882107e-01 8.32952407e-04 9.92044859e-01 6.54656140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:190.84, Z:65.50 [[-5.64407254e-01 8.22446679e-01 7.08936622e-02 2.13586147e+02] [-8.15842031e-01 -5.68841538e-01 1.04024441e-01 1.90840089e+02] [ 1.25881816e-01 8.74119758e-04 9.92044860e-01 6.54984456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:191.09, Z:65.47 [[-5.70236577e-01 8.18412350e-01 7.09328713e-02 2.13757162e+02] [-8.11779660e-01 -5.74628804e-01 1.03997698e-01 1.91093908e+02] [ 1.25873072e-01 1.72142927e-03 9.92044861e-01 6.54676917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.09, Z:65.47 [[-5.71722806e-01 8.17363259e-01 7.10657174e-02 2.13751944e+02] [-8.10733786e-01 -5.76119863e-01 1.03906842e-01 1.91085576e+02] [ 1.25872006e-01 1.79053302e-03 9.92044874e-01 6.54720153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.09, Z:65.47 [[-5.72096833e-01 8.17098044e-01 7.11055564e-02 2.13754315e+02] [-8.10469919e-01 -5.76495919e-01 1.03879572e-01 1.91085561e+02] [ 1.25871858e-01 1.80025972e-03 9.92044875e-01 6.54738788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.08, Z:65.47 [[-5.72452239e-01 8.16844725e-01 7.11556705e-02 2.13753706e+02] [-8.10218917e-01 -5.76854812e-01 1.03845234e-01 1.91081864e+02] [ 1.25871922e-01 1.79476639e-03 9.92044877e-01 6.54739259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.71445717e-01 8.17545274e-01 7.12005462e-02 2.13748972e+02] [-8.10928695e-01 -5.75862145e-01 1.03814456e-01 1.91072814e+02] [ 1.25874717e-01 1.58576047e-03 9.92044878e-01 6.54739546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.08, Z:65.47 [[-5.70873292e-01 8.17941603e-01 7.12405755e-02 2.13753897e+02] [-8.11331516e-01 -5.75299430e-01 1.03786980e-01 1.91077123e+02] [ 1.25876351e-01 1.44949075e-03 9.92044880e-01 6.54699568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.70389775e-01 8.18274941e-01 7.12855239e-02 2.13750917e+02] [-8.11671298e-01 -5.74825518e-01 1.03756098e-01 1.91070077e+02] [ 1.25877754e-01 1.32100393e-03 9.92044881e-01 6.54696458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.70499732e-01 8.18194805e-01 7.13254312e-02 2.13752033e+02] [-8.11593967e-01 -5.74939647e-01 1.03728658e-01 1.91070426e+02] [ 1.25878067e-01 1.28988172e-03 9.92044882e-01 6.54689622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.70994159e-01 8.17846352e-01 7.13653546e-02 2.13752203e+02] [-8.11246237e-01 -5.75435146e-01 1.03701183e-01 1.91068950e+02] [ 1.25877768e-01 1.31789469e-03 9.92044883e-01 6.54695067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:191.07, Z:65.46 [[-5.64230308e-01 8.22523834e-01 7.14051947e-02 2.13762190e+02] [-8.15964010e-01 -5.68730594e-01 1.03673744e-01 1.91068823e+02] [ 1.25884444e-01 2.31799415e-04 9.92044885e-01 6.54581718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.67931636e-01 8.19969088e-01 7.14447418e-02 2.13751391e+02] [-8.13392449e-01 -5.72407311e-01 1.03646484e-01 1.91068784e+02] [ 1.25882405e-01 7.51503470e-04 9.92044886e-01 6.54703117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.65763293e-01 8.21463256e-01 7.14843642e-02 2.13750278e+02] [-8.14901891e-01 -5.70261327e-01 1.03619149e-01 1.91069280e+02] [ 1.25884092e-01 3.71167627e-04 9.92044887e-01 6.54693380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:191.07, Z:65.47 [[-5.64808578e-01 8.22116528e-01 7.15240153e-02 2.13745340e+02] [-8.15563830e-01 -5.69319228e-01 1.03591773e-01 1.91066409e+02] [ 1.25884506e-01 1.77122006e-04 9.92044888e-01 6.54692636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:191.06, Z:65.47 [[-5.67320146e-01 8.20381493e-01 7.15685541e-02 2.13741868e+02] [-8.13818883e-01 -5.71816358e-01 1.03560993e-01 1.91063588e+02] [ 1.25883592e-01 5.08396962e-04 9.92044890e-01 6.54691533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:191.06, Z:65.47 [[-5.70062970e-01 8.18474050e-01 7.16131288e-02 2.13739290e+02] [-8.11900267e-01 -5.74542829e-01 1.03530161e-01 1.91060556e+02] [ 1.25881559e-01 8.75992314e-04 9.92044891e-01 6.54693103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:191.06, Z:65.47 [[-5.73966554e-01 8.15737868e-01 7.16528178e-02 2.13737234e+02] [-8.09146159e-01 -5.78419992e-01 1.03502685e-01 1.91057534e+02] [ 1.25876482e-01 1.42947698e-03 9.92044892e-01 6.54701248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.76098372e-01 8.14229784e-01 7.16974482e-02 2.13733502e+02] [-8.07630264e-01 -5.80540224e-01 1.03471760e-01 1.91054108e+02] [ 1.25873041e-01 1.70488338e-03 9.92044894e-01 6.54715368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.76265410e-01 8.14107638e-01 7.17421130e-02 2.13731684e+02] [-8.07511030e-01 -5.80711582e-01 1.03440782e-01 1.91050264e+02] [ 1.25873407e-01 1.67679734e-03 9.92044895e-01 6.54699530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.73443139e-01 8.16094126e-01 7.17867979e-02 2.13730658e+02] [-8.09516801e-01 -5.77917788e-01 1.03409763e-01 1.91049655e+02] [ 1.25878967e-01 1.18699988e-03 9.92044897e-01 6.54704780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.68813209e-01 8.19323529e-01 7.18365407e-02 2.13729053e+02] [-8.12775975e-01 -5.73331304e-01 1.03375196e-01 1.91046506e+02] [ 1.25883868e-01 4.14162649e-04 9.92044898e-01 6.54711103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.65413908e-01 8.21669593e-01 7.18762291e-02 2.13729705e+02] [-8.15144293e-01 -5.69964083e-01 1.03347594e-01 1.91049012e+02] [ 1.25884444e-01 -1.55331105e-04 9.92044899e-01 6.54722484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:190.90, Z:65.48 [[-5.57067121e-01 8.27347770e-01 7.19158480e-02 2.13629924e+02] [-8.20872396e-01 -5.61688066e-01 1.03320017e-01 1.90895238e+02] [ 1.25875859e-01 -1.47754996e-03 9.92044901e-01 6.54842107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.05, Z:65.47 [[-5.59776016e-01 8.25514384e-01 7.19500816e-02 2.13731775e+02] [-8.19026936e-01 -5.64379995e-01 1.03296172e-01 1.91049982e+02] [ 1.25879663e-01 -1.10633520e-03 9.92044902e-01 6.54713388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.04, Z:65.47 [[-5.60992121e-01 8.24682442e-01 7.20188175e-02 2.13731006e+02] [-8.18194317e-01 -5.65595140e-01 1.03248227e-01 1.91043472e+02] [ 1.25880493e-01 -1.00394515e-03 9.92044905e-01 6.54706357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.04, Z:65.47 [[-5.64375947e-01 8.22365200e-01 7.20782122e-02 2.13730382e+02] [-8.15863470e-01 -5.68959723e-01 1.03206747e-01 1.91037817e+02] [ 1.25883237e-01 -5.58574645e-04 9.92044908e-01 6.54718069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.03, Z:65.47 [[-5.67985746e-01 8.19872708e-01 7.21175047e-02 2.13731590e+02] [-8.13354348e-01 -5.72545840e-01 1.03179284e-01 1.91033340e+02] [ 1.25884456e-01 -5.27236063e-05 9.92044909e-01 6.54715310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:190.88, Z:65.49 [[-5.67464268e-01 8.20230270e-01 7.21568318e-02 2.13630612e+02] [-8.13718281e-01 -5.72033453e-01 1.03151774e-01 1.90878040e+02] [ 1.25884329e-01 -1.80387315e-04 9.92044910e-01 6.54856481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.02, Z:65.47 [[-5.75768082e-01 8.14419788e-01 7.21908882e-02 2.13727194e+02] [-8.07864678e-01 -5.80275185e-01 1.03127934e-01 1.91017097e+02] [ 1.25880011e-01 1.05730404e-03 9.92044911e-01 6.54738223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:191.01, Z:65.47 [[-5.78313244e-01 8.12608776e-01 7.22548884e-02 2.13724279e+02] [-8.06045153e-01 -5.82807936e-01 1.03083074e-01 1.91008771e+02] [ 1.25876933e-01 1.37360450e-03 9.92044914e-01 6.54747454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.01, Z:65.47 [[-5.79767425e-01 8.11567939e-01 7.22994663e-02 2.13725537e+02] [-8.05000145e-01 -5.84256016e-01 1.03051799e-01 1.91008071e+02] [ 1.25874935e-01 1.54499554e-03 9.92044915e-01 6.54745670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.01, Z:65.47 [[-5.80102905e-01 8.11324648e-01 7.23390227e-02 2.13727367e+02] [-8.04758433e-01 -5.84593804e-01 1.03024025e-01 1.91006765e+02] [ 1.25874875e-01 1.54909757e-03 9.92044916e-01 6.54746443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.00, Z:65.47 [[-5.79229628e-01 8.11944808e-01 7.23786351e-02 2.13728935e+02] [-8.05386877e-01 -5.83732614e-01 1.02996188e-01 1.91004477e+02] [ 1.25876990e-01 1.36564088e-03 9.92044918e-01 6.54736553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.00, Z:65.48 [[-5.76865414e-01 8.13622714e-01 7.24180400e-02 2.13728290e+02] [-8.07081359e-01 -5.81392443e-01 1.02968475e-01 1.91000465e+02] [ 1.25880791e-01 9.51701690e-04 9.92044919e-01 6.54751069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.00, Z:65.47 [[-5.73737411e-01 8.15827540e-01 7.24624557e-02 2.13731574e+02] [-8.09307530e-01 -5.78295126e-01 1.02937209e-01 1.91003052e+02] [ 1.25883695e-01 4.14516519e-04 9.92044920e-01 6.54746635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.00, Z:65.47 [[-5.67920442e-01 8.19884058e-01 7.25017407e-02 2.13732162e+02] [-8.13400133e-01 -5.72529345e-01 1.02909532e-01 1.91000507e+02] [ 1.25883259e-01 -5.28498854e-04 9.92044921e-01 6.54749327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:191.00, Z:65.48 [[-5.61814646e-01 8.24076525e-01 7.25409124e-02 2.13735250e+02] [-8.17630549e-01 -5.66476476e-01 1.02881912e-01 1.91002188e+02] [ 1.25875289e-01 -1.51110088e-03 9.92044922e-01 6.54753136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:191.00, Z:65.48 [[-5.58674921e-01 8.26203540e-01 7.25950630e-02 2.13734090e+02] [-8.19780270e-01 -5.63367983e-01 1.02843689e-01 1.90998578e+02] [ 1.25867554e-01 -2.05581057e-03 9.92044925e-01 6.54771237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:191.00, Z:65.48 [[-5.56176764e-01 8.27883874e-01 7.26339990e-02 2.13740681e+02] [-8.21478368e-01 -5.60894040e-01 1.02816183e-01 1.90998058e+02] [ 1.25859837e-01 -2.48328699e-03 9.92044926e-01 6.54771610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:190.99, Z:65.47 [[-5.53965134e-01 8.29361540e-01 7.26778230e-02 2.13744485e+02] [-8.22972672e-01 -5.58704917e-01 1.02785196e-01 1.90989578e+02] [ 1.25851546e-01 -2.87244739e-03 9.92044927e-01 6.54729208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:190.99, Z:65.48 [[-5.60352781e-01 8.25055790e-01 7.27166105e-02 2.13744021e+02] [-8.18634042e-01 -5.65047919e-01 1.02757748e-01 1.90985316e+02] [ 1.25869244e-01 -1.94770285e-03 9.92044928e-01 6.54795616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.98, Z:65.48 [[-5.63247149e-01 8.23078933e-01 7.27579559e-02 2.13746030e+02] [-8.16644484e-01 -5.67924863e-01 1.02728465e-01 1.90976713e+02] [ 1.25874688e-01 -1.55586820e-03 9.92044930e-01 6.54774811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.97, Z:65.48 [[-5.63993189e-01 8.22564469e-01 7.27968227e-02 2.13748574e+02] [-8.16129307e-01 -5.68669919e-01 1.02700916e-01 1.90974349e+02] [ 1.25875487e-01 -1.48900357e-03 9.92044931e-01 6.54760586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.97, Z:65.48 [[-5.64991559e-01 8.21875599e-01 7.28356919e-02 2.13749278e+02] [-8.15438287e-01 -5.69665328e-01 1.02673342e-01 1.90968375e+02] [ 1.25876683e-01 -1.38344006e-03 9.92044932e-01 6.54761143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.96, Z:65.48 [[-5.67141445e-01 8.20390079e-01 7.28745506e-02 2.13751990e+02] [-8.13944066e-01 -5.71803206e-01 1.02645754e-01 1.90963716e+02] [ 1.25879460e-01 -1.10114668e-03 9.92044933e-01 6.54764871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.96, Z:65.48 [[-5.69969685e-01 8.18424212e-01 7.29134244e-02 2.13752537e+02] [-8.11965651e-01 -5.74614044e-01 1.02618133e-01 1.90956939e+02] [ 1.25882243e-01 -7.13970944e-04 9.92044934e-01 6.54765996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.95, Z:65.48 [[-5.73409481e-01 8.16014402e-01 7.29524670e-02 2.13752354e+02] [-8.09539853e-01 -5.78031523e-01 1.02590370e-01 1.90952102e+02] [ 1.25884045e-01 -2.31638376e-04 9.92044935e-01 6.54768918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.95, Z:65.48 [[-5.76034751e-01 8.14159824e-01 7.29914212e-02 2.13750328e+02] [-8.07673906e-01 -5.80640823e-01 1.02562648e-01 1.90946247e+02] [ 1.25884186e-01 1.26382986e-04 9.92044936e-01 6.54780070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:190.94, Z:65.48 [[-5.80122443e-01 8.11248733e-01 7.30304350e-02 2.13749023e+02] [-8.04743199e-01 -5.84700766e-01 1.02534860e-01 1.90942546e+02] [ 1.25882227e-01 7.12027742e-04 9.92044938e-01 6.54776082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:190.95, Z:65.47 [[-5.80860396e-01 8.10716996e-01 7.30695086e-02 2.13757550e+02] [-8.04210773e-01 -5.85437739e-01 1.02507008e-01 1.90948519e+02] [ 1.25881821e-01 7.78975180e-04 9.92044939e-01 6.54715332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:190.94, Z:65.48 [[-5.86120246e-01 8.06919411e-01 7.31034984e-02 2.13743781e+02] [-8.00386557e-01 -5.90659498e-01 1.02482762e-01 1.90936817e+02] [ 1.25874606e-01 1.55616439e-03 9.92044940e-01 6.54791172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:190.93, Z:65.48 [[-5.90512784e-01 8.03707380e-01 7.31375311e-02 2.13738421e+02] [-7.97152847e-01 -5.95020673e-01 1.02458469e-01 1.90929403e+02] [ 1.25864971e-01 2.20124464e-03 9.92044940e-01 6.54795144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:190.93, Z:65.48 [[-5.92128855e-01 8.02513450e-01 7.31818386e-02 2.13736741e+02] [-7.95953735e-01 -5.96629198e-01 1.02426812e-01 1.90929604e+02] [ 1.25861316e-01 2.40051327e-03 9.92044942e-01 6.54810238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:190.93, Z:65.48 [[-5.92777852e-01 8.02030596e-01 7.32211811e-02 2.13734294e+02] [-7.95470685e-01 -5.97277908e-01 1.02398680e-01 1.90928809e+02] [ 1.25860268e-01 2.45436660e-03 9.92044943e-01 6.54825097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:190.93, Z:65.48 [[-5.92794040e-01 8.02015042e-01 7.32604866e-02 2.13730693e+02] [-7.95458485e-01 -5.97298978e-01 1.02370552e-01 1.90929016e+02] [ 1.25861136e-01 2.40897727e-03 9.92044944e-01 6.54827654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:190.93, Z:65.48 [[-5.93291870e-01 8.01643249e-01 7.32997814e-02 2.13727165e+02] [-7.95087341e-01 -5.97797751e-01 1.02342408e-01 1.90931136e+02] [ 1.25860545e-01 2.43919054e-03 9.92044945e-01 6.54833826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:190.82, Z:65.49 [[-5.91181566e-01 8.03197655e-01 7.33340547e-02 2.13651828e+02] [-7.96656640e-01 -5.95709037e-01 1.02317844e-01 1.90823640e+02] [ 1.25867211e-01 2.06636147e-03 9.92044946e-01 6.54891923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:190.93, Z:65.48 [[-5.94386802e-01 8.00825308e-01 7.33699923e-02 2.13718050e+02] [-7.94269403e-01 -5.98892685e-01 1.02292067e-01 1.90930505e+02] [ 1.25858828e-01 2.52551482e-03 9.92044947e-01 6.54810345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:190.93, Z:65.48 [[-5.92601732e-01 8.02142871e-01 7.34166276e-02 2.13711513e+02] [-7.95601129e-01 -5.97128148e-01 1.02258586e-01 1.90931936e+02] [ 1.25865130e-01 2.18826328e-03 9.92044949e-01 6.54828464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:190.94, Z:65.48 [[-5.90068289e-01 8.04004758e-01 7.34558662e-02 2.13706332e+02] [-7.97480806e-01 -5.94620308e-01 1.02230392e-01 1.90935845e+02] [ 1.25872071e-01 1.74326885e-03 9.92044950e-01 6.54832651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:190.94, Z:65.48 [[-5.89603007e-01 8.04342446e-01 7.34950619e-02 2.13703826e+02] [-7.97824612e-01 -5.94163780e-01 1.02202206e-01 1.90937017e+02] [ 1.25873676e-01 1.62255852e-03 9.92044951e-01 6.54835876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:190.94, Z:65.49 [[-5.89768656e-01 8.04217418e-01 7.35341887e-02 2.13699968e+02] [-7.97702126e-01 -5.94333057e-01 1.02174046e-01 1.90942004e+02] [ 1.25873947e-01 1.60067136e-03 9.92044952e-01 6.54852323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:190.94, Z:65.48 [[-5.90856786e-01 8.03414737e-01 7.35732210e-02 2.13693632e+02] [-7.96896742e-01 -5.95417325e-01 1.02145933e-01 1.90937993e+02] [ 1.25872318e-01 1.72335738e-03 9.92044953e-01 6.54847474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:190.93, Z:65.49 [[-5.92887850e-01 8.01913612e-01 7.36108422e-02 2.13682219e+02] [-7.95387435e-01 -5.97436671e-01 1.02118814e-01 1.90930154e+02] [ 1.25868284e-01 1.99586522e-03 9.92044955e-01 6.54866763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:190.94, Z:65.48 [[-5.90056893e-01 8.03995341e-01 7.36502172e-02 2.13690342e+02] [-7.97488758e-01 -5.94633694e-01 1.02090408e-01 1.90943307e+02] [ 1.25875113e-01 1.50392904e-03 9.92044956e-01 6.54771844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.94, Z:65.49 [[-5.92634814e-01 8.02092285e-01 7.37017228e-02 2.13674138e+02] [-7.95575628e-01 -5.97197256e-01 1.02053212e-01 1.90939034e+02] [ 1.25870561e-01 1.84499191e-03 9.92044958e-01 6.54870485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.94, Z:65.49 [[-5.92981102e-01 8.01833917e-01 7.37277639e-02 2.13669423e+02] [-7.95317609e-01 -5.97544042e-01 1.02034395e-01 1.90943305e+02] [ 1.25870225e-01 1.86747912e-03 9.92044958e-01 6.54885228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.94, Z:65.49 [[-5.93582430e-01 8.01385040e-01 7.37693401e-02 2.13666356e+02] [-7.94869016e-01 -5.98145772e-01 1.02004328e-01 1.90943471e+02] [ 1.25869561e-01 1.91101393e-03 9.92044959e-01 6.54915002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:190.86, Z:65.50 [[-5.89101181e-01 8.04681375e-01 7.38084307e-02 2.13611527e+02] [-7.98194431e-01 -5.93705767e-01 1.01976035e-01 1.90862778e+02] [ 1.25878707e-01 1.16072406e-03 9.92044961e-01 6.54971142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.94, Z:65.51 [[-5.93800902e-01 8.01216434e-01 7.38424912e-02 2.13656398e+02] [-7.94705693e-01 -5.98371775e-01 1.01951365e-01 1.90940639e+02] [ 1.25870372e-01 1.85576449e-03 9.92044962e-01 6.55056314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.94, Z:65.52 [[-5.94805247e-01 8.00466175e-01 7.38960099e-02 2.13655047e+02] [-7.93954484e-01 -5.99374764e-01 1.01912559e-01 1.90938331e+02] [ 1.25868960e-01 1.94805665e-03 9.92044964e-01 6.55181202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.94, Z:65.53 [[-5.96586856e-01 7.99134825e-01 7.39435921e-02 2.13655895e+02] [-7.92617213e-01 -6.01147920e-01 1.01878024e-01 1.90936825e+02] [ 1.25865314e-01 2.17012639e-03 9.92044965e-01 6.55275063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:190.93, Z:65.53 [[-5.98396889e-01 7.97776706e-01 7.39830421e-02 2.13654278e+02] [-7.91252282e-01 -6.02948201e-01 1.01849368e-01 1.90928829e+02] [ 1.25860996e-01 2.40709414e-03 9.92044967e-01 6.55333257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:190.93, Z:65.54 [[-5.98161834e-01 7.97949337e-01 7.40221366e-02 2.13654908e+02] [-7.91429738e-01 -6.02720055e-01 1.01820947e-01 1.90928394e+02] [ 1.25862584e-01 2.32208436e-03 9.92044968e-01 6.55364677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.93, Z:65.53 [[-5.93303091e-01 8.01564950e-01 7.40612784e-02 2.13660655e+02] [-7.95076689e-01 -5.97905806e-01 1.01792469e-01 1.90929447e+02] [ 1.25874944e-01 1.50939057e-03 9.92044969e-01 6.55313660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:190.92, Z:65.54 [[-5.93584788e-01 8.01352763e-01 7.41002672e-02 2.13654771e+02] [-7.94866397e-01 -5.98190172e-01 1.01764079e-01 1.90922743e+02] [ 1.25874978e-01 1.50579700e-03 9.92044970e-01 6.55406050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.92, Z:65.54 [[-5.93058577e-01 8.01738658e-01 7.41393948e-02 2.13656749e+02] [-7.95258851e-01 -5.97673183e-01 1.01735565e-01 1.90922267e+02] [ 1.25876464e-01 1.37513968e-03 9.92044971e-01 6.55398622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:190.91, Z:65.53 [[-5.93417249e-01 8.01469593e-01 7.41785697e-02 2.13654921e+02] [-7.94991264e-01 -5.98033927e-01 1.01706994e-01 1.90914976e+02] [ 1.25876364e-01 1.38336965e-03 9.92044972e-01 6.55345803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.92, Z:65.53 [[-5.94407563e-01 8.00731775e-01 7.42177467e-02 2.13661565e+02] [-7.94251284e-01 -5.99021203e-01 1.01678398e-01 1.90917733e+02] [ 1.25875128e-01 1.49086796e-03 9.92044974e-01 6.55270097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.91, Z:65.52 [[-5.95231573e-01 8.00116031e-01 7.42543762e-02 2.13659678e+02] [-7.93634102e-01 -5.99843192e-01 1.01651641e-01 1.90911960e+02] [ 1.25874089e-01 1.57546088e-03 9.92044975e-01 6.55227350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.91, Z:65.52 [[-5.95479325e-01 7.99928260e-01 7.42909964e-02 2.13662857e+02] [-7.93448215e-01 -6.00093589e-01 1.01624870e-01 1.90911499e+02] [ 1.25874156e-01 1.56945078e-03 9.92044976e-01 6.55225338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.91, Z:65.52 [[-5.95502863e-01 7.99907344e-01 7.43275249e-02 2.13663299e+02] [-7.93430470e-01 -6.00121576e-01 1.01598147e-01 1.90910923e+02] [ 1.25874655e-01 1.52826438e-03 9.92044977e-01 6.55243516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.91, Z:65.53 [[-5.93917449e-01 8.01081777e-01 7.43643120e-02 2.13663358e+02] [-7.94617407e-01 -5.98553644e-01 1.01571214e-01 1.90908084e+02] [ 1.25877878e-01 1.23373939e-03 9.92044978e-01 6.55294809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:190.90, Z:65.54 [[-5.92667388e-01 8.02003449e-01 7.44031917e-02 2.13664476e+02] [-7.95549864e-01 -5.97318582e-01 1.01542726e-01 1.90903843e+02] [ 1.25880025e-01 9.89612968e-04 9.92044979e-01 6.55388238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.90, Z:65.55 [[-5.92183073e-01 8.02356888e-01 7.44488588e-02 2.13666556e+02] [-7.95910288e-01 -5.96843940e-01 1.01509233e-01 1.90900513e+02] [ 1.25880982e-01 8.57436715e-04 9.92044980e-01 6.55470283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.89, Z:65.55 [[-5.92210438e-01 8.02333170e-01 7.44867889e-02 2.13667161e+02] [-7.95889884e-01 -5.96875883e-01 1.01481393e-01 1.90893928e+02] [ 1.25881255e-01 8.15058176e-04 9.92044981e-01 6.55510983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.89, Z:65.55 [[-5.92121316e-01 8.02395425e-01 7.45246937e-02 2.13667460e+02] [-7.95956132e-01 -5.96792270e-01 1.01453549e-01 1.90888708e+02] [ 1.25881625e-01 7.54421962e-04 9.92044983e-01 6.55513722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.89, Z:65.55 [[-5.89232309e-01 8.04515735e-01 7.45635208e-02 2.13671451e+02] [-7.98096861e-01 -5.93931283e-01 1.01425005e-01 1.90887657e+02] [ 1.25883620e-01 2.53978072e-04 9.92044984e-01 6.55488880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:190.89, Z:65.55 [[-5.85820395e-01 8.06999975e-01 7.46023112e-02 2.13673956e+02] [-8.00604661e-01 -5.90551381e-01 1.01396465e-01 1.90889730e+02] [ 1.25883443e-01 -3.26840703e-04 9.92044985e-01 6.55472910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:190.30, Z:66.19 [[-5.31828098e-01 8.43556520e-01 7.46409507e-02 2.14220520e+02] [-8.37487969e-01 -5.36971533e-01 1.01368014e-01 1.90295009e+02] [ 1.25589715e-01 -8.60054027e-03 9.92044986e-01 6.61904319e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.51, Z:66.15 [[-5.29947532e-01 8.45265703e-01 6.84215240e-02 2.14365817e+02] [-8.38668783e-01 -5.34344061e-01 1.05409189e-01 1.90509876e+02] [ 1.25659408e-01 -1.52165648e-03 9.92072275e-01 6.61539660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.51, Z:66.15 [[-5.29403076e-01 8.45598192e-01 6.85279572e-02 2.14368190e+02] [-8.39012983e-01 -5.33817113e-01 1.05339952e-01 1.90508383e+02] [ 1.25656669e-01 -1.72855137e-03 9.92072283e-01 6.61529267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.51, Z:66.15 [[-5.30139076e-01 8.45133911e-01 6.85655383e-02 2.14370079e+02] [-8.38547997e-01 -5.34552060e-01 1.05315485e-01 1.90509550e+02] [ 1.25657537e-01 -1.66364112e-03 9.92072284e-01 6.61521578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.50, Z:66.15 [[-5.33085457e-01 8.43275361e-01 6.86043832e-02 2.14368802e+02] [-8.36677315e-01 -5.37480279e-01 1.05290174e-01 1.90500368e+02] [ 1.25662113e-01 -1.27107044e-03 9.92072285e-01 6.61528144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.50, Z:66.16 [[-5.36731131e-01 8.40956577e-01 6.86420353e-02 2.14370941e+02] [-8.34342680e-01 -5.41102061e-01 1.05265622e-01 1.90499341e+02] [ 1.25666164e-01 -7.71643296e-04 9.92072286e-01 6.61579878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.49, Z:66.17 [[-5.39877970e-01 8.38936680e-01 6.86805947e-02 2.14368962e+02] [-8.32309629e-01 -5.44228929e-01 1.05240458e-01 1.90491458e+02] [ 1.25668047e-01 -3.46515380e-04 9.92072287e-01 6.61659867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.48, Z:66.17 [[-5.42708300e-01 8.37105276e-01 6.87201466e-02 2.14367481e+02] [-8.30466812e-01 -5.47041823e-01 1.05214625e-01 1.90484556e+02] [ 1.25668512e-01 3.10493469e-05 9.92072288e-01 6.61715468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.48, Z:66.17 [[-5.45704681e-01 8.35150898e-01 6.87704820e-02 2.14367468e+02] [-8.28501060e-01 -5.50020727e-01 1.05181715e-01 1.90478644e+02] [ 1.25667794e-01 4.21737089e-04 9.92072290e-01 6.61736229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.47, Z:66.17 [[-5.48190107e-01 8.33518271e-01 6.88106038e-02 2.14366950e+02] [-8.26858874e-01 -5.52491387e-01 1.05155461e-01 1.90473875e+02] [ 1.25666264e-01 7.48524930e-04 9.92072291e-01 6.61708149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.47, Z:66.17 [[-5.50802103e-01 8.31791207e-01 6.88507882e-02 2.14366286e+02] [-8.25121612e-01 -5.55087550e-01 1.05129143e-01 1.90469572e+02] [ 1.25663713e-01 1.09507991e-03 9.92072292e-01 6.61684248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:190.47, Z:66.16 [[-5.53686133e-01 8.29870892e-01 6.88909954e-02 2.14366091e+02] [-8.23189712e-01 -5.57953494e-01 1.05102789e-01 1.90465033e+02] [ 1.25659717e-01 1.48359825e-03 9.92072293e-01 6.61641561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.46, Z:66.16 [[-5.54809260e-01 8.29117258e-01 6.89293668e-02 2.14363809e+02] [-8.22433407e-01 -5.59072434e-01 1.05077618e-01 1.90461889e+02] [ 1.25658176e-01 1.60822171e-03 9.92072294e-01 6.61622293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.46, Z:66.16 [[-5.55364573e-01 8.28741830e-01 6.89722461e-02 2.14362686e+02] [-8.22058590e-01 -5.59628703e-01 1.05049465e-01 1.90460941e+02] [ 1.25657735e-01 1.64152408e-03 9.92072295e-01 6.61640446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.46, Z:66.17 [[-5.56892469e-01 8.27712628e-01 6.90114830e-02 2.14361835e+02] [-8.21024699e-01 -5.61149240e-01 1.05023683e-01 1.90458312e+02] [ 1.25655170e-01 1.82676592e-03 9.92072296e-01 6.61651003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.45, Z:66.17 [[-5.58365300e-01 8.26716428e-01 6.90517094e-02 2.14359270e+02] [-8.20024174e-01 -5.62615265e-01 1.04997228e-01 1.90453198e+02] [ 1.25652479e-01 2.00273780e-03 9.92072298e-01 6.61691210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.45, Z:66.17 [[-5.58490555e-01 8.26628454e-01 6.90919683e-02 2.14358467e+02] [-8.19938804e-01 -5.62744616e-01 1.04970730e-01 1.90452358e+02] [ 1.25652925e-01 1.97397517e-03 9.92072299e-01 6.61747566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.45, Z:66.18 [[-5.57393070e-01 8.27365806e-01 6.91287846e-02 2.14359736e+02] [-8.20684790e-01 -5.61660674e-01 1.04946479e-01 1.90454223e+02] [ 1.25656048e-01 1.76349786e-03 9.92072300e-01 6.61808201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.45, Z:66.18 [[-5.55242482e-01 8.28807558e-01 6.91651443e-02 2.14359143e+02] [-8.22140608e-01 -5.59532026e-01 1.04922511e-01 1.90454578e+02] [ 1.25660683e-01 1.39396138e-03 9.92072301e-01 6.61842050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.46, Z:66.18 [[-5.53802692e-01 8.29766994e-01 6.92048666e-02 2.14357998e+02] [-8.23110748e-01 -5.58108826e-01 1.04896304e-01 1.90455211e+02] [ 1.25663338e-01 1.12858603e-03 9.92072302e-01 6.61842122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:190.45, Z:66.18 [[-5.52643777e-01 8.30535962e-01 6.92450113e-02 2.14355767e+02] [-8.23889027e-01 -5.56964268e-01 1.04869797e-01 1.90454225e+02] [ 1.25665135e-01 9.05435667e-04 9.92072303e-01 6.61816509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:190.45, Z:66.18 [[-5.53769632e-01 8.29781936e-01 6.92902129e-02 2.14351430e+02] [-8.23132855e-01 -5.58086816e-01 1.04839923e-01 1.90448790e+02] [ 1.25664228e-01 1.02211475e-03 9.92072304e-01 6.61755362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:190.45, Z:66.17 [[-5.55029931e-01 8.28936540e-01 6.93252377e-02 2.14350297e+02] [-8.22283775e-01 -5.59341435e-01 1.04816758e-01 1.90451821e+02] [ 1.25662918e-01 1.17141953e-03 9.92072305e-01 6.61721998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:190.45, Z:66.17 [[-5.55729748e-01 8.28464604e-01 6.93602654e-02 2.14347774e+02] [-8.21811070e-01 -5.60040063e-01 1.04793574e-01 1.90450836e+02] [ 1.25662294e-01 1.23587252e-03 9.92072306e-01 6.61734036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:190.45, Z:66.18 [[-5.56730874e-01 8.27788809e-01 6.94004513e-02 2.14345424e+02] [-8.21133359e-01 -5.61038228e-01 1.04766954e-01 1.90449051e+02] [ 1.25661218e-01 1.33997204e-03 9.92072307e-01 6.61762725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.34, Y:190.45, Z:66.18 [[-5.58696936e-01 8.26459769e-01 6.94405066e-02 2.14339628e+02] [-8.19797371e-01 -5.62993534e-01 1.04740398e-01 1.90445178e+02] [ 1.25658281e-01 1.59099480e-03 9.92072308e-01 6.61805382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.34, Y:190.44, Z:66.18 [[-5.60890641e-01 8.24969275e-01 6.94793743e-02 2.14337402e+02] [-8.18298653e-01 -5.65174456e-01 1.04714609e-01 1.90444944e+02] [ 1.25654303e-01 1.87856595e-03 9.92072309e-01 6.61838681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:190.44, Z:66.19 [[-5.61994763e-01 8.24214224e-01 6.95183444e-02 2.14331383e+02] [-8.17541043e-01 -5.66274591e-01 1.04688731e-01 1.90440156e+02] [ 1.25652413e-01 2.00041894e-03 9.92072311e-01 6.61876353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:190.44, Z:66.19 [[-5.61470364e-01 8.24568217e-01 6.95577870e-02 2.14331414e+02] [-8.17900979e-01 -5.65759441e-01 1.04662518e-01 1.90444877e+02] [ 1.25654361e-01 1.87352014e-03 9.92072312e-01 6.61895499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:190.44, Z:66.19 [[-5.58282366e-01 8.26726617e-01 6.95981426e-02 2.14326913e+02] [-8.20079307e-01 -5.62602262e-01 1.04635676e-01 1.90443719e+02] [ 1.25661171e-01 1.34025626e-03 9.92072313e-01 6.61892401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:190.45, Z:66.19 [[-5.54881505e-01 8.29009654e-01 6.96384142e-02 2.14326232e+02] [-8.22383483e-01 -5.59233754e-01 1.04608867e-01 1.90448634e+02] [ 1.25665913e-01 7.76044134e-04 9.92072314e-01 6.61859529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:190.45, Z:66.18 [[-5.52977168e-01 8.30277763e-01 6.96784621e-02 2.14323876e+02] [-8.23664934e-01 -5.57349659e-01 1.04582185e-01 1.90448701e+02] [ 1.25667530e-01 4.39854739e-04 9.92072315e-01 6.61839498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:190.45, Z:66.18 [[-5.50716144e-01 8.31775856e-01 6.97183876e-02 2.14323159e+02] [-8.25178291e-01 -5.55111630e-01 1.04555563e-01 1.90450836e+02] [ 1.25668281e-01 5.03365234e-05 9.92072316e-01 6.61807242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:190.45, Z:66.18 [[-5.49988527e-01 8.32253962e-01 6.97564555e-02 2.14319957e+02] [-8.25663438e-01 -5.54394564e-01 1.04530159e-01 1.90449272e+02] [ 1.25668239e-01 -1.04966688e-04 9.92072317e-01 6.61794585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:190.45, Z:66.18 [[-5.50850098e-01 8.31680770e-01 6.97944576e-02 2.14317622e+02] [-8.25088877e-01 -5.55254083e-01 1.04504779e-01 1.90447316e+02] [ 1.25668273e-01 -2.01627762e-05 9.92072318e-01 6.61807934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:190.45, Z:66.18 [[-5.53082107e-01 8.30194761e-01 6.98343876e-02 2.14316648e+02] [-8.23594405e-01 -5.57473395e-01 1.04478090e-01 1.90446305e+02] [ 1.25667976e-01 2.69751022e-04 9.92072320e-01 6.61842001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:190.44, Z:66.19 [[-5.56651217e-01 8.27802097e-01 6.98792574e-02 2.14312597e+02] [-8.21186633e-01 -5.61019709e-01 1.04448071e-01 1.90440060e+02] [ 1.25665973e-01 7.57233462e-04 9.92072321e-01 6.61900001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:190.43, Z:66.20 [[-5.59526867e-01 8.25857846e-01 6.99178350e-02 2.14308644e+02] [-8.19230429e-01 -5.63877203e-01 1.04422240e-01 1.90434838e+02] [ 1.25663000e-01 1.14823103e-03 9.92072322e-01 6.61959919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:190.44, Z:66.20 [[-5.61122414e-01 8.24771206e-01 6.99578114e-02 2.14309441e+02] [-8.18138702e-01 -5.65464989e-01 1.04395451e-01 1.90435550e+02] [ 1.25661055e-01 1.34343466e-03 9.92072323e-01 6.61975846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:190.43, Z:66.20 [[-5.63665547e-01 8.23031857e-01 6.99979505e-02 2.14307042e+02] [-8.16389295e-01 -5.67992719e-01 1.04368531e-01 1.90431901e+02] [ 1.25656952e-01 1.68336769e-03 9.92072324e-01 6.61968598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:190.43, Z:66.20 [[-5.65040344e-01 8.22085203e-01 7.00380462e-02 2.14304738e+02] [-8.15438725e-01 -5.69361496e-01 1.04341618e-01 1.90428348e+02] [ 1.25654667e-01 1.84548845e-03 9.92072325e-01 6.61952108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:190.43, Z:66.19 [[-5.66133509e-01 8.21329360e-01 7.00780509e-02 2.14302851e+02] [-8.14680435e-01 -5.70450894e-01 1.04314743e-01 1.90427232e+02] [ 1.25652848e-01 1.96485432e-03 9.92072327e-01 6.61908789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:190.43, Z:66.19 [[-5.65745869e-01 8.21593126e-01 7.01166696e-02 2.14300004e+02] [-8.14949429e-01 -5.70071293e-01 1.04288778e-01 1.90426349e+02] [ 1.25654444e-01 1.85940572e-03 9.92072328e-01 6.61892338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:190.43, Z:66.19 [[-5.65385478e-01 8.21837912e-01 7.01548823e-02 2.14297795e+02] [-8.15199276e-01 -5.69718661e-01 1.04263067e-01 1.90426306e+02] [ 1.25655887e-01 1.75861437e-03 9.92072329e-01 6.61897801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:190.43, Z:66.19 [[-5.63096253e-01 8.23404684e-01 7.01949838e-02 2.14294719e+02] [-8.16781470e-01 -5.67452971e-01 1.04236061e-01 1.90428084e+02] [ 1.25660813e-01 1.36097361e-03 9.92072330e-01 6.61918347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:190.43, Z:66.19 [[-5.59351672e-01 8.25949604e-01 7.02350285e-02 2.14292300e+02] [-8.19349601e-01 -5.63743471e-01 1.04209072e-01 1.90430581e+02] [ 1.25665981e-01 7.42476207e-04 9.92072331e-01 6.61946401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:190.43, Z:66.20 [[-5.55344895e-01 8.28645575e-01 7.02748703e-02 2.14289276e+02] [-8.22070293e-01 -5.59773618e-01 1.04182198e-01 1.90433113e+02] [ 1.25668135e-01 8.61683733e-05 9.92072332e-01 6.61986744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:190.44, Z:66.20 [[-5.51205586e-01 8.31400952e-01 7.03196939e-02 2.14287187e+02] [-8.24851666e-01 -5.55672660e-01 1.04151934e-01 1.90438001e+02] [ 1.25666749e-01 -5.94188529e-04 9.92072334e-01 6.62016388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:190.44, Z:66.20 [[-5.48739986e-01 8.33027007e-01 7.03593117e-02 2.14283949e+02] [-8.26494388e-01 -5.53231396e-01 1.04125164e-01 1.90436632e+02] [ 1.25664054e-01 -1.01393513e-03 9.92072335e-01 6.62034346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:190.44, Z:66.20 [[-5.47459787e-01 8.33865554e-01 7.03989986e-02 2.14281774e+02] [-8.27343263e-01 -5.51966180e-01 1.04098325e-01 1.90436439e+02] [ 1.25661874e-01 -1.25449027e-03 9.92072336e-01 6.62033713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:190.43, Z:66.20 [[-5.47930756e-01 8.33552806e-01 7.04386752e-02 2.14277983e+02] [-8.27031392e-01 -5.52438417e-01 1.04071471e-01 1.90433659e+02] [ 1.25662097e-01 -1.23103589e-03 9.92072337e-01 6.62013585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:190.43, Z:66.20 [[-5.50854364e-01 8.31619853e-01 7.04832579e-02 2.14275900e+02] [-8.25086483e-01 -5.55344676e-01 1.04041268e-01 1.90430400e+02] [ 1.25665286e-01 -8.43196653e-04 9.92072339e-01 6.61981122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:190.43, Z:66.20 [[-5.56085608e-01 8.28127176e-01 7.05278435e-02 2.14273228e+02] [-8.21569434e-01 -5.60540248e-01 1.04011036e-01 1.90425202e+02] [ 1.25668060e-01 -1.04480210e-04 9.92072340e-01 6.61977373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:190.42, Z:66.20 [[-5.60082102e-01 8.25425900e-01 7.05699805e-02 2.14269935e+02] [-8.18850276e-01 -5.64510300e-01 1.03982439e-01 1.90419944e+02] [ 1.25667279e-01 4.52455000e-04 9.92072341e-01 6.61997286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:190.41, Z:66.20 [[-5.65053881e-01 8.22026569e-01 7.06146705e-02 2.14266279e+02] [-8.15428099e-01 -5.69447962e-01 1.03952081e-01 1.90412131e+02] [ 1.25662753e-01 1.15734055e-03 9.92072343e-01 6.62040468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:190.41, Z:66.21 [[-5.68790514e-01 8.19441156e-01 7.06650063e-02 2.14265832e+02] [-8.12826964e-01 -5.73160891e-01 1.03917853e-01 1.90408672e+02] [ 1.25656983e-01 1.66906638e-03 9.92072345e-01 6.62091286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:190.40, Z:66.21 [[-5.71789307e-01 8.17348039e-01 7.07048220e-02 2.14263457e+02] [-8.10721198e-01 -5.76140478e-01 1.03890756e-01 1.90403916e+02] [ 1.25650815e-01 2.08172523e-03 9.92072346e-01 6.62092025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:190.40, Z:66.21 [[-5.73963583e-01 8.15818564e-01 7.07522128e-02 2.14261316e+02] [-8.09184104e-01 -5.78303124e-01 1.03858472e-01 1.90400016e+02] [ 1.25645895e-01 2.35941453e-03 9.92072347e-01 6.62084995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:190.40, Z:66.21 [[-5.76959766e-01 8.13698893e-01 7.07922315e-02 2.14257961e+02] [-8.07051835e-01 -5.81279984e-01 1.03831187e-01 1.90395193e+02] [ 1.25637429e-01 2.77341700e-03 9.92072348e-01 6.62072695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:190.39, Z:66.21 [[-5.78803986e-01 8.12384595e-01 7.08323128e-02 2.14249827e+02] [-8.05731069e-01 -5.83114233e-01 1.03803837e-01 1.90386057e+02] [ 1.25631968e-01 3.01027951e-03 9.92072350e-01 6.62066410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:190.39, Z:66.21 [[-5.77939899e-01 8.12993780e-01 7.08984289e-02 2.14250109e+02] [-8.06350328e-01 -5.82265652e-01 1.03758660e-01 1.90390115e+02] [ 1.25636865e-01 2.79729820e-03 9.92072353e-01 6.62064229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:190.39, Z:66.21 [[-5.76509698e-01 8.14005088e-01 7.09386023e-02 2.14247966e+02] [-8.07372600e-01 -5.80852240e-01 1.03731187e-01 1.90389788e+02] [ 1.25642560e-01 2.52815146e-03 9.92072354e-01 6.62082552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:190.39, Z:66.21 [[-5.74449233e-01 8.15456562e-01 7.09836235e-02 2.14245626e+02] [-8.08838851e-01 -5.78814259e-01 1.03700370e-01 1.90391757e+02] [ 1.25649481e-01 2.15628546e-03 9.92072355e-01 6.62110241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:190.39, Z:66.21 [[-5.72862088e-01 8.16568843e-01 7.10236077e-02 2.14242691e+02] [-8.09963001e-01 -5.77245053e-01 1.03672978e-01 1.90391119e+02] [ 1.25654150e-01 1.86382415e-03 9.92072357e-01 6.62123618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:190.39, Z:66.21 [[-5.71065690e-01 8.17822688e-01 7.10635549e-02 2.14236401e+02] [-8.11229876e-01 -5.75468228e-01 1.03645589e-01 1.90387477e+02] [ 1.25658532e-01 1.53956095e-03 9.92072358e-01 6.62149474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:190.39, Z:66.22 [[-5.70298843e-01 8.18353719e-01 7.11085066e-02 2.14233941e+02] [-8.11768850e-01 -5.74713250e-01 1.03614740e-01 1.90388427e+02] [ 1.25660509e-01 1.36769551e-03 9.92072359e-01 6.62158890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:190.38, Z:66.22 [[-5.68232330e-01 8.19780743e-01 7.12148356e-02 2.14223922e+02] [-8.13216117e-01 -5.72676769e-01 1.03541609e-01 1.90379530e+02] [ 1.25664499e-01 9.22637565e-04 9.92072368e-01 6.62168217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:190.38, Z:66.22 [[-5.68209912e-01 8.19792812e-01 7.12547586e-02 2.14225916e+02] [-8.13231725e-01 -5.72659573e-01 1.03514128e-01 1.90384215e+02] [ 1.25664858e-01 8.71123204e-04 9.92072369e-01 6.62153147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:190.39, Z:66.21 [[-5.67779861e-01 8.20086373e-01 7.13047675e-02 2.14222581e+02] [-8.13531912e-01 -5.72239273e-01 1.03479668e-01 1.90385482e+02] [ 1.25665654e-01 7.44967945e-04 9.92072371e-01 6.62130643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:190.38, Z:66.21 [[-5.68819374e-01 8.19361810e-01 7.13494504e-02 2.14217654e+02] [-8.12805533e-01 -5.73276112e-01 1.03448851e-01 1.90384096e+02] [ 1.25664973e-01 8.50482322e-04 9.92072372e-01 6.62119855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.21, Y:190.38, Z:66.21 [[-5.70034850e-01 8.18512326e-01 7.13991734e-02 2.14213205e+02] [-8.11953706e-01 -5.74488135e-01 1.03414521e-01 1.90380947e+02] [ 1.25664038e-01 9.77057612e-04 9.92072374e-01 6.62131964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:190.37, Z:66.22 [[-5.72045079e-01 8.17105202e-01 7.14389022e-02 2.14203504e+02] [-8.10539054e-01 -5.76487256e-01 1.03387069e-01 1.90372634e+02] [ 1.25661729e-01 1.23804406e-03 9.92072375e-01 6.62165737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:190.38, Z:66.22 [[-5.74299784e-01 8.15518570e-01 7.14788119e-02 2.14204525e+02] [-8.08943583e-01 -5.78728866e-01 1.03359470e-01 1.90379297e+02] [ 1.25658419e-01 1.53699499e-03 9.92072376e-01 6.62164907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:190.37, Z:66.22 [[-5.75773351e-01 8.14474931e-01 7.15236716e-02 2.14196363e+02] [-8.07895770e-01 -5.80196228e-01 1.03328418e-01 1.90373704e+02] [ 1.25656171e-01 1.71007779e-03 9.92072378e-01 6.62190365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:190.37, Z:66.22 [[-5.76508293e-01 8.13950946e-01 7.15684697e-02 2.14191175e+02] [-8.07371615e-01 -5.80930914e-01 1.03297381e-01 1.90372325e+02] [ 1.25655337e-01 1.76944560e-03 9.92072379e-01 6.62196072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:190.38, Z:66.22 [[-5.76475392e-01 8.13969848e-01 7.16185031e-02 2.14188717e+02] [-8.07394969e-01 -5.80904625e-01 1.03262680e-01 1.90378186e+02] [ 1.25656228e-01 1.70397481e-03 9.92072381e-01 6.62175624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:190.38, Z:66.22 [[-5.76071392e-01 8.14250980e-01 7.16735153e-02 2.14182033e+02] [-8.07683011e-01 -5.80510862e-01 1.03224483e-01 1.90375196e+02] [ 1.25657890e-01 1.57519085e-03 9.92072383e-01 6.62165516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:190.38, Z:66.22 [[-5.76157905e-01 8.14185835e-01 7.17181532e-02 2.14177705e+02] [-8.07621223e-01 -5.80602334e-01 1.03193460e-01 1.90377240e+02] [ 1.25658381e-01 1.53462526e-03 9.92072385e-01 6.62168822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:190.37, Z:66.22 [[-5.76951666e-01 8.13619166e-01 7.17678812e-02 2.14170521e+02] [-8.07054488e-01 -5.81395995e-01 1.03158865e-01 1.90370871e+02] [ 1.25657588e-01 1.59708811e-03 9.92072386e-01 6.62177630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:190.37, Z:66.22 [[-5.78655125e-01 8.12404133e-01 7.18176272e-02 2.14166884e+02] [-8.05834419e-01 -5.83092003e-01 1.03124221e-01 1.90369696e+02] [ 1.25654827e-01 1.80024292e-03 9.92072388e-01 6.62181117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.37, Z:66.22 [[-5.79692442e-01 8.11659871e-01 7.18674315e-02 2.14164478e+02] [-8.05088761e-01 -5.84127249e-01 1.03089501e-01 1.90369461e+02] [ 1.25653336e-01 1.90054303e-03 9.92072390e-01 6.62191172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.34, Z:66.22 [[-5.80845319e-01 8.10831283e-01 7.19120763e-02 2.14145368e+02] [-8.04257699e-01 -5.85276456e-01 1.03058349e-01 1.90344640e+02] [ 1.25651378e-01 2.02511835e-03 9.92072392e-01 6.62238361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.35, Z:66.23 [[-5.82648269e-01 8.09532682e-01 7.19571508e-02 2.14146477e+02] [-8.02953107e-01 -5.87070501e-01 1.03026867e-01 1.90346971e+02] [ 1.25647537e-01 2.25020818e-03 9.92072393e-01 6.62250657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.35, Z:66.22 [[-5.84021240e-01 8.08538692e-01 7.20025972e-02 2.14150743e+02] [-8.01955502e-01 -5.88438087e-01 1.02995097e-01 1.90350423e+02] [ 1.25644591e-01 2.40844509e-03 9.92072395e-01 6.62240455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.35, Z:66.22 [[-5.84356103e-01 8.08292682e-01 7.20477942e-02 2.14154045e+02] [-8.01711526e-01 -5.88775978e-01 1.02963471e-01 1.90353138e+02] [ 1.25644630e-01 2.40578550e-03 9.92072396e-01 6.62232196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.34, Z:66.22 [[-5.83680187e-01 8.08776904e-01 7.20927120e-02 2.14144425e+02] [-8.02203296e-01 -5.88111276e-01 1.02932011e-01 1.90336123e+02] [ 1.25647570e-01 2.24636415e-03 9.92072398e-01 6.62231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.34, Z:66.22 [[-5.82192029e-01 8.09844790e-01 7.21377654e-02 2.14147199e+02] [-8.03283220e-01 -5.86640922e-01 1.02900427e-01 1.90336519e+02] [ 1.25652340e-01 1.96075173e-03 9.92072399e-01 6.62210762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.35, Z:66.22 [[-5.81018852e-01 8.10682407e-01 7.21881420e-02 2.14156723e+02] [-8.04131639e-01 -5.85483632e-01 1.02865074e-01 1.90347871e+02] [ 1.25655881e-01 1.71777821e-03 9.92072401e-01 6.62197416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.35, Z:66.22 [[-5.79208860e-01 8.11972144e-01 7.22380385e-02 2.14157944e+02] [-8.05435687e-01 -5.83694562e-01 1.02830022e-01 1.90345806e+02] [ 1.25660064e-01 1.37696560e-03 9.92072403e-01 6.62206536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.34, Z:66.22 [[-5.77684925e-01 8.13052667e-01 7.22875353e-02 2.14155726e+02] [-8.06528953e-01 -5.82189137e-01 1.02795215e-01 1.90338823e+02] [ 1.25662942e-01 1.08125597e-03 9.92072405e-01 6.62221212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.34, Z:66.22 [[-5.76746989e-01 8.13714323e-01 7.23319557e-02 2.14159287e+02] [-8.07199695e-01 -5.81264331e-01 1.02763949e-01 1.90339960e+02] [ 1.25664483e-01 8.82465775e-04 9.92072406e-01 6.62212395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:190.33, Z:66.22 [[-5.77870196e-01 8.12913099e-01 7.23763135e-02 2.14156627e+02] [-8.06396120e-01 -5.82384143e-01 1.02732699e-01 1.90332189e+02] [ 1.25663574e-01 1.00218651e-03 9.92072408e-01 6.62195985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.33, Z:66.22 [[-5.79512486e-01 8.11737377e-01 7.24410795e-02 2.14154492e+02] [-8.05216948e-01 -5.84021442e-01 1.02687010e-01 1.90325655e+02] [ 1.25662028e-01 1.17761956e-03 9.92072411e-01 6.62179526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:190.33, Z:66.20 [[-5.77422938e-01 8.13221136e-01 7.24854040e-02 2.14168756e+02] [-8.06716222e-01 -5.81954244e-01 1.02655713e-01 1.90327784e+02] [ 1.25664984e-01 8.00612000e-04 9.92072412e-01 6.62029306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.31, Z:66.22 [[-5.84734295e-01 8.07976035e-01 7.25295232e-02 2.14151687e+02] [-8.01434348e-01 -5.89212348e-01 1.02624532e-01 1.90313792e+02] [ 1.25653453e-01 1.88043201e-03 9.92072414e-01 6.62185336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.31, Z:66.22 [[-5.87103814e-01 8.06250554e-01 7.25889524e-02 2.14147472e+02] [-7.99700901e-01 -5.91570202e-01 1.02582479e-01 1.90305789e+02] [ 1.25648642e-01 2.17711422e-03 9.92072416e-01 6.62209555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.30, Z:66.22 [[-5.90316237e-01 8.03891961e-01 7.26942600e-02 2.14143305e+02] [-7.97333644e-01 -5.94769880e-01 1.02507801e-01 1.90296217e+02] [ 1.25641553e-01 2.55043999e-03 9.92072424e-01 6.62234601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.29, Z:66.23 [[-5.92638435e-01 8.02177510e-01 7.27387656e-02 2.14141889e+02] [-7.95610181e-01 -5.97078777e-01 1.02476210e-01 1.90292133e+02] [ 1.25634884e-01 2.85963848e-03 9.92072426e-01 6.62257242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.29, Z:66.23 [[-5.93189209e-01 8.01766262e-01 7.27834048e-02 2.14142670e+02] [-7.95199739e-01 -5.97630739e-01 1.02444496e-01 1.90292746e+02] [ 1.25634141e-01 2.89162505e-03 9.92072427e-01 6.62263097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.29, Z:66.23 [[-5.93724941e-01 8.01365572e-01 7.28279820e-02 2.14141379e+02] [-7.94799933e-01 -5.98167774e-01 1.02412796e-01 1.90289142e+02] [ 1.25633441e-01 2.92135633e-03 9.92072429e-01 6.62266910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.28, Z:66.22 [[-5.93658978e-01 8.01410839e-01 7.28675877e-02 2.14138940e+02] [-7.94848992e-01 -5.98107408e-01 1.02384609e-01 1.90283146e+02] [ 1.25634779e-01 2.86281368e-03 9.92072430e-01 6.62249493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.28, Z:66.22 [[-5.93625056e-01 8.01432358e-01 7.29072552e-02 2.14140625e+02] [-7.94874137e-01 -5.98078827e-01 1.02356354e-01 1.90283318e+02] [ 1.25635980e-01 2.80920513e-03 9.92072431e-01 6.62225955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.28, Z:66.22 [[-5.92727457e-01 8.02091922e-01 7.29569047e-02 2.14141545e+02] [-7.95543007e-01 -5.97194898e-01 1.02320954e-01 1.90283518e+02] [ 1.25640302e-01 2.60808340e-03 9.92072433e-01 6.62212063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.28, Z:66.22 [[-5.91595934e-01 8.02923269e-01 7.29964025e-02 2.14140640e+02] [-7.96384106e-01 -5.96077634e-01 1.02292768e-01 1.90280507e+02] [ 1.25644767e-01 2.38281101e-03 9.92072434e-01 6.62226650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.28, Z:66.22 [[-5.91060299e-01 8.03313162e-01 7.30457862e-02 2.14140252e+02] [-7.96781308e-01 -5.95552644e-01 1.02257492e-01 1.90278536e+02] [ 1.25647400e-01 2.23882680e-03 9.92072436e-01 6.62232792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.27, Z:66.22 [[-5.91260303e-01 8.03162381e-01 7.30851874e-02 2.14136043e+02] [-7.96632860e-01 -5.95756034e-01 1.02229324e-01 1.90270412e+02] [ 1.25647688e-01 2.22207903e-03 9.92072437e-01 6.62243276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.27, Z:66.22 [[-5.91933838e-01 8.02661146e-01 7.31397058e-02 2.14135443e+02] [-7.96132633e-01 -5.96431029e-01 1.02190304e-01 1.90265642e+02] [ 1.25646977e-01 2.26099237e-03 9.92072440e-01 6.62239841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.26, Z:66.22 [[-5.92500703e-01 8.02239190e-01 7.31792254e-02 2.14135881e+02] [-7.95710966e-01 -5.96998312e-01 1.02161996e-01 1.90262243e+02] [ 1.25646231e-01 2.30154240e-03 9.92072441e-01 6.62234350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.26, Z:66.22 [[-5.92257821e-01 8.02414910e-01 7.32187604e-02 2.14134825e+02] [-7.95891520e-01 -5.96762436e-01 1.02133654e-01 1.90258647e+02] [ 1.25647773e-01 2.21526486e-03 9.92072442e-01 6.62230680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.26, Z:66.22 [[-5.92536650e-01 8.02204977e-01 7.32631847e-02 2.14135461e+02] [-7.95683928e-01 -5.97044650e-01 1.02101778e-01 1.90256318e+02] [ 1.25647947e-01 2.20470671e-03 9.92072443e-01 6.62225541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.25, Z:66.22 [[-5.93484727e-01 8.01498838e-01 7.33177351e-02 2.14136016e+02] [-7.94977260e-01 -5.97991959e-01 1.02062591e-01 1.90254872e+02] [ 1.25646464e-01 2.28665684e-03 9.92072446e-01 6.62220767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.25, Z:66.22 [[-5.94164067e-01 8.00991757e-01 7.33571200e-02 2.14134071e+02] [-7.94469824e-01 -5.98670783e-01 1.02034276e-01 1.90249221e+02] [ 1.25645378e-01 2.34508197e-03 9.92072447e-01 6.62225934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.25, Z:66.22 [[-5.93786555e-01 8.01267136e-01 7.34064318e-02 2.14135958e+02] [-7.94751674e-01 -5.98302619e-01 1.01998787e-01 1.90249297e+02] [ 1.25647537e-01 2.22562388e-03 9.92072449e-01 6.62225279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:190.25, Z:66.21 [[-5.87751270e-01 8.05701038e-01 7.34457790e-02 2.14151350e+02] [-7.99223193e-01 -5.92321125e-01 1.01970447e-01 1.90253141e+02] [ 1.25661182e-01 1.23368974e-03 9.92072450e-01 6.62108746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.24, Z:66.22 [[-5.92624399e-01 8.02119203e-01 7.34922211e-02 2.14132625e+02] [-7.95617891e-01 -5.97160804e-01 1.01936965e-01 1.90239680e+02] [ 1.25652271e-01 1.93860637e-03 9.92072451e-01 6.62243510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.24, Z:66.21 [[-5.87459155e-01 8.05906267e-01 7.35311488e-02 2.14142968e+02] [-7.99437719e-01 -5.92042156e-01 1.01908877e-01 1.90236324e+02] [ 1.25662542e-01 1.08372885e-03 9.92072453e-01 6.62128624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.23, Z:66.22 [[-5.92679027e-01 8.02071227e-01 7.35752503e-02 2.14131799e+02] [-7.95576980e-01 -5.97225535e-01 1.01877027e-01 1.90233290e+02] [ 1.25653650e-01 1.84560182e-03 9.92072454e-01 6.62236608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.23, Z:66.22 [[-5.92229201e-01 8.02399840e-01 7.36143414e-02 2.14132126e+02] [-7.95911624e-01 -5.96784311e-01 1.01848773e-01 1.90230850e+02] [ 1.25655323e-01 1.72730739e-03 9.92072455e-01 6.62225302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.23, Z:66.22 [[-5.91667335e-01 8.02810182e-01 7.36585132e-02 2.14132567e+02] [-7.96329101e-01 -5.96232588e-01 1.01816818e-01 1.90230419e+02] [ 1.25657184e-01 1.58526747e-03 9.92072457e-01 6.62234209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.23, Z:66.22 [[-5.91205095e-01 8.03146140e-01 7.37076299e-02 2.14129144e+02] [-7.96672084e-01 -5.95780302e-01 1.01781249e-01 1.90225786e+02] [ 1.25658771e-01 1.45278165e-03 9.92072458e-01 6.62247616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.22, Z:66.23 [[-5.90198922e-01 8.03881784e-01 7.37516762e-02 2.14125102e+02] [-7.97417418e-01 -5.94787808e-01 1.01749323e-01 1.90219772e+02] [ 1.25661025e-01 1.24146927e-03 9.92072460e-01 6.62259117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.22, Z:66.23 [[-5.89776175e-01 8.04188384e-01 7.37909662e-02 2.14129582e+02] [-7.97729968e-01 -5.94373428e-01 1.01720821e-01 1.90224543e+02] [ 1.25662092e-01 1.12725137e-03 9.92072461e-01 6.62254049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.22, Z:66.22 [[-5.87068863e-01 8.06163292e-01 7.38301866e-02 2.14135980e+02] [-7.99723922e-01 -5.91692754e-01 1.01692346e-01 1.90223139e+02] [ 1.25665423e-01 6.56643716e-04 9.92072462e-01 6.62154008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.22, Z:66.22 [[-5.88891036e-01 8.04829604e-01 7.38691823e-02 2.14135900e+02] [-7.98383315e-01 -5.93505275e-01 1.01664012e-01 1.90221818e+02] [ 1.25663956e-01 8.93102784e-04 9.92072463e-01 6.62167762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.21, Z:66.23 [[-5.94284118e-01 8.00852049e-01 7.39079356e-02 2.14126872e+02] [-7.94378384e-01 -5.98859868e-01 1.01635832e-01 1.90213318e+02] [ 1.25655760e-01 1.68969409e-03 9.92072465e-01 6.62257509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.21, Z:66.23 [[-5.95976093e-01 7.99589665e-01 7.39517748e-02 2.14124771e+02] [-7.93110264e-01 -6.00543714e-01 1.01603924e-01 1.90208702e+02] [ 1.25652721e-01 1.90159785e-03 9.92072466e-01 6.62276266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.21, Z:66.23 [[-5.97958625e-01 7.98104069e-01 7.39957914e-02 2.14125877e+02] [-7.91617285e-01 -6.02515752e-01 1.01571857e-01 1.90206800e+02] [ 1.25648543e-01 2.15942078e-03 9.92072467e-01 6.62299925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.20, Z:66.23 [[-5.99651100e-01 7.96829584e-01 7.40349413e-02 2.14125519e+02] [-7.90336634e-01 -6.04199437e-01 1.01543314e-01 1.90201537e+02] [ 1.25644586e-01 2.37803342e-03 9.92072469e-01 6.62313163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.19, Z:66.23 [[-6.01477627e-01 7.95447656e-01 7.40789474e-02 2.14116720e+02] [-7.88948207e-01 -6.06016669e-01 1.01511200e-01 1.90185026e+02] [ 1.25639923e-01 2.61226294e-03 9.92072470e-01 6.62333739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.18, Z:66.23 [[-6.01883430e-01 7.95136988e-01 7.41181964e-02 2.14118500e+02] [-7.88638721e-01 -6.06424161e-01 1.01482534e-01 1.90181748e+02] [ 1.25639582e-01 2.62817624e-03 9.92072471e-01 6.62266846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.19, Z:66.22 [[-6.02086189e-01 7.94979319e-01 7.41626807e-02 2.14124891e+02] [-7.88483863e-01 -6.06630936e-01 1.01450015e-01 1.90187454e+02] [ 1.25640041e-01 2.60557619e-03 9.92072473e-01 6.62226523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.18, Z:66.23 [[-6.05186747e-01 7.92617850e-01 7.42020580e-02 2.14122097e+02] [-7.86108189e-01 -6.09711123e-01 1.01421206e-01 1.90182167e+02] [ 1.25630079e-01 3.04792440e-03 9.92072474e-01 6.62305495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-6.06178433e-01 7.91856018e-01 7.42411875e-02 2.14117116e+02] [-7.85344173e-01 -6.10699664e-01 1.01392555e-01 1.90170787e+02] [ 1.25627373e-01 3.15709637e-03 9.92072475e-01 6.62321317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.18, Z:66.23 [[-6.07199356e-01 7.91069277e-01 7.42855327e-02 2.14125384e+02] [-7.84555542e-01 -6.11717860e-01 1.01360055e-01 1.90179195e+02] [ 1.25624613e-01 3.26463397e-03 9.92072477e-01 6.62314620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.24 [[-6.08303365e-01 7.90216961e-01 7.43247627e-02 2.14121035e+02] [-7.83700403e-01 -6.12817795e-01 1.01331281e-01 1.90169936e+02] [ 1.25621234e-01 3.39181281e-03 9.92072478e-01 6.62350488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.24 [[-6.08452864e-01 7.90098173e-01 7.43638966e-02 2.14123310e+02] [-7.83584236e-01 -6.12971073e-01 1.01302554e-01 1.90170884e+02] [ 1.25621880e-01 3.36745188e-03 9.92072479e-01 6.62352087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-6.08065519e-01 7.90392616e-01 7.44032036e-02 2.14124961e+02] [-7.83884393e-01 -6.12591953e-01 1.01273676e-01 1.90170848e+02] [ 1.25624770e-01 3.25752047e-03 9.92072480e-01 6.62344050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:190.18, Z:66.22 [[-6.02500048e-01 7.94639556e-01 7.44423815e-02 2.14138621e+02] [-7.88166807e-01 -6.07077063e-01 1.01244870e-01 1.90179698e+02] [ 1.25645441e-01 2.32702504e-03 9.92072481e-01 6.62212358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.17, Z:66.22 [[-6.02448949e-01 7.94674656e-01 7.44812375e-02 2.14131543e+02] [-7.88205704e-01 -6.07031328e-01 1.01216278e-01 1.90172556e+02] [ 1.25646455e-01 2.27110387e-03 9.92072482e-01 6.62242024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-6.02360488e-01 7.94738161e-01 7.45191049e-02 2.14120759e+02] [-7.88273138e-01 -6.06948407e-01 1.01188391e-01 1.90165815e+02] [ 1.25647528e-01 2.21047976e-03 9.92072484e-01 6.62313420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-5.99912271e-01 7.96584396e-01 7.45557985e-02 2.14121668e+02] [-7.90136853e-01 -6.04524719e-01 1.01161348e-01 1.90169479e+02] [ 1.25654374e-01 1.77864991e-03 9.92072485e-01 6.62325367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-5.98121757e-01 7.97926063e-01 7.45946535e-02 2.14120889e+02] [-7.91492438e-01 -6.02753598e-01 1.01132689e-01 1.90170532e+02] [ 1.25658604e-01 1.44855740e-03 9.92072486e-01 6.62330526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.17, Z:66.23 [[-5.97914890e-01 7.98077466e-01 7.46333884e-02 2.14119661e+02] [-7.91648581e-01 -6.02553306e-01 1.01104096e-01 1.90169799e+02] [ 1.25659495e-01 1.36822827e-03 9.92072487e-01 6.62337609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:190.18, Z:66.22 [[-5.95996716e-01 7.99507348e-01 7.46720549e-02 2.14133442e+02] [-7.93093169e-01 -6.00655444e-01 1.01075530e-01 1.90179559e+02] [ 1.25662805e-01 1.01878714e-03 9.92072488e-01 6.62225726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:190.16, Z:66.24 [[-6.04167603e-01 7.93344876e-01 7.47356367e-02 2.14112815e+02] [-7.86889005e-01 -6.08768378e-01 1.01028496e-01 1.90158636e+02] [ 1.25647132e-01 2.22949349e-03 9.92072491e-01 6.62364199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:190.15, Z:66.24 [[-6.09210566e-01 7.89475815e-01 7.47691449e-02 2.14109358e+02] [-7.82993773e-01 -6.13774393e-01 1.01003691e-01 1.90151545e+02] [ 1.25631358e-01 2.98874094e-03 9.92072492e-01 6.62367676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.16, Z:66.23 [[-6.08686248e-01 7.89876444e-01 7.48081209e-02 2.14119694e+02] [-7.83400949e-01 -6.13259357e-01 1.00974816e-01 1.90155069e+02] [ 1.25634408e-01 2.85722873e-03 9.92072493e-01 6.62261389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.15, Z:66.23 [[-6.11710512e-01 7.87533071e-01 7.48459164e-02 2.14118114e+02] [-7.81043483e-01 -6.16263598e-01 1.00946793e-01 1.90151027e+02] [ 1.25623751e-01 3.29229904e-03 9.92072494e-01 6.62272296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:190.14, Z:66.24 [[-6.16381649e-01 7.83878802e-01 7.48844912e-02 2.14106126e+02] [-7.77365700e-01 -6.20901032e-01 1.00918169e-01 1.90143003e+02] [ 1.25603471e-01 3.99147254e-03 9.92072495e-01 6.62364457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.14, Z:66.24 [[-6.17885027e-01 7.82690602e-01 7.49233890e-02 2.14101097e+02] [-7.76172302e-01 -6.22396908e-01 1.00889283e-01 1.90135425e+02] [ 1.25597179e-01 4.18451796e-03 9.92072497e-01 6.62395951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:190.15, Z:66.23 [[-6.15209468e-01 7.84791659e-01 7.49624104e-02 2.14117876e+02] [-7.78292296e-01 -6.19748583e-01 1.00860281e-01 1.90147205e+02] [ 1.25612155e-01 3.70753334e-03 9.92072498e-01 6.62276769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.13, Z:66.24 [[-6.19147568e-01 7.81684846e-01 7.50006071e-02 2.14101400e+02] [-7.75166145e-01 -6.23658867e-01 1.00831870e-01 1.90134007e+02] [ 1.25593538e-01 4.29187543e-03 9.92072499e-01 6.62386112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.13, Z:66.23 [[-6.16880339e-01 7.83472069e-01 7.50344245e-02 2.14104617e+02] [-7.76969494e-01 -6.21414849e-01 1.00806698e-01 1.90129339e+02] [ 1.25606738e-01 3.88621128e-03 9.92072500e-01 6.62329730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.13, Z:66.24 [[-6.21028841e-01 7.80183096e-01 7.50833930e-02 2.14098542e+02] [-7.73660912e-01 -6.25535097e-01 1.00770212e-01 1.90126520e+02] [ 1.25586514e-01 4.49212180e-03 9.92072502e-01 6.62392736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:190.13, Z:66.23 [[-6.19049475e-01 7.81751044e-01 7.51202518e-02 2.14110490e+02] [-7.75243600e-01 -6.23576990e-01 1.00742728e-01 1.90134167e+02] [ 1.25598994e-01 4.12823859e-03 9.92072503e-01 6.62321492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.12, Z:66.24 [[-6.23681526e-01 7.78056856e-01 7.51590484e-02 2.14093348e+02] [-7.71526084e-01 -6.28175324e-01 1.00713776e-01 1.90116173e+02] [ 1.25574103e-01 4.82615526e-03 9.92072504e-01 6.62423039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.12, Z:66.24 [[-6.22209608e-01 7.79231169e-01 7.51930111e-02 2.14103150e+02] [-7.72711933e-01 -6.26720122e-01 1.00688413e-01 1.90122336e+02] [ 1.25584523e-01 4.54676102e-03 9.92072505e-01 6.62382811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.12, Z:66.24 [[-6.20758537e-01 7.80383865e-01 7.52320525e-02 2.14102241e+02] [-7.73876530e-01 -6.25286202e-01 1.00659234e-01 1.90120636e+02] [ 1.25594407e-01 4.26475908e-03 9.92072506e-01 6.62383901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.12, Z:66.24 [[-6.19437450e-01 7.81429165e-01 7.52708877e-02 2.14103721e+02] [-7.74932990e-01 -6.23981111e-01 1.00630186e-01 1.90120928e+02] [ 1.25602974e-01 4.00421148e-03 9.92072507e-01 6.62379928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.12, Z:66.24 [[-6.17578016e-01 7.82895811e-01 7.53096538e-02 2.14102863e+02] [-7.76413958e-01 -6.22142083e-01 1.00601166e-01 1.90117697e+02] [ 1.25613536e-01 3.65760181e-03 9.92072508e-01 6.62360592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.12, Z:66.24 [[-6.15669992e-01 7.84393450e-01 7.53483640e-02 2.14102040e+02] [-7.77926243e-01 -6.20254787e-01 1.00572164e-01 1.90115792e+02] [ 1.25623330e-01 3.30379393e-03 9.92072509e-01 6.62356808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.24 [[-6.14961671e-01 7.84945179e-01 7.53870629e-02 2.14097649e+02] [-7.78485635e-01 -6.19557254e-01 1.00543148e-01 1.90114362e+02] [ 1.25627461e-01 3.14243679e-03 9.92072511e-01 6.62416190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.24 [[-6.13413145e-01 7.86152660e-01 7.54208757e-02 2.14096522e+02] [-7.79705278e-01 -6.18025773e-01 1.00517778e-01 1.90112137e+02] [ 1.25634363e-01 2.85287127e-03 9.92072511e-01 6.62425683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.24 [[-6.11669461e-01 7.87506391e-01 7.54596243e-02 2.14098367e+02] [-7.81072803e-01 -6.16301308e-01 1.00488681e-01 1.90114358e+02] [ 1.25641343e-01 2.52639683e-03 9.92072513e-01 6.62433410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.25 [[-6.09393646e-01 7.89265096e-01 7.54982911e-02 2.14098303e+02] [-7.82848474e-01 -6.14048965e-01 1.00459621e-01 1.90114216e+02] [ 1.25648920e-01 2.11573301e-03 9.92072514e-01 6.62450690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.25 [[-6.07024852e-01 7.91084707e-01 7.55368507e-02 2.14098845e+02] [-7.84685647e-01 -6.11704280e-01 1.00430620e-01 1.90113808e+02] [ 1.25655342e-01 1.69119959e-03 9.92072515e-01 6.62455406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.25 [[-6.04717203e-01 7.92846437e-01 7.55753420e-02 2.14098453e+02] [-7.86464629e-01 -6.09420131e-01 1.00401646e-01 1.90113891e+02] [ 1.25660223e-01 1.27726949e-03 9.92072516e-01 6.62455300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:190.11, Z:66.25 [[-6.04032235e-01 7.93364745e-01 7.56137652e-02 2.14096436e+02] [-7.86990594e-01 -6.08745534e-01 1.00372701e-01 1.90111751e+02] [ 1.25661704e-01 1.12102504e-03 9.92072517e-01 6.62463245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.11, Z:66.24 [[-6.03761492e-01 7.93567145e-01 7.56521518e-02 2.14093697e+02] [-7.87198199e-01 -6.08481820e-01 1.00343761e-01 1.90107632e+02] [ 1.25662471e-01 1.03046097e-03 9.92072518e-01 6.62447064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.11, Z:66.24 [[-6.03601388e-01 7.93685267e-01 7.56905656e-02 2.14094602e+02] [-7.87320878e-01 -6.08327856e-01 1.00314777e-01 1.90109087e+02] [ 1.25663040e-01 9.57375755e-04 9.92072519e-01 6.62440091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.11, Z:66.25 [[-6.04031332e-01 7.93354446e-01 7.57289428e-02 2.14091810e+02] [-7.86991100e-01 -6.08759203e-01 1.00285797e-01 1.90106934e+02] [ 1.25662874e-01 9.77759451e-04 9.92072521e-01 6.62455177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.11, Z:66.25 [[-6.05588617e-01 7.92162691e-01 7.57673987e-02 2.14090676e+02] [-7.85793676e-01 -6.10308845e-01 1.00256735e-01 1.90105727e+02] [ 1.25661158e-01 1.17679454e-03 9.92072522e-01 6.62472910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:190.10, Z:66.25 [[-6.07816711e-01 7.90450718e-01 7.58057283e-02 2.14087631e+02] [-7.84072022e-01 -6.12523847e-01 1.00227745e-01 1.90102230e+02] [ 1.25657909e-01 1.48294751e-03 9.92072523e-01 6.62490942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.10, Z:66.25 [[-6.09986103e-01 7.88774132e-01 7.58440721e-02 2.14083493e+02] [-7.82386105e-01 -6.14680566e-01 1.00198721e-01 1.90096285e+02] [ 1.25654037e-01 1.78047921e-03 9.92072524e-01 6.62502688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.09, Z:66.25 [[-6.12655070e-01 7.86699187e-01 7.58825000e-02 2.14082822e+02] [-7.80298865e-01 -6.17332755e-01 1.00169611e-01 1.90093890e+02] [ 1.25648104e-01 2.15839127e-03 9.92072525e-01 6.62493993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.09, Z:66.25 [[-6.14250174e-01 7.85450653e-01 7.59209866e-02 2.14081432e+02] [-7.79044425e-01 -6.18919766e-01 1.00140432e-01 1.90092219e+02] [ 1.25644367e-01 2.36545666e-03 9.92072526e-01 6.62491344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.09, Z:66.25 [[-6.15280006e-01 7.84640461e-01 7.59595971e-02 2.14078687e+02] [-7.78231698e-01 -6.19946115e-01 1.00111137e-01 1.90089227e+02] [ 1.25642106e-01 2.48221459e-03 9.92072528e-01 6.62500187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:190.08, Z:66.25 [[-6.17176353e-01 7.83145990e-01 7.59980801e-02 2.14073288e+02] [-7.76729521e-01 -6.21831859e-01 1.00081915e-01 1.90081720e+02] [ 1.25636777e-01 2.73823873e-03 9.92072529e-01 6.62501536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:190.08, Z:66.25 [[-6.18571283e-01 7.82040915e-01 7.60366734e-02 2.14074997e+02] [-7.75619729e-01 -6.23220279e-01 1.00052585e-01 1.90084371e+02] [ 1.25632812e-01 2.91411187e-03 9.92072530e-01 6.62497600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.08, Z:66.24 [[-6.16583399e-01 7.83605427e-01 7.60752744e-02 2.14077555e+02] [-7.77199657e-01 -6.21253610e-01 1.00023226e-01 1.90083257e+02] [ 1.25640782e-01 2.54698364e-03 9.92072531e-01 6.62432884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:190.08, Z:66.24 [[-6.16585305e-01 7.83600241e-01 7.61132328e-02 2.14075223e+02] [-7.77197994e-01 -6.21260342e-01 9.99943335e-02 1.90081461e+02] [ 1.25641717e-01 2.49998480e-03 9.92072532e-01 6.62437784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:190.08, Z:66.25 [[-6.18498410e-01 7.82087365e-01 7.61516264e-02 2.14069602e+02] [-7.75677279e-01 -6.23162692e-01 9.99650861e-02 1.90080918e+02] [ 1.25636283e-01 2.75916043e-03 9.92072533e-01 6.62517350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:190.08, Z:66.25 [[-6.18391153e-01 7.82168602e-01 7.61883153e-02 2.14068902e+02] [-7.75762570e-01 -6.23060999e-01 9.99371160e-02 1.90080968e+02] [ 1.25637642e-01 2.69618519e-03 9.92072534e-01 6.62518463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:190.08, Z:66.25 [[-6.17575525e-01 7.82809016e-01 7.62267441e-02 2.14066995e+02] [-7.76411440e-01 -6.22256947e-01 9.99077962e-02 1.90079533e+02] [ 1.25641345e-01 2.51729353e-03 9.92072536e-01 6.62524141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:190.08, Z:66.25 [[-6.16013092e-01 7.84035713e-01 7.62618619e-02 2.14063948e+02] [-7.77650776e-01 -6.20711736e-01 9.98809829e-02 1.90078138e+02] [ 1.25646890e-01 2.22289700e-03 9.92072537e-01 6.62538729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:190.08, Z:66.25 [[-6.14065878e-01 7.85558002e-01 7.63002247e-02 2.14063980e+02] [-7.79188353e-01 -6.18785225e-01 9.98516687e-02 1.90078214e+02] [ 1.25652729e-01 1.86325611e-03 9.92072538e-01 6.62507008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:190.07, Z:66.26 [[-6.13694917e-01 7.85844116e-01 7.63385508e-02 2.14057627e+02] [-7.79480310e-01 -6.18422139e-01 9.98223592e-02 1.90073485e+02] [ 1.25654263e-01 1.75607724e-03 9.92072539e-01 6.62575311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:190.08, Z:66.26 [[-6.13114932e-01 7.86293020e-01 7.63764803e-02 2.14060053e+02] [-7.79936289e-01 -6.17851662e-01 9.97933302e-02 1.90078961e+02] [ 1.25656134e-01 1.61599223e-03 9.92072540e-01 6.62566501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:190.08, Z:66.26 [[-6.13073074e-01 7.86321921e-01 7.64149313e-02 2.14058407e+02] [-7.79969083e-01 -6.17815019e-01 9.97638785e-02 1.90077501e+02] [ 1.25656817e-01 1.56126375e-03 9.92072541e-01 6.62565422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.78, Z:66.30 [[-6.13520297e-01 7.85969316e-01 7.64531229e-02 2.13829241e+02] [-7.79617398e-01 -6.18263473e-01 9.97346023e-02 1.89780994e+02] [ 1.25656510e-01 1.58501807e-03 9.92072542e-01 6.62993247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:190.06, Z:66.26 [[-6.15635769e-01 7.84314753e-01 7.64393104e-02 2.14046920e+02] [-7.77948774e-01 -6.20360058e-01 9.97451875e-02 1.90064115e+02] [ 1.25651517e-01 1.94083738e-03 9.92072542e-01 6.62585762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:190.06, Z:66.26 [[-6.15892337e-01 7.84090164e-01 7.66762318e-02 2.14044430e+02] [-7.77745130e-01 -6.20644644e-01 9.95627344e-02 1.90061721e+02] [ 1.25654853e-01 1.68535930e-03 9.92072587e-01 6.62589571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:190.06, Z:66.26 [[-6.15688512e-01 7.84246486e-01 7.67144341e-02 2.14044246e+02] [-7.77906325e-01 -6.20447317e-01 9.95332904e-02 1.90062542e+02] [ 1.25655898e-01 1.60485996e-03 9.92072588e-01 6.62587262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:190.05, Z:66.26 [[-6.15003016e-01 7.84780434e-01 7.67525939e-02 2.14030821e+02] [-7.78448076e-01 -6.19772197e-01 9.95038560e-02 1.90048100e+02] [ 1.25657803e-01 1.44726251e-03 9.92072589e-01 6.62609892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:190.06, Z:66.26 [[-6.14767824e-01 7.84960937e-01 7.67909514e-02 2.14038332e+02] [-7.78633676e-01 -6.19543763e-01 9.94742454e-02 1.90058594e+02] [ 1.25658752e-01 1.36154464e-03 9.92072590e-01 6.62598394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:190.06, Z:66.26 [[-6.14731335e-01 7.84985757e-01 7.68293291e-02 2.14035675e+02] [-7.78662393e-01 -6.19512430e-01 9.94445956e-02 1.90058861e+02] [ 1.25659316e-01 1.30759988e-03 9.92072591e-01 6.62601667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.80, Z:66.30 [[-6.14799322e-01 7.84928779e-01 7.68674548e-02 2.13829551e+02] [-7.78608655e-01 -6.19584698e-01 9.94151171e-02 1.89796517e+02] [ 1.25659685e-01 1.27068102e-03 9.92072593e-01 6.62973303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:190.05, Z:66.26 [[-6.15951127e-01 7.84026319e-01 7.68566220e-02 2.14026890e+02] [-7.77698139e-01 -6.20725844e-01 9.94234911e-02 1.90053346e+02] [ 1.25657525e-01 1.46875954e-03 9.92072593e-01 6.62609020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:190.05, Z:66.26 [[-6.17219760e-01 7.83015364e-01 7.69851128e-02 2.14016853e+02] [-7.76691770e-01 -6.22000528e-01 9.93239010e-02 1.90045153e+02] [ 1.25656921e-01 1.51097076e-03 9.92072606e-01 6.62622962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:190.05, Z:66.26 [[-6.18151595e-01 7.82269379e-01 7.70923108e-02 2.14015383e+02] [-7.75950390e-01 -6.22938432e-01 9.92406288e-02 1.90048812e+02] [ 1.25656668e-01 1.52594445e-03 9.92072615e-01 6.62614667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:190.05, Z:66.26 [[-6.17638293e-01 7.82670487e-01 7.71352566e-02 2.14017218e+02] [-7.76358774e-01 -6.22434718e-01 9.92072380e-02 1.90054260e+02] [ 1.25658239e-01 1.38955587e-03 9.92072616e-01 6.62562043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:190.05, Z:66.26 [[-6.19354010e-01 7.81309768e-01 7.71729041e-02 2.14005853e+02] [-7.74991165e-01 -6.24141354e-01 9.91779436e-02 1.90046007e+02] [ 1.25655497e-01 1.61793822e-03 9.92072618e-01 6.62641434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:190.04, Z:66.27 [[-6.19716719e-01 7.81018358e-01 7.72108335e-02 2.13999633e+02] [-7.74701182e-01 -6.24505942e-01 9.91484067e-02 1.90043409e+02] [ 1.25655350e-01 1.62860132e-03 9.92072619e-01 6.62658751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:190.05, Z:66.27 [[-6.20214953e-01 7.80618992e-01 7.72489587e-02 2.14000413e+02] [-7.74302430e-01 -6.25004985e-01 9.91186937e-02 1.90048850e+02] [ 1.25654919e-01 1.66083942e-03 9.92072620e-01 6.62653214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:190.05, Z:66.26 [[-6.21433662e-01 7.79645367e-01 7.72871623e-02 2.13994474e+02] [-7.73325004e-01 -6.26218675e-01 9.90888959e-02 1.90045966e+02] [ 1.25652863e-01 1.80908037e-03 9.92072621e-01 6.62644101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:190.04, Z:66.26 [[-6.22380873e-01 7.78885658e-01 7.73251642e-02 2.13989099e+02] [-7.72563137e-01 -6.27163032e-01 9.90592320e-02 1.90041824e+02] [ 1.25651299e-01 1.91399988e-03 9.92072622e-01 6.62640040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:190.04, Z:66.26 [[-6.23521523e-01 7.77969032e-01 7.73634019e-02 2.13988770e+02] [-7.71643184e-01 -6.28299278e-01 9.90293602e-02 1.90044028e+02] [ 1.25649145e-01 2.04999573e-03 9.92072623e-01 6.62626491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:190.04, Z:66.26 [[-6.25578030e-01 7.76312512e-01 7.74016281e-02 2.13985716e+02] [-7.69977707e-01 -6.30343902e-01 9.89994737e-02 1.90043978e+02] [ 1.25644174e-01 2.33436753e-03 9.92072624e-01 6.62634945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:190.04, Z:66.26 [[-6.27575464e-01 7.74694855e-01 7.74397730e-02 2.13979443e+02] [-7.68351445e-01 -6.32329874e-01 9.89696270e-02 1.90039709e+02] [ 1.25638743e-01 2.60994806e-03 9.92072626e-01 6.62641411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:190.04, Z:66.26 [[-6.29744580e-01 7.72928798e-01 7.74779761e-02 2.13976807e+02] [-7.66575731e-01 -6.34486077e-01 9.89397110e-02 1.90039685e+02] [ 1.25632049e-01 2.91401054e-03 9.92072627e-01 6.62636904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:190.04, Z:66.26 [[-6.31275559e-01 7.71675064e-01 7.75162249e-02 2.13974555e+02] [-7.65316255e-01 -6.36009350e-01 9.89097354e-02 1.90038881e+02] [ 1.25627220e-01 3.11487146e-03 9.92072628e-01 6.62630732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:190.04, Z:66.26 [[-6.33762840e-01 7.69629762e-01 7.75544493e-02 2.13968358e+02] [-7.63259340e-01 -6.38480990e-01 9.88797550e-02 1.90035794e+02] [ 1.25617844e-01 3.47215653e-03 9.92072629e-01 6.62627065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:190.04, Z:66.26 [[-6.36176132e-01 7.67632270e-01 7.75927004e-02 2.13965570e+02] [-7.61250690e-01 -6.40879176e-01 9.88497297e-02 1.90035636e+02] [ 1.25607788e-01 3.81834197e-03 9.92072630e-01 6.62623515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:190.03, Z:66.26 [[-6.37735220e-01 7.66333141e-01 7.76357275e-02 2.13955249e+02] [-7.59946085e-01 -6.42430822e-01 9.88159253e-02 1.90025071e+02] [ 1.25601503e-01 4.01942876e-03 9.92072632e-01 6.62644639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:190.02, Z:66.27 [[-6.39356651e-01 7.64976993e-01 7.76741523e-02 2.13949729e+02] [-7.58583637e-01 -6.44043670e-01 9.87857125e-02 1.90022977e+02] [ 1.25594343e-01 4.23696137e-03 9.92072633e-01 6.62657069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:190.02, Z:66.27 [[-6.40075823e-01 7.64370429e-01 7.77225125e-02 2.13947635e+02] [-7.57977238e-01 -6.44763064e-01 9.87476494e-02 1.90022422e+02] [ 1.25592388e-01 4.29408763e-03 9.92072635e-01 6.62656727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:190.03, Z:66.26 [[-6.40526661e-01 7.63987759e-01 7.77708198e-02 2.13947733e+02] [-7.57596374e-01 -6.45216360e-01 9.87095896e-02 1.90026254e+02] [ 1.25591923e-01 4.30723274e-03 9.92072637e-01 6.62634546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.94, Y:190.03, Z:66.26 [[-6.40384354e-01 7.64103131e-01 7.78092740e-02 2.13943551e+02] [-7.57716263e-01 -6.45080202e-01 9.86792683e-02 1.90025163e+02] [ 1.25594360e-01 4.23530724e-03 9.92072638e-01 6.62629969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:190.01, Z:66.26 [[-6.40261463e-01 7.64201717e-01 7.78523848e-02 2.13932091e+02] [-7.57819696e-01 -6.44963894e-01 9.86452448e-02 1.90013637e+02] [ 1.25596843e-01 4.16067820e-03 9.92072639e-01 6.62643581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:190.02, Z:66.26 [[-6.40470731e-01 7.64022411e-01 7.78909303e-02 2.13930829e+02] [-7.57642765e-01 -6.45176381e-01 9.86147998e-02 1.90016846e+02] [ 1.25597306e-01 4.14639319e-03 9.92072641e-01 6.62641209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:190.01, Z:66.26 [[-6.40659436e-01 7.63859751e-01 7.79343797e-02 2.13924453e+02] [-7.57483076e-01 -6.45369108e-01 9.85804505e-02 1.90012543e+02] [ 1.25598079e-01 4.12252221e-03 9.92072642e-01 6.62639727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:190.02, Z:66.26 [[-6.40579855e-01 7.63922546e-01 7.79730234e-02 2.13925616e+02] [-7.57550043e-01 -6.45295169e-01 9.85498756e-02 1.90016414e+02] [ 1.25600087e-01 4.06059779e-03 9.92072643e-01 6.62622289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:190.02, Z:66.26 [[-6.39765324e-01 7.64600885e-01 7.80116421e-02 2.13921084e+02] [-7.58237100e-01 -6.44492396e-01 9.85192959e-02 1.90016012e+02] [ 1.25605851e-01 3.87790799e-03 9.92072645e-01 6.62626842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:190.02, Z:66.25 [[-6.35066156e-01 7.68504004e-01 7.80549376e-02 2.13927072e+02] [-7.62173493e-01 -6.39837694e-01 9.84849821e-02 1.90019870e+02] [ 1.25628594e-01 3.05307462e-03 9.92072646e-01 6.62540948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:190.02, Z:66.27 [[-6.36286887e-01 7.67488714e-01 7.81029539e-02 2.13915162e+02] [-7.61155256e-01 -6.41054511e-01 9.84468886e-02 1.90017552e+02] [ 1.25625127e-01 3.19199039e-03 9.92072648e-01 6.62658408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:190.02, Z:66.27 [[-6.35914518e-01 7.67793395e-01 7.81410870e-02 2.13912273e+02] [-7.61465935e-01 -6.40690097e-01 9.84166117e-02 1.90015342e+02] [ 1.25627845e-01 3.08277625e-03 9.92072649e-01 6.62665396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:190.00, Z:66.26 [[-6.32110145e-01 7.70924115e-01 7.81842262e-02 2.13902069e+02] [-7.64624549e-01 -6.36922457e-01 9.83823294e-02 1.89997064e+02] [ 1.25642600e-01 2.40688981e-03 9.92072651e-01 6.62596897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:190.00, Z:66.27 [[-6.33769737e-01 7.69555950e-01 7.82276220e-02 2.13898267e+02] [-7.63250251e-01 -6.38574007e-01 9.83478118e-02 1.90002251e+02] [ 1.25638270e-01 2.62261471e-03 9.92072652e-01 6.62679931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:190.02, Z:66.26 [[-6.32410600e-01 7.70668833e-01 7.82712137e-02 2.13910186e+02] [-7.64375879e-01 -6.37231550e-01 9.83131069e-02 1.90020411e+02] [ 1.25643734e-01 2.34562315e-03 9.92072654e-01 6.62638558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:190.00, Z:66.26 [[-6.30633694e-01 7.72118670e-01 7.83192348e-02 2.13894884e+02] [-7.65841549e-01 -6.35475238e-01 9.82748372e-02 1.90004239e+02] [ 1.25649771e-01 1.99529948e-03 9.92072656e-01 6.62643667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:189.96, Z:66.26 [[-6.26711190e-01 7.75301027e-01 7.83670966e-02 2.13863025e+02] [-7.69053266e-01 -6.31590558e-01 9.82366563e-02 1.89961094e+02] [ 1.25658899e-01 1.29754013e-03 9.92072657e-01 6.62630720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:190.02, Z:66.26 [[-6.25661857e-01 7.76144120e-01 7.84062936e-02 2.13901772e+02] [-7.69906853e-01 -6.30554632e-01 9.82053620e-02 1.90017944e+02] [ 1.25660966e-01 1.07780635e-03 9.92072659e-01 6.62622257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:190.01, Z:66.25 [[-6.19095586e-01 7.81386385e-01 7.84600096e-02 2.13897064e+02] [-7.75195990e-01 -6.24047527e-01 9.81624278e-02 1.90010168e+02] [ 1.25665560e-01 -4.99589807e-05 9.92072661e-01 6.62547016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:189.99, Z:66.26 [[-6.17202247e-01 7.82878490e-01 7.85025812e-02 2.13878110e+02] [-7.76704397e-01 -6.22174495e-01 9.81283708e-02 1.89989288e+02] [ 1.25664895e-01 -4.08248992e-04 9.92072662e-01 6.62581188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:190.02, Z:66.26 [[-6.18479265e-01 7.81864219e-01 7.85604380e-02 2.13892136e+02] [-7.75687855e-01 -6.23448688e-01 9.80820299e-02 1.90016255e+02] [ 1.25665232e-01 -2.76675882e-04 9.92072665e-01 6.62631513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:190.01, Z:66.26 [[-6.17525245e-01 7.82613144e-01 7.86081359e-02 2.13883216e+02] [-7.76447673e-01 -6.22508174e-01 9.80437877e-02 1.90008532e+02] [ 1.25664564e-01 -4.90590165e-04 9.92072667e-01 6.62627219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:190.02, Z:66.26 [[-6.17326603e-01 7.82765097e-01 7.86553798e-02 2.13888029e+02] [-7.76605682e-01 -6.22317012e-01 9.80058720e-02 1.90017229e+02] [ 1.25664157e-01 -5.82582951e-04 9.92072669e-01 6.62601849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:189.99, Z:66.27 [[-6.17117068e-01 7.82925567e-01 7.87024841e-02 2.13866542e+02] [-7.76772274e-01 -6.22115021e-01 9.79680311e-02 1.89994103e+02] [ 1.25663674e-01 -6.76163362e-04 9.92072671e-01 6.62650167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:189.99, Z:66.27 [[-6.18200077e-01 7.82066426e-01 7.87449713e-02 2.13863190e+02] [-7.75910537e-01 -6.23194830e-01 9.79338690e-02 1.89992016e+02] [ 1.25664250e-01 -5.56327607e-04 9.92072672e-01 6.62659841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:190.01, Z:66.26 [[-6.20996635e-01 7.79843346e-01 7.87879142e-02 2.13874043e+02] [-7.73673959e-01 -6.25974704e-01 9.78993094e-02 1.90006518e+02] [ 1.25665366e-01 -1.61015820e-04 9.92072674e-01 6.62637867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:189.98, Z:66.27 [[-6.25227805e-01 7.76450370e-01 7.88353663e-02 2.13855259e+02] [-7.70258787e-01 -6.30178237e-01 9.78610831e-02 1.89984015e+02] [ 1.25664606e-01 4.61836567e-04 9.92072676e-01 6.62676564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:189.99, Z:66.27 [[-6.28162018e-01 7.74074119e-01 7.88779933e-02 2.13859677e+02] [-7.67868124e-01 -6.33094368e-01 9.78267130e-02 1.89989598e+02] [ 1.25662340e-01 8.83128742e-04 9.92072677e-01 6.62667597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:189.99, Z:66.27 [[-6.31647111e-01 7.71228517e-01 7.89208565e-02 2.13860391e+02] [-7.65004623e-01 -6.36556853e-01 9.77921215e-02 1.89990461e+02] [ 1.25657685e-01 1.39529084e-03 9.92072679e-01 6.62654288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:189.98, Z:66.27 [[-6.33874727e-01 7.69393808e-01 7.89683438e-02 2.13851263e+02] [-7.63160480e-01 -6.38772483e-01 9.77537601e-02 1.89979423e+02] [ 1.25653943e-01 1.69811884e-03 9.92072680e-01 6.62659309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.96, Z:66.27 [[-6.35029189e-01 7.68436845e-01 7.90110346e-02 2.13835439e+02] [-7.62200428e-01 -6.39923009e-01 9.77192427e-02 1.89959543e+02] [ 1.25652046e-01 1.83232711e-03 9.92072682e-01 6.62685578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.96, Z:66.27 [[-6.34970922e-01 7.68480042e-01 7.90591769e-02 2.13837979e+02] [-7.62248805e-01 -6.39871333e-01 9.76802783e-02 1.89962640e+02] [ 1.25653045e-01 1.76137320e-03 9.92072684e-01 6.62673049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.97, Z:66.27 [[-6.33987251e-01 7.69287298e-01 7.91025852e-02 2.13839752e+02] [-7.63066685e-01 -6.38901140e-01 9.76451133e-02 1.89965642e+02] [ 1.25655877e-01 1.54520955e-03 9.92072685e-01 6.62670519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.97, Z:66.27 [[-6.31414023e-01 7.71395815e-01 7.91506724e-02 2.13844341e+02] [-7.65196498e-01 -6.36354748e-01 9.76061188e-02 1.89971322e+02] [ 1.25660858e-01 1.06405474e-03 9.92072687e-01 6.62662549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:189.98, Z:66.26 [[-6.27572791e-01 7.74519708e-01 7.91935180e-02 2.13851095e+02] [-7.68349373e-01 -6.32549661e-01 9.75713435e-02 1.89978323e+02] [ 1.25664761e-01 3.84830473e-04 9.92072689e-01 6.62641782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.97, Z:66.27 [[-6.25328322e-01 7.76328141e-01 7.92408262e-02 2.13842192e+02] [-7.70177067e-01 -6.30328975e-01 9.75329081e-02 1.89967021e+02] [ 1.25665330e-01 -3.93774066e-05 9.92072691e-01 6.62650820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.97, Z:66.27 [[-6.21221976e-01 7.79613639e-01 7.92832324e-02 2.13841952e+02] [-7.73493410e-01 -6.26260331e-01 9.74984248e-02 1.89967281e+02] [ 1.25663045e-01 -7.56893628e-04 9.92072692e-01 6.62650000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.97, Z:66.26 [[-6.18184028e-01 7.82020417e-01 7.93257486e-02 2.13842617e+02] [-7.75924241e-01 -6.23251455e-01 9.74638211e-02 1.89968032e+02] [ 1.25658586e-01 -1.30019381e-03 9.92072694e-01 6.62649395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:189.98, Z:66.26 [[-6.17105564e-01 7.82867437e-01 7.93681247e-02 2.13853640e+02] [-7.76782653e-01 -6.22186662e-01 9.74293008e-02 1.89979895e+02] [ 1.25656016e-01 -1.52761888e-03 9.92072695e-01 6.62620845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.94, Z:66.27 [[-6.17099617e-01 7.82867379e-01 7.94149190e-02 2.13825228e+02] [-7.76787501e-01 -6.22186582e-01 9.73911439e-02 1.89943990e+02] [ 1.25655247e-01 -1.58847890e-03 9.92072697e-01 6.62685368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:189.97, Z:66.26 [[-6.18442697e-01 7.81802517e-01 7.94572483e-02 2.13849734e+02] [-7.75718315e-01 -6.23524489e-01 9.73565973e-02 1.89971993e+02] [ 1.25657173e-01 -1.42696615e-03 9.92072698e-01 6.62636298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:189.97, Z:66.26 [[-6.20583495e-01 7.80099464e-01 7.95044192e-02 2.13849559e+02] [-7.74006250e-01 -6.25654474e-01 9.73180611e-02 1.89969565e+02] [ 1.25660063e-01 -1.14293486e-03 9.92072700e-01 6.62638262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.94, Z:66.27 [[-6.25139715e-01 7.76448811e-01 7.95460916e-02 2.13827363e+02] [-7.70330315e-01 -6.30180158e-01 9.72839871e-02 1.89939264e+02] [ 1.25664405e-01 -4.60681813e-04 9.92072702e-01 6.62686810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.94, Z:66.27 [[-6.26988727e-01 7.74952633e-01 7.95836186e-02 2.13831736e+02] [-7.68826006e-01 -6.32019281e-01 9.72532785e-02 1.89943484e+02] [ 1.25665066e-01 -2.09246362e-04 9.92072703e-01 6.62682615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.95, Z:66.27 [[-6.32335978e-01 7.70590751e-01 7.96310519e-02 2.13836163e+02] [-7.64434315e-01 -6.37330004e-01 9.72144249e-02 1.89945260e+02] [ 1.25663795e-01 5.99469930e-04 9.92072705e-01 6.62677075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:189.93, Z:66.27 [[-6.37011617e-01 7.66725241e-01 7.96781360e-02 2.13824936e+02] [-7.60543328e-01 -6.41974070e-01 9.71758191e-02 1.89927737e+02] [ 1.25658451e-01 1.30345087e-03 9.92072706e-01 6.62680404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:189.93, Z:66.25 [[-6.33681240e-01 7.69476100e-01 7.97158531e-02 2.13840818e+02] [-7.63319624e-01 -6.38675212e-01 9.71448692e-02 1.89932612e+02] [ 1.25663194e-01 7.10206179e-04 9.92072708e-01 6.62529316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.93, Z:66.27 [[-6.39951837e-01 7.64264025e-01 7.97630589e-02 2.13828725e+02] [-7.58071711e-01 -6.44901300e-01 9.71060945e-02 1.89930222e+02] [ 1.25653995e-01 1.67710503e-03 9.92072709e-01 6.62672562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.92, Z:66.27 [[-6.39071719e-01 7.64995226e-01 7.98100399e-02 2.13825217e+02] [-7.58813396e-01 -6.44034267e-01 9.70674665e-02 1.89924870e+02] [ 1.25656549e-01 1.47214539e-03 9.92072711e-01 6.62676733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.93, Z:66.27 [[-6.37643177e-01 7.66180941e-01 7.98620343e-02 2.13825146e+02] [-7.60013697e-01 -6.42623836e-01 9.70246697e-02 1.89925089e+02] [ 1.25659700e-01 1.17087866e-03 9.92072714e-01 6.62670997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:189.92, Z:66.27 [[-6.34717368e-01 7.68601589e-01 7.99090773e-02 2.13818836e+02] [-7.62458218e-01 -6.39727442e-01 9.69859102e-02 1.89916903e+02] [ 1.25663554e-01 6.31309031e-04 9.92072715e-01 6.62684783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:189.93, Z:66.27 [[-6.33023351e-01 7.69993002e-01 7.99513227e-02 2.13828932e+02] [-7.63865042e-01 -6.38052260e-01 9.69510725e-02 1.89928837e+02] [ 1.25664769e-01 3.00272323e-04 9.92072717e-01 6.62667718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:189.92, Z:66.27 [[-6.30361176e-01 7.72169571e-01 7.99933835e-02 2.13818075e+02] [-7.66063379e-01 -6.35416492e-01 9.69163563e-02 1.89915851e+02] [ 1.25664976e-01 -1.87693390e-04 9.92072718e-01 6.62687196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.91, Z:66.27 [[-6.28927954e-01 7.73333505e-01 8.00307376e-02 2.13811089e+02] [-7.67240595e-01 -6.33999266e-01 9.68855007e-02 1.89906132e+02] [ 1.25664233e-01 -4.68830993e-04 9.92072720e-01 6.62694199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.90, Z:66.27 [[-6.29640465e-01 7.72749112e-01 8.00730641e-02 2.13811180e+02] [-7.66655943e-01 -6.34711465e-01 9.68505067e-02 1.89904899e+02] [ 1.25664435e-01 -4.07492403e-04 9.92072721e-01 6.62688423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:189.92, Z:66.27 [[-6.32075552e-01 7.70753171e-01 8.01251896e-02 2.13823296e+02] [-7.64649457e-01 -6.37133850e-01 9.68073640e-02 1.89917145e+02] [ 1.25665053e-01 -7.81146818e-05 9.92072723e-01 6.62662260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.90, Z:66.27 [[-6.34722866e-01 7.68569168e-01 8.01767931e-02 2.13810027e+02] [-7.62453447e-01 -6.39766639e-01 9.67646070e-02 1.89898277e+02] [ 1.25664731e-01 2.87636435e-04 9.92072726e-01 6.62687843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.90, Z:66.27 [[-6.36396524e-01 7.67180006e-01 8.02141010e-02 2.13811589e+02] [-7.61057174e-01 -6.41431660e-01 9.67336705e-02 1.89897985e+02] [ 1.25664002e-01 5.13454595e-04 9.92072727e-01 6.62685951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.87, Z:66.27 [[-6.38666930e-01 7.65285523e-01 8.02659369e-02 2.13794284e+02] [-7.59153162e-01 -6.43690451e-01 9.66906402e-02 1.89874898e+02] [ 1.25662364e-01 8.18974493e-04 9.92072729e-01 6.62717019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:189.88, Z:66.27 [[-6.40809500e-01 7.63485822e-01 8.03279772e-02 2.13798484e+02] [-7.57345813e-01 -6.45823667e-01 9.66390719e-02 1.89876974e+02] [ 1.25660270e-01 1.09117820e-03 9.92072732e-01 6.62706093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.89, Z:66.27 [[-6.42247582e-01 7.62272007e-01 8.03705878e-02 2.13807918e+02] [-7.56126956e-01 -6.47255566e-01 9.66036217e-02 1.89886314e+02] [ 1.25658547e-01 1.27307457e-03 9.92072734e-01 6.62679668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.89, Z:66.27 [[-6.43445408e-01 7.61256716e-01 8.04128063e-02 2.13810353e+02] [-7.55108154e-01 -6.48449078e-01 9.65684665e-02 1.89887971e+02] [ 1.25657004e-01 1.41617068e-03 9.92072735e-01 6.62669867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:189.87, Z:66.27 [[-6.43435848e-01 7.61260375e-01 8.04546545e-02 2.13798448e+02] [-7.55116200e-01 -6.48444902e-01 9.65335889e-02 1.89873609e+02] [ 1.25657607e-01 1.36055861e-03 9.92072737e-01 6.62701438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:189.88, Z:66.27 [[-6.43272475e-01 7.61394481e-01 8.04920284e-02 2.13806088e+02] [-7.55255250e-01 -6.48287584e-01 9.65024158e-02 1.89884451e+02] [ 1.25658389e-01 1.28532090e-03 9.92072738e-01 6.62671451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.87, Z:66.27 [[-6.41871303e-01 7.62571637e-01 8.05340177e-02 2.13790765e+02] [-7.56446000e-01 -6.46903005e-01 9.64673620e-02 1.89866503e+02] [ 1.25660972e-01 9.99995835e-04 9.92072739e-01 6.62706990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:189.86, Z:66.27 [[-6.41267323e-01 7.63075173e-01 8.05760522e-02 2.13781261e+02] [-7.56957898e-01 -6.46309186e-01 9.64322394e-02 1.89855378e+02] [ 1.25662091e-01 8.46164952e-04 9.92072741e-01 6.62716010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.87, Z:66.27 [[-6.39733534e-01 7.64357019e-01 8.06185716e-02 2.13794535e+02] [-7.58254326e-01 -6.44793035e-01 9.63966798e-02 1.89870888e+02] [ 1.25663772e-01 5.38807992e-04 9.92072742e-01 6.62663651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.87, Z:66.27 [[-6.35325930e-01 7.68019535e-01 8.06657096e-02 2.13793306e+02] [-7.61951017e-01 -6.40426369e-01 9.63572184e-02 1.89870463e+02] [ 1.25664674e-01 -2.45080179e-04 9.92072744e-01 6.62653541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.87, Z:66.27 [[-6.34015825e-01 7.69097017e-01 8.07075741e-02 2.13792911e+02] [-7.63041630e-01 -6.39131845e-01 9.63221407e-02 1.89869415e+02] [ 1.25663852e-01 -5.13477426e-04 9.92072746e-01 6.62651402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:189.87, Z:66.26 [[-6.34139415e-01 7.68990732e-01 8.07493469e-02 2.13797001e+02] [-7.62938948e-01 -6.39259693e-01 9.62871090e-02 1.89871390e+02] [ 1.25663697e-01 -5.47370806e-04 9.92072747e-01 6.62628637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.86, Z:66.27 [[-6.36485626e-01 7.67045544e-01 8.07909674e-02 2.13789568e+02] [-7.60982545e-01 -6.41592616e-01 9.62521743e-02 1.89862837e+02] [ 1.25664690e-01 -2.17390532e-04 9.92072749e-01 6.62654004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.86, Z:66.27 [[-6.37101944e-01 7.66522219e-01 8.08999432e-02 2.13788994e+02] [-7.60466658e-01 -6.42217737e-01 9.61604945e-02 1.89862884e+02] [ 1.25664534e-01 -2.57671450e-04 9.92072759e-01 6.62657959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:189.85, Z:66.27 [[-6.37646956e-01 7.66065003e-01 8.09368342e-02 2.13777298e+02] [-7.60009715e-01 -6.42763070e-01 9.61294341e-02 1.89850025e+02] [ 1.25664603e-01 -2.16139309e-04 9.92072760e-01 6.62680123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:189.86, Z:66.27 [[-6.38368702e-01 7.65459267e-01 8.09784622e-02 2.13785100e+02] [-7.59403573e-01 -6.43484334e-01 9.60943545e-02 1.89861922e+02] [ 1.25664686e-01 -1.51705216e-04 9.92072761e-01 6.62670321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:189.85, Z:66.27 [[-6.38505340e-01 7.65340895e-01 8.10200290e-02 2.13774173e+02] [-7.59288701e-01 -6.43625109e-01 9.60592958e-02 1.89849365e+02] [ 1.25664632e-01 -1.83219227e-04 9.92072763e-01 6.62679699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:189.84, Z:66.27 [[-6.39287790e-01 7.64683524e-01 8.10569605e-02 2.13767251e+02] [-7.58630016e-01 -6.44406004e-01 9.60281222e-02 1.89841639e+02] [ 1.25664715e-01 -1.02637235e-04 9.92072764e-01 6.62684017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:189.85, Z:66.27 [[-6.39772202e-01 7.64271802e-01 8.11180809e-02 2.13770525e+02] [-7.58221548e-01 -6.44894257e-01 9.59764646e-02 1.89847066e+02] [ 1.25664690e-01 -1.02402773e-04 9.92072767e-01 6.62678343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:189.84, Z:66.27 [[-6.39986729e-01 7.64087240e-01 8.11644972e-02 2.13763422e+02] [-7.58040488e-01 -6.45112915e-01 9.59371959e-02 1.89838146e+02] [ 1.25664653e-01 -1.27442919e-04 9.92072769e-01 6.62690248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.82, Z:66.27 [[-6.42210972e-01 7.62213283e-01 8.12156228e-02 2.13754280e+02] [-7.56157047e-01 -6.47325946e-01 9.58938963e-02 1.89824571e+02] [ 1.25664581e-01 1.72346884e-04 9.92072771e-01 6.62704284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:189.84, Z:66.27 [[-6.44102821e-01 7.60610792e-01 8.12574840e-02 2.13770137e+02] [-7.54546305e-01 -6.49208008e-01 9.58584116e-02 1.89841005e+02] [ 1.25663952e-01 4.30139011e-04 9.92072773e-01 6.62672630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:189.82, Z:66.27 [[-6.47222398e-01 7.57953573e-01 8.12991316e-02 2.13755947e+02] [-7.51872564e-01 -6.52307891e-01 9.58230768e-02 1.89820372e+02] [ 1.25661509e-01 8.92255006e-04 9.92072774e-01 6.62697533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:189.83, Z:66.27 [[-6.50365585e-01 7.55252771e-01 8.13502098e-02 2.13765155e+02] [-7.49156069e-01 -6.55432250e-01 9.57796940e-02 1.89826597e+02] [ 1.25657430e-01 1.34781339e-03 9.92072776e-01 6.62689514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.80, Z:66.27 [[-6.52374103e-01 7.53512484e-01 8.14061822e-02 2.13741602e+02] [-7.47408201e-01 -6.57431629e-01 9.57320982e-02 1.89795837e+02] [ 1.25654330e-01 1.60949354e-03 9.92072779e-01 6.62741128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.77, Z:66.28 [[-6.55169973e-01 7.51078738e-01 8.14434505e-02 2.13720954e+02] [-7.44959609e-01 -6.60209525e-01 9.57003821e-02 1.89768038e+02] [ 1.25648264e-01 2.02793572e-03 9.92072780e-01 6.62781701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:189.81, Z:66.27 [[-6.58912916e-01 7.47793090e-01 8.14816741e-02 2.13760285e+02] [-7.41652858e-01 -6.63926732e-01 9.56678267e-02 1.89809731e+02] [ 1.25637601e-01 2.60565020e-03 9.92072781e-01 6.62697611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:189.80, Z:66.27 [[-6.61142205e-01 7.45817675e-01 8.15290153e-02 2.13757495e+02] [-7.39667434e-01 -6.66143734e-01 9.56274654e-02 1.89804105e+02] [ 1.25630697e-01 2.91899576e-03 9.92072783e-01 6.62690525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.80, Z:66.27 [[-6.62813047e-01 7.44328630e-01 8.15705624e-02 2.13751500e+02] [-7.38171509e-01 -6.67806102e-01 9.55920126e-02 1.89795448e+02] [ 1.25625191e-01 3.14656798e-03 9.92072785e-01 6.62691897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.79, Z:66.27 [[-6.62209654e-01 7.44861439e-01 8.16076642e-02 2.13743291e+02] [-7.38712234e-01 -6.67212454e-01 9.55603282e-02 1.89786291e+02] [ 1.25628853e-01 2.99639195e-03 9.92072786e-01 6.62716261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.77, Z:66.27 [[-6.60955109e-01 7.45969775e-01 8.16543929e-02 2.13729277e+02] [-7.39833888e-01 -6.65974230e-01 9.55203831e-02 1.89771259e+02] [ 1.25635040e-01 2.72399819e-03 9.92072788e-01 6.62741702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.79, Z:66.27 [[-6.57529165e-01 7.48986678e-01 8.16967132e-02 2.13747606e+02] [-7.42878319e-01 -6.62581750e-01 9.54841739e-02 1.89794719e+02] [ 1.25647125e-01 2.09291216e-03 9.92072789e-01 6.62704503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.79, Z:66.27 [[-6.54048895e-01 7.52023148e-01 8.17387820e-02 2.13741178e+02] [-7.45942748e-01 -6.59135090e-01 9.54481478e-02 1.89789098e+02] [ 1.25656116e-01 1.45530389e-03 9.92072791e-01 6.62720263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.80, Z:66.27 [[-6.52479016e-01 7.53381608e-01 8.17758279e-02 2.13752021e+02] [-7.47315776e-01 -6.57582574e-01 9.54163980e-02 1.89802510e+02] [ 1.25659319e-01 1.14483119e-03 9.92072792e-01 6.62702222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.78, Z:66.27 [[-6.50592220e-01 7.55007088e-01 8.18172372e-02 2.13735052e+02] [-7.48958473e-01 -6.55716169e-01 9.53808776e-02 1.89783912e+02] [ 1.25662124e-01 7.76343894e-04 9.92072794e-01 6.62728563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.79, Z:66.27 [[-6.49643433e-01 7.55819646e-01 8.18539673e-02 2.13743812e+02] [-7.49781412e-01 -6.54779610e-01 9.53493464e-02 1.89793236e+02] [ 1.25663218e-01 5.70493578e-04 9.92072795e-01 6.62705310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.79, Z:66.27 [[-6.49035518e-01 7.56337738e-01 8.18909193e-02 2.13742020e+02] [-7.50307608e-01 -6.54181205e-01 9.53175997e-02 1.89790482e+02] [ 1.25663798e-01 4.21127902e-04 9.92072796e-01 6.62716805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.80, Z:66.27 [[-6.47732005e-01 7.57450400e-01 8.19276567e-02 2.13748338e+02] [-7.51433103e-01 -6.52892692e-01 9.52860128e-02 1.89795506e+02] [ 1.25664397e-01 1.56646830e-04 9.92072797e-01 6.62710434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.79, Z:66.27 [[-6.46763635e-01 7.58272984e-01 8.19687839e-02 2.13746216e+02] [-7.52266735e-01 -6.51937173e-01 9.52506207e-02 1.89789397e+02] [ 1.25664470e-01 -5.77517934e-05 9.92072799e-01 6.62721321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.79, Z:66.27 [[-6.46435018e-01 7.58549210e-01 8.20052714e-02 2.13748149e+02] [-7.52549157e-01 -6.51615739e-01 9.52191969e-02 1.89786652e+02] [ 1.25664372e-01 -1.59974584e-04 9.92072800e-01 6.62725404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.79, Z:66.27 [[-6.47380602e-01 7.57738414e-01 8.20417709e-02 2.13751411e+02] [-7.51735858e-01 -6.52558422e-01 9.51877384e-02 1.89786005e+02] [ 1.25664454e-01 -5.10456123e-05 9.92072801e-01 6.62722528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.78, Z:66.27 [[-6.49754376e-01 7.55699466e-01 8.20826923e-02 2.13751553e+02] [-7.49685121e-01 -6.54918494e-01 9.51524380e-02 1.89779597e+02] [ 1.25664120e-01 2.89539847e-04 9.92072802e-01 6.62732566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.77, Z:66.27 [[-6.51421576e-01 7.54258835e-01 8.21190641e-02 2.13750692e+02] [-7.48237026e-01 -6.56576988e-01 9.51210380e-02 1.89774186e+02] [ 1.25663371e-01 5.19372166e-04 9.92072804e-01 6.62733194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.77, Z:66.27 [[-6.54432700e-01 7.51643757e-01 8.21553630e-02 2.13751608e+02] [-7.45605284e-01 -6.59568582e-01 9.50896768e-02 1.89768977e+02] [ 1.25660658e-01 9.74321234e-04 9.92072805e-01 6.62741647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.77, Z:66.27 [[-6.56654768e-01 7.49699302e-01 8.21916859e-02 2.13751444e+02] [-7.43649551e-01 -6.61777357e-01 9.50582705e-02 1.89765219e+02] [ 1.25657716e-01 1.29865629e-03 9.92072806e-01 6.62747289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.76, Z:66.27 [[-6.59937119e-01 7.46807559e-01 8.22281537e-02 2.13749439e+02] [-7.40739293e-01 -6.65037761e-01 9.50267145e-02 1.89757026e+02] [ 1.25651496e-01 1.80203179e-03 9.92072807e-01 6.62744657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.75, Z:66.27 [[-6.62867604e-01 7.44203657e-01 8.22645481e-02 2.13750056e+02] [-7.38119266e-01 -6.67948997e-01 9.49951977e-02 1.89752978e+02] [ 1.25644296e-01 2.24819125e-03 9.92072808e-01 6.62734049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.75, Z:66.27 [[-6.65190680e-01 7.42123914e-01 8.23010087e-02 2.13747746e+02] [-7.36027542e-01 -6.70257691e-01 9.49635990e-02 1.89747247e+02] [ 1.25637642e-01 2.59309178e-03 9.92072809e-01 6.62731760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:189.75, Z:66.27 [[-6.65625697e-01 7.41729700e-01 8.23376217e-02 2.13746426e+02] [-7.35634250e-01 -6.70693816e-01 9.49318435e-02 1.89745002e+02] [ 1.25637101e-01 2.61869987e-03 9.92072810e-01 6.62731337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.74, Z:66.27 [[-6.66320295e-01 7.41101709e-01 8.23742772e-02 2.13741533e+02] [-7.35005411e-01 -6.71387392e-01 9.49000263e-02 1.89739181e+02] [ 1.25635623e-01 2.68827397e-03 9.92072812e-01 6.62742393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.74, Z:66.27 [[-6.66503536e-01 7.40931278e-01 8.24249759e-02 2.13740641e+02] [-7.34839126e-01 -6.71575613e-01 9.48559721e-02 1.89738785e+02] [ 1.25636360e-01 2.65274361e-03 9.92072814e-01 6.62743962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.74, Z:66.27 [[-6.65427157e-01 7.41894060e-01 8.24615281e-02 2.13739340e+02] [-7.35813181e-01 -6.70512742e-01 9.48241856e-02 1.89739238e+02] [ 1.25641005e-01 2.42230889e-03 9.92072815e-01 6.62742728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.74, Z:66.27 [[-6.63387562e-01 7.43714325e-01 8.24981542e-02 2.13739742e+02] [-7.37651363e-01 -6.68494492e-01 9.47923099e-02 1.89742699e+02] [ 1.25647960e-01 2.02916352e-03 9.92072816e-01 6.62736874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.74, Z:66.27 [[-6.61382426e-01 7.45494007e-01 8.25346768e-02 2.13735187e+02] [-7.39448754e-01 -6.66510306e-01 9.47604996e-02 1.89739940e+02] [ 1.25653597e-01 1.64276512e-03 9.92072817e-01 6.62748415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.74, Z:66.28 [[-6.58116724e-01 7.48373995e-01 8.25756661e-02 2.13733110e+02] [-7.42355666e-01 -6.63276174e-01 9.47247677e-02 1.89740496e+02] [ 1.25660025e-01 1.03944022e-03 9.92072819e-01 6.62750482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.74, Z:66.27 [[-6.54975652e-01 7.51119056e-01 8.26260129e-02 2.13733567e+02] [-7.45127893e-01 -6.60166618e-01 9.46808314e-02 1.89744707e+02] [ 1.25663512e-01 4.46692425e-04 9.92072821e-01 6.62747505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.74, Z:66.27 [[-6.53469018e-01 7.52426201e-01 8.26622939e-02 2.13728252e+02] [-7.46449428e-01 -6.58676545e-01 9.46491454e-02 1.89740591e+02] [ 1.25664211e-01 1.47062146e-04 9.92072822e-01 6.62744559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.74, Z:66.27 [[-6.51564809e-01 7.54070780e-01 8.27076691e-02 2.13728375e+02] [-7.48112185e-01 -6.56793122e-01 9.46094787e-02 1.89742664e+02] [ 1.25664072e-01 -2.30408170e-04 9.92072824e-01 6.62731575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:189.74, Z:66.27 [[-6.50047505e-01 7.55374203e-01 8.27529744e-02 2.13727184e+02] [-7.49431136e-01 -6.55293460e-01 9.45698348e-02 1.89743718e+02] [ 1.25663097e-01 -5.42770421e-04 9.92072826e-01 6.62729385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.74, Z:66.27 [[-6.49783297e-01 7.55597541e-01 8.27890284e-02 2.13724611e+02] [-7.49660299e-01 -6.55035841e-01 9.45382618e-02 1.89742240e+02] [ 1.25662659e-01 -6.34264375e-04 9.92072827e-01 6.62736118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.74, Z:66.27 [[-6.49355452e-01 7.55961314e-01 8.28250467e-02 2.13722685e+02] [-7.50031039e-01 -6.54615861e-01 9.45066958e-02 1.89740123e+02] [ 1.25661995e-01 -7.52917604e-04 9.92072828e-01 6.62747751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.74, Z:66.28 [[-6.50680058e-01 7.54817532e-01 8.28610647e-02 2.13721643e+02] [-7.48882031e-01 -6.55934568e-01 9.44751057e-02 1.89735649e+02] [ 1.25662903e-01 -5.80095228e-04 9.92072829e-01 6.62766068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.73, Z:66.28 [[-6.53555261e-01 7.52325470e-01 8.28969697e-02 2.13718909e+02] [-7.46373930e-01 -6.58791594e-01 9.44435906e-02 1.89727782e+02] [ 1.25664146e-01 -1.48031545e-04 9.92072830e-01 6.62769639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.73, Z:66.28 [[-6.56019905e-01 7.50173304e-01 8.29330942e-02 2.13720740e+02] [-7.44208596e-01 -6.61241232e-01 9.44118585e-02 1.89725955e+02] [ 1.25664037e-01 2.16536905e-04 9.92072831e-01 6.62760009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.72, Z:66.27 [[-6.59407617e-01 7.47193228e-01 8.29691222e-02 2.13720415e+02] [-7.41208907e-01 -6.64606452e-01 9.43801866e-02 1.89720297e+02] [ 1.25662050e-01 7.37561526e-04 9.92072833e-01 6.62748605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.72, Z:66.28 [[-6.61868879e-01 7.45009890e-01 8.30051207e-02 2.13720958e+02] [-7.39012391e-01 -6.67052504e-01 9.43485164e-02 1.89716223e+02] [ 1.25659351e-01 1.10453411e-03 9.92072834e-01 6.62752763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:189.72, Z:66.26 [[-6.57601561e-01 7.48775223e-01 8.30412742e-02 2.13740420e+02] [-7.42811424e-01 -6.62823922e-01 9.43166851e-02 1.89721908e+02] [ 1.25663740e-01 3.38792178e-04 9.92072835e-01 6.62625467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.70, Z:66.28 [[-6.64349037e-01 7.42791051e-01 8.30771433e-02 2.13715657e+02] [-7.36784167e-01 -6.69521781e-01 9.42850801e-02 1.89704824e+02] [ 1.25656071e-01 1.42827837e-03 9.92072836e-01 6.62770101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:189.70, Z:66.28 [[-6.65789662e-01 7.41494480e-01 8.31267823e-02 2.13715739e+02] [-7.35482987e-01 -6.70957044e-01 9.42412957e-02 1.89703304e+02] [ 1.25653901e-01 1.60654622e-03 9.92072838e-01 6.62772546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.70, Z:66.28 [[-6.66675681e-01 7.40693897e-01 8.31630143e-02 2.13714109e+02] [-7.34680185e-01 -6.71840480e-01 9.42093122e-02 1.89700242e+02] [ 1.25652542e-01 1.70883860e-03 9.92072839e-01 6.62771892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.70, Z:66.28 [[-6.67271393e-01 7.40153225e-01 8.31991074e-02 2.13713525e+02] [-7.34139302e-01 -6.72435943e-01 9.41774267e-02 1.89697815e+02] [ 1.25651796e-01 1.76216803e-03 9.92072841e-01 6.62760926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.70, Z:66.28 [[-6.67773166e-01 7.39696479e-01 8.32353148e-02 2.13711873e+02] [-7.33683011e-01 -6.72938244e-01 9.41454154e-02 1.89695764e+02] [ 1.25651259e-01 1.79944571e-03 9.92072842e-01 6.62760824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.69, Z:66.28 [[-6.68238943e-01 7.39271663e-01 8.32713834e-02 2.13707752e+02] [-7.33258885e-01 -6.73404823e-01 9.41135022e-02 1.89691957e+02] [ 1.25650797e-01 1.83082541e-03 9.92072843e-01 6.62762473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.69, Z:66.28 [[-6.67713968e-01 7.39741792e-01 8.33074934e-02 2.13708630e+02] [-7.33736638e-01 -6.72888708e-01 9.40815277e-02 1.89694101e+02] [ 1.25652709e-01 1.69379012e-03 9.92072844e-01 6.62760644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:189.69, Z:66.28 [[-6.65840479e-01 7.41423993e-01 8.33481742e-02 2.13706141e+02] [-7.35436424e-01 -6.71035554e-01 9.40454744e-02 1.89694431e+02] [ 1.25657159e-01 1.32200058e-03 9.92072845e-01 6.62758843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:189.69, Z:66.28 [[-6.64401850e-01 7.42709395e-01 8.33842651e-02 2.13702789e+02] [-7.36735893e-01 -6.69613091e-01 9.40134641e-02 1.89693404e+02] [ 1.25659879e-01 1.03053847e-03 9.92072847e-01 6.62760939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:189.69, Z:66.28 [[-6.61536666e-01 7.45256997e-01 8.34340900e-02 2.13696516e+02] [-7.39309142e-01 -6.66777157e-01 9.39692255e-02 1.89689083e+02] [ 1.25663168e-01 4.80502672e-04 9.92072849e-01 6.62763201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:189.70, Z:66.28 [[-6.58968626e-01 7.47524636e-01 8.34701636e-02 2.13699891e+02] [-7.41598874e-01 -6.64234084e-01 9.39371717e-02 1.89696354e+02] [ 1.25664078e-01 2.69596519e-07 9.92072850e-01 6.62760528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:189.69, Z:66.28 [[-6.57589554e-01 7.48733569e-01 8.35106058e-02 2.13696720e+02] [-7.42822053e-01 -6.62870999e-01 9.39012048e-02 1.89694883e+02] [ 1.25663743e-01 -2.85068316e-04 9.92072851e-01 6.62767516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:189.69, Z:66.28 [[-6.57440917e-01 7.48860102e-01 8.35463215e-02 2.13691613e+02] [-7.42953641e-01 -6.62728013e-01 9.38694171e-02 1.89692110e+02] [ 1.25663549e-01 -3.57448162e-04 9.92072853e-01 6.62781262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:189.69, Z:66.28 [[-6.58284392e-01 7.48114761e-01 8.35820778e-02 2.13690863e+02] [-7.42206357e-01 -6.63569314e-01 9.38375688e-02 1.89691905e+02] [ 1.25663772e-01 -2.63342469e-04 9.92072854e-01 6.62782095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:189.69, Z:66.28 [[-6.62609634e-01 7.44282560e-01 8.36178455e-02 2.13686010e+02] [-7.38347612e-01 -6.67864729e-01 9.38056859e-02 1.89686624e+02] [ 1.25663346e-01 4.17514645e-04 9.92072855e-01 6.62788389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:189.68, Z:66.28 [[-6.68040945e-01 7.39407441e-01 8.36536420e-02 2.13683198e+02] [-7.33438144e-01 -6.73256988e-01 9.37737527e-02 1.89682715e+02] [ 1.25657410e-01 1.28993446e-03 9.92072856e-01 6.62769861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:189.68, Z:66.28 [[-6.71923923e-01 7.35876542e-01 8.36896405e-02 2.13676624e+02] [-7.29883839e-01 -6.77113056e-01 9.37416146e-02 1.89675315e+02] [ 1.25649603e-01 1.90351733e-03 9.92072857e-01 6.62780013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:189.67, Z:66.28 [[-6.76483592e-01 7.31682970e-01 8.37256315e-02 2.13675259e+02] [-7.25662082e-01 -6.81639994e-01 9.37094582e-02 1.89672872e+02] [ 1.25636354e-01 2.63639483e-03 9.92072858e-01 6.62760559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:189.67, Z:66.28 [[-6.79724427e-01 7.28669114e-01 8.37617175e-02 2.13668508e+02] [-7.22629337e-01 -6.84858690e-01 9.36771921e-02 1.89665238e+02] [ 1.25624617e-01 3.14600138e-03 9.92072859e-01 6.62763936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:189.66, Z:66.28 [[-6.81600052e-01 7.26910782e-01 8.37978811e-02 2.13660872e+02] [-7.20861733e-01 -6.86723385e-01 9.36448314e-02 1.89657174e+02] [ 1.25617402e-01 3.42163611e-03 9.92072861e-01 6.62772146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:189.66, Z:66.28 [[-6.83254826e-01 7.25351390e-01 8.38343853e-02 2.13665118e+02] [-7.19294652e-01 -6.88369066e-01 9.36121402e-02 1.89662139e+02] [ 1.25610693e-01 3.65932163e-03 9.92072862e-01 6.62750612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:189.66, Z:66.28 [[-6.83254926e-01 7.25347092e-01 8.38707476e-02 2.13656750e+02] [-7.19294314e-01 -6.88373850e-01 9.35795507e-02 1.89655625e+02] [ 1.25612084e-01 3.61093720e-03 9.92072863e-01 6.62761841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:189.66, Z:66.28 [[-6.83000309e-01 7.25582648e-01 8.39070850e-02 2.13660044e+02] [-7.19535632e-01 -6.88126036e-01 9.35469580e-02 1.89662171e+02] [ 1.25614699e-01 3.51846384e-03 9.92072864e-01 6.62750951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:189.66, Z:66.27 [[-6.80967056e-01 7.27487028e-01 8.39433853e-02 2.13657427e+02] [-7.21458359e-01 -6.86114348e-01 9.35143732e-02 1.89663781e+02] [ 1.25625254e-01 3.11855044e-03 9.92072865e-01 6.62735738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:189.67, Z:66.28 [[-6.79106943e-01 7.29219582e-01 8.39795279e-02 2.13659299e+02] [-7.23208056e-01 -6.84274244e-01 9.34819046e-02 1.89669470e+02] [ 1.25633863e-01 2.74953937e-03 9.92072867e-01 6.62753537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.75566401e-01 7.32496709e-01 8.40155261e-02 2.13652962e+02] [-7.26514276e-01 -6.80767354e-01 9.34495407e-02 1.89667312e+02] [ 1.25646509e-01 2.09289077e-03 9.92072868e-01 6.62776782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.66, Z:66.28 [[-6.71042508e-01 7.36638671e-01 8.40560521e-02 2.13645434e+02] [-7.30692911e-01 -6.76285345e-01 9.34130744e-02 1.89662628e+02] [ 1.25657559e-01 1.26498240e-03 9.92072869e-01 6.62798722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.68, Z:66.28 [[-6.67544070e-01 7.39806336e-01 8.40922168e-02 2.13654506e+02] [-7.33889557e-01 -6.72819589e-01 9.33805071e-02 1.89675172e+02] [ 1.25662382e-01 6.21203971e-04 9.92072870e-01 6.62783426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.62729161e-01 7.44118608e-01 8.41282190e-02 2.13647200e+02] [-7.38240273e-01 -6.68047483e-01 9.33480610e-02 1.89669887e+02] [ 1.25663674e-01 -2.42357292e-04 9.92072871e-01 6.62790648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.68, Z:66.28 [[-6.59957451e-01 7.46573891e-01 8.41640540e-02 2.13653868e+02] [-7.40719462e-01 -6.65302075e-01 9.33157406e-02 1.89677380e+02] [ 1.25661615e-01 -7.57534418e-04 9.92072873e-01 6.62769151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.59144885e-01 7.47287873e-01 8.41953360e-02 2.13651510e+02] [-7.41442839e-01 -6.64499780e-01 9.32875076e-02 1.89674196e+02] [ 1.25660405e-01 -9.36045478e-04 9.92072874e-01 6.62758846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.57625489e-01 7.48620309e-01 8.42398296e-02 2.13649745e+02] [-7.42791270e-01 -6.62997789e-01 9.32473123e-02 1.89672462e+02] [ 1.25657653e-01 -1.25080061e-03 9.92072875e-01 6.62764449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.56326472e-01 7.49755446e-01 8.42753440e-02 2.13649785e+02] [-7.43939818e-01 -6.61713286e-01 9.32152042e-02 1.89672280e+02] [ 1.25654722e-01 -1.51617797e-03 9.92072876e-01 6.62769527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.64, Z:66.27 [[-6.50124927e-01 7.55135263e-01 8.43108171e-02 2.13633416e+02] [-7.49368354e-01 -6.55563863e-01 9.31831088e-02 1.89641923e+02] [ 1.25636976e-01 -2.59919637e-03 9.92072878e-01 6.62696376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.67, Z:66.28 [[-6.55891382e-01 7.50128082e-01 8.43466419e-02 2.13648059e+02] [-7.44323806e-01 -6.61290423e-01 9.31506701e-02 1.89667783e+02] [ 1.25652560e-01 -1.68449184e-03 9.92072879e-01 6.62797704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:189.66, Z:66.28 [[-6.58730299e-01 7.47631242e-01 8.43914609e-02 2.13646135e+02] [-7.41811702e-01 -6.64112880e-01 9.31100481e-02 1.89661620e+02] [ 1.25657437e-01 -1.26816343e-03 9.92072881e-01 6.62794976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:189.65, Z:66.28 [[-6.62787742e-01 7.44032106e-01 8.44312441e-02 2.13642838e+02] [-7.38187930e-01 -6.68143561e-01 9.30739594e-02 1.89653980e+02] [ 1.25662206e-01 -6.37845924e-04 9.92072882e-01 6.62802302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:189.65, Z:66.28 [[-6.65356059e-01 7.41731202e-01 8.44756687e-02 2.13641627e+02] [-7.35873624e-01 -6.70697216e-01 9.30336216e-02 1.89650545e+02] [ 1.25663536e-01 -2.62932646e-04 9.92072884e-01 6.62803968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:189.64, Z:66.28 [[-6.69442899e-01 7.38040190e-01 8.45155769e-02 2.13638587e+02] [-7.32157741e-01 -6.74756649e-01 9.29973534e-02 1.89644629e+02] [ 1.25663232e-01 3.77684049e-04 9.92072885e-01 6.62815445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:189.64, Z:66.28 [[-6.71602097e-01 7.36071318e-01 8.45555276e-02 2.13636515e+02] [-7.30177865e-01 -6.76903638e-01 9.29610154e-02 1.89640181e+02] [ 1.25661881e-01 6.92238279e-04 9.92072887e-01 6.62815025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.28 [[-6.73549758e-01 7.34285412e-01 8.45911255e-02 2.13627075e+02] [-7.28381970e-01 -6.78840172e-01 9.29286114e-02 1.89627200e+02] [ 1.25659978e-01 9.77393064e-04 9.92072888e-01 6.62826442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.28 [[-6.73493708e-01 7.34325301e-01 8.46910742e-02 2.13629221e+02] [-7.28433630e-01 -6.78797214e-01 9.28374347e-02 1.89628391e+02] [ 1.25660942e-01 8.33601421e-04 9.92072897e-01 6.62832776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.28 [[-6.72571319e-01 7.35166116e-01 8.47266413e-02 2.13629869e+02] [-7.29285164e-01 -6.77886707e-01 9.28049637e-02 1.89628774e+02] [ 1.25662129e-01 6.28074301e-04 9.92072898e-01 6.62834383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.28 [[-6.70036750e-01 7.37472807e-01 8.47620909e-02 2.13629179e+02] [-7.31614251e-01 -6.75376811e-01 9.27725753e-02 1.89626782e+02] [ 1.25663602e-01 1.47881176e-04 9.92072899e-01 6.62830767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.28 [[-6.67253767e-01 7.39987699e-01 8.47974929e-02 2.13628868e+02] [-7.34153382e-01 -6.72620298e-01 9.27402055e-02 1.89626150e+02] [ 1.25663126e-01 -3.73114706e-04 9.92072900e-01 6.62846334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.63, Z:66.29 [[-6.66336935e-01 7.40807248e-01 8.48511053e-02 2.13628685e+02] [-7.34985779e-01 -6.71717396e-01 9.26911282e-02 1.89626170e+02] [ 1.25662223e-01 -6.00833424e-04 9.92072903e-01 6.62850980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.62, Z:66.29 [[-6.64524068e-01 7.42429846e-01 8.48863201e-02 2.13623097e+02] [-7.36625633e-01 -6.69923139e-01 9.26588675e-02 1.89619886e+02] [ 1.25660019e-01 -9.55391734e-04 9.92072904e-01 6.62860274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.62, Z:66.29 [[-6.62503017e-01 7.44229856e-01 8.49215746e-02 2.13625876e+02] [-7.38444452e-01 -6.67922237e-01 9.26265458e-02 1.89622342e+02] [ 1.25656449e-01 -1.34449953e-03 9.92072905e-01 6.62863519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.62, Z:66.29 [[-6.61208232e-01 7.45376423e-01 8.49568167e-02 2.13623536e+02] [-7.39604569e-01 -6.66641878e-01 9.25942107e-02 1.89619459e+02] [ 1.25653313e-01 -1.61039536e-03 9.92072906e-01 6.62874185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.62, Z:66.29 [[-6.60756980e-01 7.45772470e-01 8.49919831e-02 2.13625976e+02] [-7.40008023e-01 -6.66198482e-01 9.25619205e-02 1.89621501e+02] [ 1.25651662e-01 -1.73381436e-03 9.92072907e-01 6.62875641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.62, Z:66.29 [[-6.59880521e-01 7.46544100e-01 8.50270857e-02 2.13627536e+02] [-7.40790169e-01 -6.65333140e-01 9.25296643e-02 1.89620862e+02] [ 1.25648813e-01 -1.92870603e-03 9.92072909e-01 6.62866382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.62, Z:66.29 [[-6.59432038e-01 7.46936296e-01 8.50620786e-02 2.13626119e+02] [-7.41189756e-01 -6.64892443e-01 9.24974845e-02 1.89618569e+02] [ 1.25646862e-01 -2.05133663e-03 9.92072910e-01 6.62881082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:189.62, Z:66.29 [[-6.60043001e-01 7.46392466e-01 8.50971405e-02 2.13625649e+02] [-7.40645584e-01 -6.65503045e-01 9.24652167e-02 1.89616346e+02] [ 1.25647747e-01 -1.99580220e-03 9.92072911e-01 6.62888196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.61, Z:66.29 [[-6.62728391e-01 7.44005115e-01 8.51320694e-02 2.13623592e+02] [-7.38242691e-01 -6.68172029e-01 9.24330469e-02 1.89610360e+02] [ 1.25653527e-01 -1.59012354e-03 9.92072912e-01 6.62885076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.60, Z:66.29 [[-6.66748727e-01 7.40400360e-01 8.51671469e-02 2.13621332e+02] [-7.34612630e-01 -6.72165450e-01 9.24007157e-02 1.89603905e+02] [ 1.25659937e-01 -9.56802166e-04 9.92072913e-01 6.62890957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.60, Z:66.29 [[-6.69429137e-01 7.37972689e-01 8.52111539e-02 2.13619449e+02] [-7.32170481e-01 -6.74830346e-01 9.23601153e-02 1.89599901e+02] [ 1.25662315e-01 -5.60539224e-04 9.92072915e-01 6.62899294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:189.59, Z:66.29 [[-6.72681512e-01 7.35005216e-01 8.52462083e-02 2.13616620e+02] [-7.29183281e-01 -6.78061450e-01 9.23277497e-02 1.89594892e+02] [ 1.25663545e-01 -5.29394914e-05 9.92072916e-01 6.62911130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:189.59, Z:66.29 [[-6.75110918e-01 7.32770321e-01 8.52813250e-02 2.13609407e+02] [-7.26934674e-01 -6.80475978e-01 9.22953019e-02 1.89586370e+02] [ 1.25663151e-01 3.15613770e-04 9.92072917e-01 6.62924872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:189.59, Z:66.29 [[-6.77009900e-01 7.31012091e-01 8.53165797e-02 2.13608500e+02] [-7.25166618e-01 -6.82364250e-01 9.22627016e-02 1.89585468e+02] [ 1.25662134e-01 5.94026753e-04 9.92072918e-01 6.62921628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:189.59, Z:66.29 [[-6.78762282e-01 7.29381117e-01 8.53519265e-02 2.13606820e+02] [-7.23526890e-01 -6.84107059e-01 9.22299910e-02 1.89585025e+02] [ 1.25660669e-01 8.47825210e-04 9.92072919e-01 6.62917137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:189.58, Z:66.29 [[-6.79580399e-01 7.28614783e-01 8.53872318e-02 2.13602742e+02] [-7.22758636e-01 -6.84923071e-01 9.21972937e-02 1.89583045e+02] [ 1.25659996e-01 9.41114466e-04 9.92072921e-01 6.62913088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:189.58, Z:66.29 [[-6.80245117e-01 7.27990091e-01 8.54225246e-02 2.13600588e+02] [-7.22133145e-01 -6.85586910e-01 9.21645828e-02 1.89584848e+02] [ 1.25659468e-01 1.00807113e-03 9.92072922e-01 6.62888257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:189.59, Z:66.29 [[-6.80420715e-01 7.27821848e-01 8.54576415e-02 2.13596695e+02] [-7.21967670e-01 -6.85765540e-01 9.21320101e-02 1.89586473e+02] [ 1.25659596e-01 9.90873927e-04 9.92072923e-01 6.62859354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:189.59, Z:66.29 [[-6.80166566e-01 7.28054169e-01 8.55018726e-02 2.13589745e+02] [-7.22206977e-01 -6.85519030e-01 9.20909440e-02 1.89587727e+02] [ 1.25660356e-01 8.87132237e-04 9.92072925e-01 6.62866906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.58, Y:189.59, Z:66.29 [[-6.79659808e-01 7.28522611e-01 8.55415193e-02 2.13584161e+02] [-7.22683744e-01 -6.85021349e-01 9.20541025e-02 1.89591143e+02] [ 1.25661262e-01 7.46008202e-04 9.92072926e-01 6.62884685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:189.58, Z:66.29 [[-6.80158281e-01 7.28053122e-01 8.55766585e-02 2.13570847e+02] [-7.22214664e-01 -6.85520267e-01 9.20214245e-02 1.89582380e+02] [ 1.25661019e-01 7.84416143e-04 9.92072927e-01 6.62912631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:189.59, Z:66.29 [[-6.80638908e-01 7.27598601e-01 8.56209811e-02 2.13573753e+02] [-7.21761751e-01 -6.86002641e-01 9.19801665e-02 1.89591182e+02] [ 1.25660860e-01 8.07330849e-04 9.92072929e-01 6.62912792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:189.59, Z:66.29 [[-6.80812420e-01 7.27432084e-01 8.56563666e-02 2.13569778e+02] [-7.21598068e-01 -6.86179234e-01 9.19472022e-02 1.89591693e+02] [ 1.25660965e-01 7.89328561e-04 9.92072930e-01 6.62925162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:189.59, Z:66.29 [[-6.79406578e-01 7.28741142e-01 8.56915993e-02 2.13563504e+02] [-7.22921608e-01 -6.84789091e-01 9.19143550e-02 1.89590133e+02] [ 1.25662444e-01 4.98908615e-04 9.92072931e-01 6.62932912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:189.59, Z:66.29 [[-6.77380830e-01 7.30619322e-01 8.57357424e-02 2.13560374e+02] [-7.24819925e-01 -6.82785031e-01 9.18731612e-02 1.89590801e+02] [ 1.25663388e-01 9.01438368e-05 9.92072933e-01 6.62934431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:189.59, Z:66.29 [[-6.76028282e-01 7.31866860e-01 8.57709873e-02 2.13561382e+02] [-7.26081611e-01 -6.81447624e-01 9.18402455e-02 1.89594292e+02] [ 1.25663268e-01 -1.90133279e-04 9.92072934e-01 6.62932130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.59, Z:66.29 [[-6.74541270e-01 7.33233511e-01 8.58061385e-02 2.13551527e+02] [-7.27463420e-01 -6.79976746e-01 9.18073924e-02 1.89586186e+02] [ 1.25662435e-01 -4.92951906e-04 9.92072936e-01 6.62941326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.59, Z:66.29 [[-6.74772958e-01 7.33016181e-01 8.58413292e-02 2.13554956e+02] [-7.27248525e-01 -6.80211017e-01 9.17744769e-02 1.89589978e+02] [ 1.25662394e-01 -5.01044781e-04 9.92072937e-01 6.62931302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:189.59, Z:66.29 [[-6.75249875e-01 7.32572234e-01 8.58808972e-02 2.13555345e+02] [-7.26805713e-01 -6.80689135e-01 9.17374352e-02 1.89590519e+02] [ 1.25662491e-01 -4.73035055e-04 9.92072938e-01 6.62929859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.58, Z:66.29 [[-6.76004015e-01 7.31872272e-01 8.59159454e-02 2.13549247e+02] [-7.26104291e-01 -6.81441725e-01 9.17045996e-02 1.89583133e+02] [ 1.25662764e-01 -3.91259129e-04 9.92072939e-01 6.62945558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.58, Z:66.29 [[-6.76379425e-01 7.31521233e-01 8.59509110e-02 2.13550872e+02] [-7.25754595e-01 -6.81818558e-01 9.16718162e-02 1.89583290e+02] [ 1.25662806e-01 -3.74338201e-04 9.92072940e-01 6.62938554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.58, Z:66.29 [[-6.76232635e-01 7.31651231e-01 8.59994178e-02 2.13544488e+02] [-7.25891427e-01 -6.81679000e-01 9.16262886e-02 1.89576924e+02] [ 1.25662484e-01 -4.65553614e-04 9.92072943e-01 6.62946313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.58, Z:66.29 [[-6.75700976e-01 7.32137629e-01 8.60388503e-02 2.13546133e+02] [-7.26386460e-01 -6.81156458e-01 9.15892460e-02 1.89577252e+02] [ 1.25661852e-01 -6.10513012e-04 9.92072944e-01 6.62941099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.57, Z:66.29 [[-6.74825621e-01 7.32940419e-01 8.60739457e-02 2.13545266e+02] [-7.27199948e-01 -6.80292355e-01 9.15562523e-02 1.89574239e+02] [ 1.25660725e-01 -8.08464092e-04 9.92072945e-01 6.62934064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.57, Z:66.29 [[-6.72915769e-01 7.34689640e-01 8.61133047e-02 2.13544595e+02] [-7.28968116e-01 -6.78402328e-01 9.15192185e-02 1.89571547e+02] [ 1.25657688e-01 -1.18912823e-03 9.92072947e-01 6.62925695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.57, Z:66.29 [[-6.71937680e-01 7.35580195e-01 8.61483097e-02 2.13540559e+02] [-7.29870166e-01 -6.77436201e-01 9.14862561e-02 1.89566683e+02] [ 1.25655462e-01 -1.40401842e-03 9.92072948e-01 6.62928419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.57, Z:66.29 [[-6.71931719e-01 7.35581535e-01 8.61833541e-02 2.13546035e+02] [-7.29875751e-01 -6.77434643e-01 9.14532313e-02 1.89569038e+02] [ 1.25654898e-01 -1.45281330e-03 9.92072949e-01 6.62925788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:189.57, Z:66.29 [[-6.73662662e-01 7.33992518e-01 8.62183338e-02 2.13546035e+02] [-7.28277974e-01 -6.79156486e-01 9.14202421e-02 1.89567324e+02] [ 1.25657514e-01 -1.20450976e-03 9.92072950e-01 6.62920749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.55, Z:66.29 [[-6.75469747e-01 7.32323656e-01 8.62709901e-02 2.13532385e+02] [-7.26601885e-01 -6.80956040e-01 9.13705251e-02 1.89549425e+02] [ 1.25659549e-01 -9.66638532e-04 9.92072953e-01 6.62932883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.55, Z:66.29 [[-6.76913782e-01 7.30984447e-01 8.63103124e-02 2.13538116e+02] [-7.25256558e-01 -6.82393685e-01 9.13333657e-02 1.89552855e+02] [ 1.25660882e-01 -7.72306121e-04 9.92072954e-01 6.62921945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.55, Z:66.29 [[-6.77811149e-01 7.30146702e-01 8.63587850e-02 2.13534914e+02] [-7.24417880e-01 -6.83290074e-01 9.12875105e-02 1.89547246e+02] [ 1.25661375e-01 -6.84155539e-04 9.92072956e-01 6.62943502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.55, Z:66.29 [[-6.78143891e-01 7.29833546e-01 8.63936199e-02 2.13540392e+02] [-7.24106395e-01 -6.83624561e-01 9.12545314e-02 1.89551370e+02] [ 1.25661419e-01 -6.74469566e-04 9.92072957e-01 6.62949668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.55, Z:66.30 [[-6.78882995e-01 7.29141956e-01 8.64285121e-02 2.13539484e+02] [-7.23413428e-01 -6.84362225e-01 9.12214727e-02 1.89547524e+02] [ 1.25661812e-01 -5.94839600e-04 9.92072959e-01 6.62970112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.54, Z:66.30 [[-6.80401114e-01 7.27721391e-01 8.64632886e-02 2.13539631e+02] [-7.21985614e-01 -6.85872752e-01 9.11884985e-02 1.89544531e+02] [ 1.25662635e-01 -3.80494530e-04 9.92072960e-01 6.62980315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.54, Z:66.30 [[-6.81165278e-01 7.27002042e-01 8.64979436e-02 2.13537412e+02] [-7.21264661e-01 -6.86635233e-01 9.11556144e-02 1.89539212e+02] [ 1.25662853e-01 -2.95870484e-04 9.92072961e-01 6.62984556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.54, Z:66.30 [[-6.81471288e-01 7.26711062e-01 8.65327464e-02 2.13538543e+02] [-7.20975541e-01 -6.86943191e-01 9.11225648e-02 1.89537665e+02] [ 1.25662857e-01 -2.90581981e-04 9.92072962e-01 6.62987629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.53, Z:66.30 [[-6.81086064e-01 7.27067970e-01 8.65675480e-02 2.13533349e+02] [-7.21339519e-01 -6.86565367e-01 9.10894910e-02 1.89529353e+02] [ 1.25662532e-01 -4.04810492e-04 9.92072963e-01 6.63012453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.53, Z:66.30 [[-6.80686440e-01 7.27437965e-01 8.66024116e-02 2.13538966e+02] [-7.21716709e-01 -6.86173255e-01 9.10563330e-02 1.89531323e+02] [ 1.25662092e-01 -5.21596335e-04 9.92072964e-01 6.63005996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.53, Z:66.30 [[-6.80156441e-01 7.27929408e-01 8.66371298e-02 2.13538344e+02] [-7.22216325e-01 -6.85651763e-01 9.10232879e-02 1.89528082e+02] [ 1.25661429e-01 -6.60673981e-04 9.92072965e-01 6.62998224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.53, Z:66.30 [[-6.78798669e-01 7.29191590e-01 8.66717501e-02 2.13540590e+02] [-7.23492934e-01 -6.84308949e-01 9.09903110e-02 1.89526626e+02] [ 1.25659624e-01 -9.42296772e-04 9.92072967e-01 6.62988679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.52, Z:66.30 [[-6.78288597e-01 7.29661447e-01 8.67107382e-02 2.13540742e+02] [-7.23971358e-01 -6.83807721e-01 9.09531417e-02 1.89523034e+02] [ 1.25658473e-01 -1.08361205e-03 9.92072968e-01 6.62972557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.52, Z:66.30 [[-6.79016739e-01 7.28979788e-01 8.67452416e-02 2.13539585e+02] [-7.23288363e-01 -6.84534482e-01 9.09202229e-02 1.89519045e+02] [ 1.25659114e-01 -1.00547053e-03 9.92072969e-01 6.62971088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.51, Z:66.30 [[-6.80525771e-01 7.27566621e-01 8.67841432e-02 2.13538241e+02] [-7.21868472e-01 -6.86036570e-01 9.08830760e-02 1.89513910e+02] [ 1.25660588e-01 -7.98461475e-04 9.92072971e-01 6.62962043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.51, Z:66.30 [[-6.83522791e-01 7.24747622e-01 8.68186593e-02 2.13537666e+02] [-7.19030933e-01 -6.89014352e-01 9.08500918e-02 1.89509603e+02] [ 1.25662690e-01 -3.27193348e-04 9.92072972e-01 6.62960821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.50, Z:66.30 [[-6.85924185e-01 7.22471130e-01 8.68532022e-02 2.13535283e+02] [-7.16740398e-01 -6.91401088e-01 9.08170567e-02 1.89504440e+02] [ 1.25663100e-01 4.24169224e-05 9.92072973e-01 6.62962403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.50, Z:66.30 [[-6.89723745e-01 7.18840489e-01 8.68878985e-02 2.13534694e+02] [-7.13085110e-01 -6.95174740e-01 9.07838496e-02 1.89501012e+02] [ 1.25661379e-01 6.57310101e-04 9.92072974e-01 6.62990780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.49, Z:66.30 [[-6.93469414e-01 7.15223495e-01 8.69225128e-02 2.13527079e+02] [-7.09443840e-01 -6.98894662e-01 9.07506957e-02 1.89490160e+02] [ 1.25656710e-01 1.26619047e-03 9.92072975e-01 6.62999933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.49, Z:66.30 [[-6.96085151e-01 7.12672681e-01 8.69661595e-02 2.13528739e+02] [-7.06878371e-01 -7.01494742e-01 9.07088502e-02 1.89489224e+02] [ 1.25652023e-01 1.66658644e-03 9.92072977e-01 6.62992916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:189.48, Z:66.29 [[-6.94394862e-01 7.14315485e-01 8.70009452e-02 2.13538443e+02] [-7.08538154e-01 -6.99822580e-01 9.06754744e-02 1.89482723e+02] [ 1.25656121e-01 1.32109442e-03 9.92072978e-01 6.62852826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.48, Z:66.30 [[-7.00275178e-01 7.08547442e-01 8.70356090e-02 2.13525260e+02] [-7.02729547e-01 -7.05659392e-01 9.06421900e-02 1.89482621e+02] [ 1.25641787e-01 2.31198173e-03 9.92072979e-01 6.62993725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.99967278e-01 7.08847356e-01 8.70702945e-02 2.13523805e+02] [-7.03035910e-01 -7.05358451e-01 9.06088592e-02 1.89480511e+02] [ 1.25643618e-01 2.20969283e-03 9.92072980e-01 6.62990592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.98392072e-01 7.10394023e-01 8.71139830e-02 2.13522169e+02] [-7.04599755e-01 -7.03801700e-01 9.05668367e-02 1.89478285e+02] [ 1.25649109e-01 1.87066967e-03 9.92072982e-01 6.62969806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.95245416e-01 7.13469631e-01 8.71487026e-02 2.13520313e+02] [-7.07703485e-01 -7.00685007e-01 9.05334153e-02 1.89477560e+02] [ 1.25656632e-01 1.26750153e-03 9.92072983e-01 6.62966109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.47, Z:66.30 [[-6.94284677e-01 7.14400322e-01 8.71835311e-02 2.13516582e+02] [-7.08645679e-01 -6.99736434e-01 9.04998633e-02 1.89474469e+02] [ 1.25658625e-01 1.05043578e-03 9.92072985e-01 6.62968591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.90587867e-01 7.17970315e-01 8.72182535e-02 2.13521273e+02] [-7.12248083e-01 -6.96073632e-01 9.04663879e-02 1.89480169e+02] [ 1.25662507e-01 3.53956009e-04 9.92072986e-01 6.62959268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.88174386e-01 7.20279774e-01 8.72528602e-02 2.13520552e+02] [-7.14580184e-01 -6.93683670e-01 9.04329983e-02 1.89480260e+02] [ 1.25662944e-01 -1.15491842e-04 9.92072987e-01 6.62970703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.85738234e-01 7.22595322e-01 8.72873179e-02 2.13517797e+02] [-7.16918568e-01 -6.91271044e-01 9.03997272e-02 1.89478961e+02] [ 1.25661615e-01 -5.87349708e-04 9.92072988e-01 6.62984510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:189.48, Z:66.30 [[-6.84922734e-01 7.23364196e-01 8.73217514e-02 2.13520022e+02] [-7.17697895e-01 -6.90466246e-01 9.03664540e-02 1.89482941e+02] [ 1.25660579e-01 -7.76598467e-04 9.92072989e-01 6.62982250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:189.48, Z:66.29 [[-6.82787747e-01 7.25375630e-01 8.73560938e-02 2.13525633e+02] [-7.19729905e-01 -6.88352212e-01 9.03332437e-02 1.89480878e+02] [ 1.25657294e-01 -1.19436114e-03 9.92072990e-01 6.62886401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.86, Z:67.02 [[-6.38117053e-01 7.64962771e-01 8.73990082e-02 2.14115725e+02] [-7.59666039e-01 -6.44014687e-01 9.02917044e-02 1.88858174e+02] [ 1.25356037e-01 -8.77738203e-03 9.92072992e-01 6.70172075e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:188.97, Z:67.01 [[-6.47783152e-01 7.57456685e-01 8.14638404e-02 2.14203083e+02] [-7.51429403e-01 -6.52885176e-01 9.53666566e-02 1.88968050e+02] [ 1.25422645e-01 5.62588486e-04 9.92103242e-01 6.70082103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.21, Y:188.97, Z:67.00 [[-6.47658964e-01 7.57557159e-01 8.15169803e-02 2.14210187e+02] [-7.51536385e-01 -6.52768664e-01 9.53212127e-02 1.88966272e+02] [ 1.25422997e-01 4.72661183e-04 9.92103245e-01 6.69958463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:188.96, Z:67.01 [[-6.55094115e-01 7.51133000e-01 8.15531583e-02 2.14191088e+02] [-7.45065978e-01 -6.60148814e-01 9.52902503e-02 1.88956597e+02] [ 1.25412872e-01 1.66159851e-03 9.92103246e-01 6.70104477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:188.96, Z:67.01 [[-6.58176712e-01 7.48429391e-01 8.15896058e-02 2.14189496e+02] [-7.42345475e-01 -6.63211062e-01 9.52590332e-02 1.88958680e+02] [ 1.25405789e-01 2.12960250e-03 9.92103247e-01 6.70112360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:188.95, Z:67.01 [[-6.60820379e-01 7.46092220e-01 8.16261367e-02 2.14178403e+02] [-7.39994365e-01 -6.65837833e-01 9.52277202e-02 1.88948554e+02] [ 1.25398431e-01 2.52553691e-03 9.92103248e-01 6.70114573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:188.95, Z:67.01 [[-6.62210826e-01 7.44854502e-01 8.16614473e-02 2.14177686e+02] [-7.38751001e-01 -6.67221409e-01 9.51974306e-02 1.88950265e+02] [ 1.25394501e-01 2.71329331e-03 9.92103249e-01 6.70119762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:188.91, Z:67.01 [[-6.58628378e-01 7.48020081e-01 8.16983393e-02 2.14146847e+02] [-7.41944591e-01 -6.63672888e-01 9.51657596e-02 1.88907987e+02] [ 1.25406872e-01 2.06322890e-03 9.92103250e-01 6.70065608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:188.95, Z:67.01 [[-6.64141357e-01 7.43125606e-01 8.17348846e-02 2.14174858e+02] [-7.37016811e-01 -6.69145480e-01 9.51343618e-02 1.88954339e+02] [ 1.25389309e-01 2.94268023e-03 9.92103252e-01 6.70136212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:188.93, Z:67.02 [[-6.65043558e-01 7.42313937e-01 8.17745961e-02 2.14154360e+02] [-7.36203226e-01 -6.70045341e-01 9.51002149e-02 1.88934284e+02] [ 1.25386902e-01 3.04306385e-03 9.92103253e-01 6.70183181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:188.95, Z:67.02 [[-6.64445090e-01 7.42844048e-01 8.18256824e-02 2.14164590e+02] [-7.36742736e-01 -6.69458328e-01 9.50562395e-02 1.88948884e+02] [ 1.25390846e-01 2.87517450e-03 9.92103255e-01 6.70170983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:188.95, Z:67.02 [[-6.62433211e-01 7.44634636e-01 8.18626864e-02 2.14158217e+02] [-7.38550811e-01 -6.67467655e-01 9.50243612e-02 1.88945388e+02] [ 1.25399126e-01 2.48753929e-03 9.92103256e-01 6.70183906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:188.95, Z:67.02 [[-6.59544180e-01 7.47190706e-01 8.18994744e-02 2.14159521e+02] [-7.41130330e-01 -6.64606825e-01 9.49926440e-02 1.88951460e+02] [ 1.25408570e-01 1.95366103e-03 9.92103258e-01 6.70192930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:188.94, Z:67.01 [[-6.54530891e-01 7.51580654e-01 8.19501877e-02 2.14151819e+02] [-7.45559716e-01 -6.59640373e-01 9.49488738e-02 1.88937341e+02] [ 1.25419389e-01 1.04821232e-03 9.92103260e-01 6.70124601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:188.95, Z:67.02 [[-6.56823224e-01 7.49573136e-01 8.19961374e-02 2.14150414e+02] [-7.43541535e-01 -6.61920112e-01 9.49091761e-02 1.88946002e+02] [ 1.25416261e-01 1.37101712e-03 9.92103262e-01 6.70221991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:188.94, Z:67.02 [[-6.57817705e-01 7.48696518e-01 8.20328625e-02 2.14141814e+02] [-7.42662083e-01 -6.62911235e-01 9.48774231e-02 1.88938061e+02] [ 1.25414903e-01 1.48935219e-03 9.92103263e-01 6.70241528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:188.94, Z:67.02 [[-6.59117271e-01 7.47548163e-01 8.20741579e-02 2.14143661e+02] [-7.41509301e-01 -6.64205549e-01 9.48416872e-02 1.88941790e+02] [ 1.25412840e-01 1.65304259e-03 9.92103264e-01 6.70222725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:188.93, Z:67.02 [[-6.60680055e-01 7.46162796e-01 8.21154524e-02 2.14132832e+02] [-7.40117707e-01 -6.65760931e-01 9.48059204e-02 1.88932560e+02] [ 1.25409911e-01 1.86128034e-03 9.92103266e-01 6.70240305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:188.95, Z:67.02 [[-6.61374732e-01 7.45543237e-01 8.21507522e-02 2.14140555e+02] [-7.39497186e-01 -6.66454463e-01 9.47753229e-02 1.88945094e+02] [ 1.25408836e-01 1.93175378e-03 9.92103267e-01 6.70230611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:188.95, Z:67.02 [[-6.59265805e-01 7.47404722e-01 8.21874682e-02 2.14142865e+02] [-7.41376984e-01 -6.64367250e-01 9.47434729e-02 1.88945098e+02] [ 1.25414381e-01 1.52923466e-03 9.92103268e-01 6.70168999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:188.94, Z:67.03 [[-6.62283662e-01 7.44726328e-01 8.22377512e-02 2.14132481e+02] [-7.38683378e-01 -6.67367076e-01 9.46998073e-02 1.88940958e+02] [ 1.25408207e-01 1.97047539e-03 9.92103270e-01 6.70264459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:188.94, Z:67.03 [[-6.62643003e-01 7.44402590e-01 8.22741465e-02 2.14130978e+02] [-7.38361080e-01 -6.67728127e-01 9.46681772e-02 1.88940432e+02] [ 1.25407998e-01 1.98317752e-03 9.92103271e-01 6.70271484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.93, Z:67.03 [[-6.62530052e-01 7.44499086e-01 8.23106323e-02 2.14120385e+02] [-7.38462257e-01 -6.67620730e-01 9.46364436e-02 1.88929611e+02] [ 1.25409030e-01 1.91619265e-03 9.92103273e-01 6.70293932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:188.94, Z:67.03 [[-6.61143426e-01 7.45726691e-01 8.23472700e-02 2.14126237e+02] [-7.39703284e-01 -6.66249976e-01 9.46045530e-02 1.88939623e+02] [ 1.25413007e-01 1.63463226e-03 9.92103274e-01 6.70282708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.93, Z:67.03 [[-6.58201365e-01 7.48319679e-01 8.23930876e-02 2.14117291e+02] [-7.42321386e-01 -6.63337388e-01 9.45646330e-02 1.88931226e+02] [ 1.25418991e-01 1.08041952e-03 9.92103276e-01 6.70291217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.93, Z:67.02 [[-6.52508875e-01 7.53284495e-01 8.24295880e-02 2.14124171e+02] [-7.47329302e-01 -6.57694810e-01 9.45328060e-02 1.88934110e+02] [ 1.25423609e-01 8.14484517e-05 9.92103277e-01 6.70210649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.94, Z:67.03 [[-6.52974074e-01 7.52876790e-01 8.24705829e-02 2.14123407e+02] [-7.46922877e-01 -6.58161475e-01 9.44970286e-02 1.88942874e+02] [ 1.25423580e-01 1.04944769e-04 9.92103278e-01 6.70289744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.94, Z:67.03 [[-6.50411704e-01 7.55087573e-01 8.25068043e-02 2.14119230e+02] [-7.49155303e-01 -6.55623841e-01 9.44653928e-02 1.88940439e+02] [ 1.25423072e-01 -3.69012921e-04 9.92103279e-01 6.70298766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:188.93, Z:67.03 [[-6.47716048e-01 7.57397242e-01 8.25429480e-02 2.14109109e+02] [-7.51487582e-01 -6.52953805e-01 9.44338004e-02 1.88931379e+02] [ 1.25420632e-01 -8.63712408e-04 9.92103280e-01 6.70328896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:188.93, Z:67.02 [[-6.43049988e-01 7.61357403e-01 8.25930860e-02 2.14112942e+02] [-7.55485624e-01 -6.48330173e-01 9.43899290e-02 1.88930634e+02] [ 1.25412061e-01 -1.70044647e-03 9.92103283e-01 6.70231587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.94, Z:67.03 [[-6.46657782e-01 7.58291579e-01 8.26292593e-02 2.14115379e+02] [-7.52398809e-01 -6.51914529e-01 9.43582523e-02 1.88942336e+02] [ 1.25418283e-01 -1.15265814e-03 9.92103284e-01 6.70305010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:188.94, Z:67.02 [[-6.43988848e-01 7.60555592e-01 8.26653263e-02 2.14117353e+02] [-7.54685355e-01 -6.49270744e-01 9.43266444e-02 1.88935645e+02] [ 1.25412835e-01 -1.64100404e-03 9.92103285e-01 6.70193340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.92, Z:67.04 [[-6.51398503e-01 7.54214666e-01 8.27056712e-02 2.14092880e+02] [-7.48297494e-01 -6.56627763e-01 9.42912569e-02 1.88918563e+02] [ 1.25422689e-01 -4.67262919e-04 9.92103286e-01 6.70353328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:188.93, Z:67.04 [[-6.54245510e-01 7.51743845e-01 8.27284928e-02 2.14099661e+02] [-7.45809456e-01 -6.59455222e-01 9.42712297e-02 1.88925881e+02] [ 1.25423553e-01 -2.31634551e-05 9.92103287e-01 6.70356468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:188.92, Z:67.04 [[-6.58034537e-01 7.48424860e-01 8.27694181e-02 2.14096556e+02] [-7.42468714e-01 -6.63219360e-01 9.42352841e-02 1.88920375e+02] [ 1.25422310e-01 5.56368097e-04 9.92103288e-01 6.70357773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:188.92, Z:67.04 [[-6.60244342e-01 7.46472120e-01 8.28057008e-02 2.14097972e+02] [-7.40504638e-01 -6.65416112e-01 9.42033915e-02 1.88921461e+02] [ 1.25420453e-01 8.79250644e-04 9.92103289e-01 6.70351140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.91, Z:67.04 [[-6.61679796e-01 7.45195487e-01 8.28464477e-02 2.14087623e+02] [-7.39222514e-01 -6.66845220e-01 9.41675435e-02 1.88909632e+02] [ 1.25418986e-01 1.06680159e-03 9.92103291e-01 6.70357118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.91, Z:67.04 [[-6.61847635e-01 7.45042382e-01 8.28827947e-02 2.14085784e+02] [-7.39072220e-01 -6.67016307e-01 9.41355416e-02 1.88908142e+02] [ 1.25419144e-01 1.04701448e-03 9.92103292e-01 6.70361563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.89, Z:67.04 [[-6.60740748e-01 7.46019640e-01 8.29238273e-02 2.14071132e+02] [-7.40061660e-01 -6.65923454e-01 9.40993824e-02 1.88893735e+02] [ 1.25420909e-01 8.06550992e-04 9.92103294e-01 6.70387021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.91, Z:67.04 [[-6.59223977e-01 7.47355177e-01 8.29698045e-02 2.14085128e+02] [-7.41412799e-01 -6.64424562e-01 9.40588260e-02 1.88913645e+02] [ 1.25422527e-01 4.90958330e-04 9.92103295e-01 6.70361793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.91, Z:67.04 [[-6.59224124e-01 7.47349966e-01 8.30155600e-02 2.14077824e+02] [-7.41412633e-01 -6.64430465e-01 9.40184255e-02 1.88907394e+02] [ 1.25422734e-01 4.30429155e-04 9.92103297e-01 6.70365932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.91, Z:67.04 [[-6.60274832e-01 7.46417809e-01 8.30517953e-02 2.14077052e+02] [-7.40477153e-01 -6.65477379e-01 9.39864061e-02 1.88908116e+02] [ 1.25422218e-01 5.58901612e-04 9.92103298e-01 6.70362397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.90, Z:67.04 [[-6.61395503e-01 7.45420927e-01 8.30880844e-02 2.14073467e+02] [-7.39476460e-01 -6.66593694e-01 9.39543142e-02 1.88904820e+02] [ 1.25421505e-01 6.99278481e-04 9.92103300e-01 6.70367809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.90, Z:67.04 [[-6.63527869e-01 7.43519406e-01 8.31243611e-02 2.14071455e+02] [-7.37564063e-01 -6.68713594e-01 9.39222083e-02 1.88904426e+02] [ 1.25419375e-01 1.01046119e-03 9.92103301e-01 6.70366821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.89, Z:67.04 [[-6.64851270e-01 7.42332200e-01 8.31606555e-02 2.14060219e+02] [-7.36371616e-01 -6.70030969e-01 9.38900617e-02 1.88893127e+02] [ 1.25417831e-01 1.18578041e-03 9.92103302e-01 6.70393080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.91, Z:67.04 [[-6.64939908e-01 7.42248214e-01 8.32016105e-02 2.14073976e+02] [-7.36291517e-01 -6.70124074e-01 9.38537552e-02 1.88907929e+02] [ 1.25418184e-01 1.14646731e-03 9.92103303e-01 6.70378089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.90, Z:67.04 [[-6.64315027e-01 7.42802967e-01 8.32423998e-02 2.14066365e+02] [-7.36855132e-01 -6.69509357e-01 9.38175640e-02 1.88899298e+02] [ 1.25419530e-01 9.86828115e-04 9.92103305e-01 6.70388435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.89, Z:67.04 [[-6.64027434e-01 7.43055527e-01 8.32829507e-02 2.14059876e+02] [-7.37114183e-01 -6.69229184e-01 9.37815529e-02 1.88893313e+02] [ 1.25420282e-01 8.84479770e-04 9.92103306e-01 6.70411719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.90, Z:67.04 [[-6.64116677e-01 7.42971701e-01 8.33192149e-02 2.14063674e+02] [-7.37033742e-01 -6.69322289e-01 9.37493234e-02 1.88897136e+02] [ 1.25420502e-01 8.51416384e-04 9.92103308e-01 6.70403357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:188.89, Z:67.04 [[-6.63585017e-01 7.43440982e-01 8.33692440e-02 2.14054389e+02] [-7.37512295e-01 -6.68801183e-01 9.37048128e-02 1.88885170e+02] [ 1.25421447e-01 6.95267350e-04 9.92103310e-01 6.70426443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:188.88, Z:67.04 [[-6.60027628e-01 7.46596485e-01 8.34099394e-02 2.14050214e+02] [-7.40697315e-01 -6.65277150e-01 9.36685747e-02 1.88878002e+02] [ 1.25423355e-01 4.23291378e-05 9.92103311e-01 6.70429990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.90, Z:67.04 [[-6.52024432e-01 7.53591960e-01 8.34463722e-02 2.14070566e+02] [-7.47753254e-01 -6.57341122e-01 9.36361068e-02 1.88896381e+02] [ 1.25416149e-01 -1.34426695e-03 9.92103312e-01 6.70391903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.89, Z:67.04 [[-6.45610672e-01 7.59089449e-01 8.34869329e-02 2.14071217e+02] [-7.53300674e-01 -6.50981680e-01 9.35999287e-02 1.88892937e+02] [ 1.25399182e-01 -2.46164992e-03 9.92103314e-01 6.70407461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.90, Z:67.04 [[-6.41300814e-01 7.62730122e-01 8.35226158e-02 2.14082752e+02] [-7.56975969e-01 -6.46708897e-01 9.35680769e-02 1.88896326e+02] [ 1.25382009e-01 -3.21932914e-03 9.92103315e-01 6.70360791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.89, Z:67.04 [[-6.40946584e-01 7.63023449e-01 8.35625065e-02 2.14082483e+02] [-7.57276409e-01 -6.46362223e-01 9.35324386e-02 1.88892175e+02] [ 1.25379091e-01 -3.33061777e-03 9.92103316e-01 6.70360870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.89, Z:67.04 [[-6.43026820e-01 7.61267307e-01 8.35978216e-02 2.14084620e+02] [-7.55509573e-01 -6.48431086e-01 9.35008641e-02 1.88887559e+02] [ 1.25386577e-01 -3.03539113e-03 9.92103318e-01 6.70384724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.88, Z:67.04 [[-6.45881101e-01 7.58843266e-01 8.36331362e-02 2.14084443e+02] [-7.53069332e-01 -6.51268054e-01 9.34692659e-02 1.88877917e+02] [ 1.25396113e-01 -2.61151759e-03 9.92103319e-01 6.70368615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.87, Z:67.04 [[-6.51342207e-01 7.54156602e-01 8.36728714e-02 2.14081581e+02] [-7.48348463e-01 -6.56692261e-01 9.34336820e-02 1.88865870e+02] [ 1.25410955e-01 -1.75916402e-03 9.92103320e-01 6.70401705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.86, Z:67.04 [[-6.53562624e-01 7.52229238e-01 8.37082403e-02 2.14080926e+02] [-7.46409378e-01 -6.58899923e-01 9.34019841e-02 1.88862642e+02] [ 1.25415056e-01 -1.43656978e-03 9.92103321e-01 6.70410419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.85, Z:67.03 [[-6.54771400e-01 7.51172338e-01 8.37528037e-02 2.14090947e+02] [-7.45348973e-01 -6.60104873e-01 9.33620076e-02 1.88851209e+02] [ 1.25416591e-01 -1.29429386e-03 9.92103323e-01 6.70250036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.84, Z:67.04 [[-6.65737277e-01 7.41467069e-01 8.37882089e-02 2.14083642e+02] [-7.35569939e-01 -6.70989072e-01 9.33302224e-02 1.88844213e+02] [ 1.25422259e-01 5.01320346e-04 9.92103324e-01 6.70389563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.84, Z:67.04 [[-6.68507450e-01 7.38966425e-01 8.38236945e-02 2.14084511e+02] [-7.33053647e-01 -6.73741620e-01 9.32983406e-02 1.88840068e+02] [ 1.25419853e-01 9.23370800e-04 9.92103325e-01 6.70401781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.83, Z:67.04 [[-6.70169480e-01 7.37455415e-01 8.38592790e-02 2.14086850e+02] [-7.31534838e-01 -6.75394825e-01 9.32663454e-02 1.88833148e+02] [ 1.25417895e-01 1.15827415e-03 9.92103326e-01 6.70398525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.83, Z:67.04 [[-6.69746261e-01 7.37835751e-01 8.38948803e-02 2.14084364e+02] [-7.31922153e-01 -6.74979500e-01 9.32343106e-02 1.88827167e+02] [ 1.25418932e-01 1.03880946e-03 9.92103327e-01 6.70411154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.83, Z:67.04 [[-6.68841488e-01 7.38651968e-01 8.39305338e-02 2.14084396e+02] [-7.32748784e-01 -6.74086470e-01 9.32022040e-02 1.88825166e+02] [ 1.25420429e-01 8.37504211e-04 9.92103329e-01 6.70425732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.82, Z:67.04 [[-6.67885906e-01 7.39512063e-01 8.39662106e-02 2.14085675e+02] [-7.33619675e-01 -6.73143012e-01 9.31700518e-02 1.88823399e+02] [ 1.25421645e-01 6.27700410e-04 9.92103330e-01 6.70418180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:188.82, Z:67.04 [[-6.68142200e-01 7.39276465e-01 8.40018395e-02 2.14087186e+02] [-7.33386261e-01 -6.73401752e-01 9.31379180e-02 1.88823601e+02] [ 1.25421657e-01 6.23578467e-04 9.92103331e-01 6.70408560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.68572274e-01 7.38883489e-01 8.40375160e-02 2.14084258e+02] [-7.32994241e-01 -6.73832893e-01 9.31057165e-02 1.88820133e+02] [ 1.25421519e-01 6.48885341e-04 9.92103332e-01 6.70429671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.68055086e-01 7.39347096e-01 8.40730269e-02 2.14082937e+02] [-7.33465534e-01 -6.73324296e-01 9.30736398e-02 1.88817618e+02] [ 1.25422137e-01 5.13650786e-04 9.92103333e-01 6.70428377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.66602795e-01 7.40652728e-01 8.41085664e-02 2.14081758e+02] [-7.34785539e-01 -6.71888003e-01 9.30415127e-02 1.88817906e+02] [ 1.25422987e-01 2.19974128e-04 9.92103334e-01 6.70437302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.66013728e-01 7.41178445e-01 8.41440818e-02 2.14082361e+02] [-7.35319487e-01 -6.71308057e-01 9.30093827e-02 1.88819007e+02] [ 1.25423150e-01 7.27426449e-05 9.92103335e-01 6.70438955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.66067326e-01 7.41126255e-01 8.41795208e-02 2.14081605e+02] [-7.35270936e-01 -6.71365678e-01 9.29772972e-02 1.88818130e+02] [ 1.25423157e-01 3.43846883e-05 9.92103337e-01 6.70427573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.81, Z:67.04 [[-6.66333184e-01 7.40883221e-01 8.42148447e-02 2.14077823e+02] [-7.35030014e-01 -6.71633867e-01 9.29452915e-02 1.88814561e+02] [ 1.25423149e-01 3.20935335e-05 9.92103338e-01 6.70427408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.82, Z:67.04 [[-6.66106309e-01 7.41083185e-01 8.42502072e-02 2.14076289e+02] [-7.35235624e-01 -6.71413218e-01 9.29132263e-02 1.88816407e+02] [ 1.25423132e-01 -5.36673923e-05 9.92103339e-01 6.70436578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.81, Z:67.05 [[-6.66811306e-01 7.40444871e-01 8.42856805e-02 2.14072562e+02] [-7.34596297e-01 -6.72117098e-01 9.28810359e-02 1.88814202e+02] [ 1.25423134e-01 1.81760607e-05 9.92103340e-01 6.70456427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:188.81, Z:67.04 [[-6.65534352e-01 7.41588815e-01 8.43211416e-02 2.14079481e+02] [-7.35753441e-01 -6.70854656e-01 9.28488320e-02 1.88814819e+02] [ 1.25422886e-01 -2.45482740e-04 9.92103341e-01 6.70392772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.81, Z:67.05 [[-6.71569039e-01 7.36124327e-01 8.43563921e-02 2.14068324e+02] [-7.30249685e-01 -6.76845950e-01 9.28167948e-02 1.88810294e+02] [ 1.25420983e-01 7.31656919e-04 9.92103342e-01 6.70495109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.80, Z:67.04 [[-6.70249367e-01 7.37322057e-01 8.43917646e-02 2.14064929e+02] [-7.31460895e-01 -6.75541245e-01 9.27846221e-02 1.88799237e+02] [ 1.25422266e-01 4.59558577e-04 9.92103343e-01 6.70426608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:188.81, Z:67.05 [[-6.73393671e-01 7.34447584e-01 8.44257666e-02 2.14065081e+02] [-7.28567712e-01 -6.78664751e-01 9.27536732e-02 1.88807467e+02] [ 1.25419503e-01 9.49848871e-04 9.92103344e-01 6.70515863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.81, Z:67.05 [[-6.73672235e-01 7.34187989e-01 8.44613310e-02 2.14061189e+02] [-7.28310147e-01 -6.78945576e-01 9.27212771e-02 1.88806134e+02] [ 1.25419495e-01 9.49705584e-04 9.92103346e-01 6.70517925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:188.80, Z:67.05 [[-6.73734004e-01 7.34127631e-01 8.44932746e-02 2.14056314e+02] [-7.28252967e-01 -6.79010883e-01 9.26921592e-02 1.88801957e+02] [ 1.25419728e-01 9.17381655e-04 9.92103347e-01 6.70528296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:188.09, Z:67.75 [[-6.04999430e-01 7.91726341e-01 8.45286369e-02 2.14606766e+02] [-7.86354319e-01 -6.10787219e-01 9.26599003e-02 1.88089964e+02] [ 1.24990295e-01 -1.04102718e-02 9.92103348e-01 6.77520457e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:188.30, Z:67.72 [[-6.07175817e-01 7.90953349e-01 7.56989203e-02 2.14767614e+02] [-7.84683932e-01 -6.11875720e-01 9.93943147e-02 1.88302829e+02] [ 1.24934597e-01 9.50097725e-04 9.92164525e-01 6.77235546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:188.31, Z:67.71 [[-6.04238710e-01 7.93188589e-01 7.58119005e-02 2.14773509e+02] [-7.86947371e-01 -6.08975979e-01 9.93080670e-02 1.88305890e+02] [ 1.24937652e-01 3.45802522e-04 9.92164535e-01 6.77141514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:188.30, Z:67.73 [[-6.08770784e-01 7.89711886e-01 7.58503087e-02 2.14759635e+02] [-7.83447270e-01 -6.13477066e-01 9.92787228e-02 1.88300266e+02] [ 1.24934012e-01 1.01326864e-03 9.92164536e-01 6.77250270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:188.30, Z:67.73 [[-6.10384582e-01 7.88462930e-01 7.58740387e-02 2.14754932e+02] [-7.82190938e-01 -6.15081029e-01 9.92605839e-02 1.88300019e+02] [ 1.24931973e-01 1.23914446e-03 9.92164536e-01 6.77254560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:188.30, Z:67.72 [[-6.12557442e-01 7.86771893e-01 7.59168487e-02 2.14751443e+02] [-7.80490994e-01 -6.17241967e-01 9.92278312e-02 1.88298618e+02] [ 1.24928734e-01 1.53032980e-03 9.92164538e-01 6.77247078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:188.30, Z:67.73 [[-6.14012040e-01 7.85633088e-01 7.59596293e-02 2.14749180e+02] [-7.79347551e-01 -6.18690337e-01 9.91950717e-02 1.88299103e+02] [ 1.24926419e-01 1.70801726e-03 9.92164539e-01 6.77257452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:188.30, Z:67.73 [[-6.14859992e-01 7.84965952e-01 7.59976633e-02 2.14745397e+02] [-7.78678938e-01 -6.19536304e-01 9.91659238e-02 1.88298265e+02] [ 1.24925185e-01 1.79537943e-03 9.92164540e-01 6.77260409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:188.30, Z:67.73 [[-6.15609855e-01 7.84374325e-01 7.60356861e-02 2.14738556e+02] [-7.78086416e-01 -6.20284961e-01 9.91367614e-02 1.88295266e+02] [ 1.24924123e-01 1.86723277e-03 9.92164541e-01 6.77275710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:188.29, Z:67.73 [[-6.15675107e-01 7.84318958e-01 7.60784731e-02 2.14734830e+02] [-7.78034684e-01 -6.20355095e-01 9.91039156e-02 1.88293650e+02] [ 1.24924748e-01 1.82412304e-03 9.92164543e-01 6.77281716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:188.28, Z:67.73 [[-6.15343613e-01 7.84575364e-01 7.61165980e-02 2.14721575e+02] [-7.78296660e-01 -6.20031070e-01 9.90746253e-02 1.88281258e+02] [ 1.24926166e-01 1.72364392e-03 9.92164544e-01 6.77307748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:188.29, Z:67.73 [[-6.13972876e-01 7.85644786e-01 7.61549531e-02 2.14725233e+02] [-7.79377903e-01 -6.18676123e-01 9.90451346e-02 1.88292633e+02] [ 1.24929545e-01 1.45753855e-03 9.92164545e-01 6.77303444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:188.28, Z:67.73 [[-6.13327478e-01 7.86143106e-01 7.62129948e-02 2.14715098e+02] [-7.79885593e-01 -6.18043180e-01 9.90004531e-02 1.88284311e+02] [ 1.24931445e-01 1.28228160e-03 9.92164548e-01 6.77318498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:188.28, Z:67.73 [[-6.12344146e-01 7.86905583e-01 7.62512319e-02 2.14711455e+02] [-7.80657608e-01 -6.17072476e-01 9.89709939e-02 1.88284194e+02] [ 1.24933364e-01 1.07820437e-03 9.92164549e-01 6.77291298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:188.29, Z:67.73 [[-6.13844574e-01 7.85732720e-01 7.62819232e-02 2.14711404e+02] [-7.79478651e-01 -6.18564838e-01 9.89473330e-02 1.88292545e+02] [ 1.24931473e-01 1.27815285e-03 9.92164550e-01 6.77330146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:187.33, Z:68.45 [[-5.35552302e-01 8.41044818e-01 7.63370548e-02 2.15218517e+02] [-8.35278841e-01 -5.40857747e-01 9.89047816e-02 1.87326673e+02] [ 1.24470841e-01 -1.07940431e-02 9.92164552e-01 6.84536029e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:187.79, Z:68.38 [[-5.35107402e-01 8.42179164e-01 6.62896964e-02 2.15513630e+02] [-8.35577867e-01 -5.39196993e-01 1.05243672e-01 1.87794437e+02] [ 1.24377232e-01 9.26464537e-04 9.92234572e-01 6.83796361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:186.84, Z:69.11 [[-4.59971203e-01 8.85437504e-01 6.65350968e-02 2.16101040e+02] [-8.79237908e-01 -4.64647338e-01 1.05088306e-01 1.86842560e+02] [ 1.23964483e-01 -1.01625847e-02 9.92234614e-01 6.91078630e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.38, Y:187.36, Z:69.03 [[-4.62652327e-01 8.84700850e-01 5.70721535e-02 2.16377301e+02] [-8.77835387e-01 -4.66158530e-01 1.10005722e-01 1.87363588e+02] [ 1.23926827e-01 7.94447481e-04 9.92291041e-01 6.90329241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:186.54, Z:69.75 [[-3.90690415e-01 9.18721472e-01 5.75487362e-02 2.17074818e+02] [-9.12192547e-01 -3.94789070e-01 1.09755854e-01 1.86536207e+02] [ 1.23554672e-01 -9.61496802e-03 9.92291185e-01 6.97483737e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:187.02, Z:69.68 [[-3.87200772e-01 9.20706933e-01 4.87268494e-02 2.17288593e+02] [-9.13678534e-01 -3.90254322e-01 1.13547796e-01 1.87018995e+02] [ 1.23560106e-01 -5.54882120e-04 9.92336935e-01 6.96820606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:187.02, Z:69.68 [[-3.79455652e-01 9.23912305e-01 4.89842923e-02 2.17291223e+02] [-9.16923976e-01 -3.82599730e-01 1.13436632e-01 1.87020458e+02] [ 1.23546877e-01 -1.87070086e-03 9.92336974e-01 6.96834750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:187.01, Z:69.68 [[-3.74556156e-01 9.25906244e-01 4.90439892e-02 2.17290737e+02] [-9.18938010e-01 -3.77744518e-01 1.13410817e-01 1.87014115e+02] [ 1.23533881e-01 -2.58966626e-03 9.92336976e-01 6.96831527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:187.02, Z:69.68 [[-3.69424409e-01 9.27962524e-01 4.91035644e-02 2.17297148e+02] [-9.21015432e-01 -3.72658573e-01 1.13385017e-01 1.87015606e+02] [ 1.23515911e-01 -3.33794782e-03 9.92336978e-01 6.96837728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:187.01, Z:69.69 [[-3.67897966e-01 9.28565014e-01 4.91742019e-02 2.17298593e+02] [-9.21627287e-01 -3.71152165e-01 1.13354374e-01 1.87010568e+02] [ 1.23508017e-01 -3.61744263e-03 9.92336981e-01 6.96850054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.79, Z:69.71 [[-3.67464466e-01 9.28733517e-01 4.92333194e-02 2.17208052e+02] [-9.21800702e-01 -3.70729110e-01 1.13328692e-01 1.86791066e+02] [ 1.23504379e-01 -3.73904120e-03 9.92336983e-01 6.97099399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.79, Z:69.71 [[-3.67434174e-01 9.28743035e-01 4.92798424e-02 2.17210976e+02] [-9.21813001e-01 -3.70704714e-01 1.13308458e-01 1.86791477e+02] [ 1.23502711e-01 -3.79339961e-03 9.92336984e-01 6.97101755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.98, Z:69.69 [[-3.70971645e-01 9.27331587e-01 4.93575445e-02 2.17300687e+02] [-9.20393580e-01 -3.74225230e-01 1.13274601e-01 1.86984190e+02] [ 1.23513954e-01 -3.40670194e-03 9.92336988e-01 6.96868216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.98, Z:69.69 [[-3.75739039e-01 9.25403196e-01 4.94883691e-02 2.17303889e+02] [-9.18455974e-01 -3.78972875e-01 1.13217418e-01 1.86980393e+02] [ 1.23526510e-01 -2.91268440e-03 9.92336998e-01 6.96885707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.97, Z:69.69 [[-3.79684673e-01 9.23787871e-01 4.95531879e-02 2.17304025e+02] [-9.16830574e-01 -3.82896773e-01 1.13189041e-01 1.86973266e+02] [ 1.23536419e-01 -2.45573360e-03 9.92337000e-01 6.96897915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.70, Z:69.72 [[-3.84958644e-01 9.21599401e-01 4.96123710e-02 2.17186896e+02] [-9.14627169e-01 -3.88138191e-01 1.13163095e-01 1.86695753e+02] [ 1.23547496e-01 -1.81371097e-03 9.92337003e-01 6.97244043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.95, Z:69.69 [[-3.90734130e-01 9.19163046e-01 4.96601964e-02 2.17304057e+02] [-9.12173645e-01 -3.93875750e-01 1.13142104e-01 1.86950789e+02] [ 1.23555988e-01 -1.09024089e-03 9.92337004e-01 6.96912560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.94, Z:69.69 [[-3.93071563e-01 9.18158216e-01 4.98019799e-02 2.17303774e+02] [-9.11168680e-01 -3.96212855e-01 1.13079662e-01 1.86944705e+02] [ 1.23557205e-01 -9.29604970e-04 9.92337016e-01 6.96896249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.94, Z:69.69 [[-3.95845302e-01 9.16962858e-01 4.98559309e-02 2.17304065e+02] [-9.09966830e-01 -3.98972104e-01 1.13055870e-01 1.86938973e+02] [ 1.23559160e-01 -6.14608185e-04 9.92337018e-01 6.96885257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.93, Z:69.69 [[-3.97634128e-01 9.16185626e-01 4.99099107e-02 2.17304081e+02] [-9.09186475e-01 -4.00753930e-01 1.13032035e-01 1.86934503e+02] [ 1.23559919e-01 -4.32020863e-04 9.92337019e-01 6.96892219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters Centerline goodness : 0.998401 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:186.40, Z:69.76 [[-4.00609040e-01 9.14885788e-01 4.99638992e-02 2.17063950e+02] [-9.07879490e-01 -4.03712752e-01 1.13008166e-01 1.86398071e+02] [ 1.23560628e-01 -8.91064495e-05 9.92337021e-01 6.97614070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:186.65, Z:69.73 [[-4.03135970e-01 9.13777185e-01 4.99264088e-02 2.17177248e+02] [-9.06760299e-01 -4.06215671e-01 1.13024727e-01 1.86646758e+02] [ 1.23560306e-01 2.93047518e-04 9.92337022e-01 6.97277793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.91, Z:69.69 [[-4.03462514e-01 9.13622581e-01 5.01176613e-02 2.17299811e+02] [-9.06615037e-01 -4.06563357e-01 1.12939860e-01 1.86913756e+02] [ 1.23560411e-01 1.29574643e-04 9.92337044e-01 6.96919914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.91, Z:69.69 [[-4.04189106e-01 9.13293512e-01 5.02606023e-02 2.17295351e+02] [-9.06291346e-01 -4.07302046e-01 1.12876214e-01 1.86905251e+02] [ 1.23560360e-01 7.25872772e-05 9.92337056e-01 6.96948946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:186.91, Z:69.70 [[-4.04276604e-01 9.13251802e-01 5.03147498e-02 2.17295898e+02] [-9.06252318e-01 -4.07395565e-01 1.12852073e-01 1.86906959e+02] [ 1.23560365e-01 2.55942747e-05 9.92337057e-01 6.96950606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:186.90, Z:69.69 [[-4.04475544e-01 9.13160725e-01 5.03688857e-02 2.17293392e+02] [-9.06163547e-01 -4.07599670e-01 1.12827906e-01 1.86901703e+02] [ 1.23560353e-01 -6.31942281e-06 9.92337059e-01 6.96948699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:186.90, Z:69.69 [[-4.04669443e-01 9.13071524e-01 5.04285011e-02 2.17290441e+02] [-9.06076977e-01 -4.07799448e-01 1.12801255e-01 1.86896234e+02] [ 1.23560329e-01 -4.48828924e-05 9.92337061e-01 6.96940720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:186.89, Z:69.69 [[-4.05086750e-01 9.12883473e-01 5.04825750e-02 2.17287683e+02] [-9.05890487e-01 -4.08220238e-01 1.12777050e-01 1.86892861e+02] [ 1.23560314e-01 -4.71959310e-05 9.92337063e-01 6.96947307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:186.63, Z:69.73 [[-4.07348322e-01 9.11873560e-01 5.05366749e-02 2.17164322e+02] [-9.04875812e-01 -4.10471157e-01 1.12752802e-01 1.86628762e+02] [ 1.23560146e-01 2.00250021e-04 9.92337065e-01 6.97331720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:186.88, Z:69.70 [[-4.07745144e-01 9.11693859e-01 5.05786932e-02 2.17281283e+02] [-9.04697072e-01 -4.10870130e-01 1.12733950e-01 1.86883000e+02] [ 1.23560125e-01 2.08325204e-04 9.92337066e-01 6.96963511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:186.86, Z:69.70 [[-4.11114763e-01 9.10171432e-01 5.07209679e-02 2.17270532e+02] [-9.03170963e-01 -4.14231462e-01 1.12669904e-01 1.86863843e+02] [ 1.23559148e-01 5.10555402e-04 9.92337078e-01 6.97026917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:186.86, Z:69.70 [[-4.12474083e-01 9.09553182e-01 5.07753917e-02 2.17272482e+02] [-9.02551059e-01 -4.15587061e-01 1.12645372e-01 1.86863486e+02] [ 1.23558553e-01 6.35913117e-04 9.92337080e-01 6.96969066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:186.87, Z:69.70 [[-4.13457871e-01 9.09103346e-01 5.08300657e-02 2.17274282e+02] [-9.02100868e-01 -4.16570045e-01 1.12620696e-01 1.86868986e+02] [ 1.23558134e-01 7.10066838e-04 9.92337081e-01 6.96951417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:186.87, Z:69.69 [[-4.13502634e-01 9.09079945e-01 5.08844277e-02 2.17271909e+02] [-9.02080312e-01 -4.16621197e-01 1.12596129e-01 1.86868921e+02] [ 1.23558414e-01 6.56955525e-04 9.92337083e-01 6.96944781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:186.87, Z:69.69 [[-4.13466386e-01 9.09093403e-01 5.09385188e-02 2.17270310e+02] [-9.02096885e-01 -4.16591926e-01 1.12571653e-01 1.86867980e+02] [ 1.23558723e-01 5.93115463e-04 9.92337085e-01 6.96940745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.26, Y:186.86, Z:69.69 [[-4.14072047e-01 9.08814670e-01 5.09924998e-02 2.17264882e+02] [-9.01819058e-01 -4.17199611e-01 1.12547196e-01 1.86861076e+02] [ 1.23558594e-01 6.16639704e-04 9.92337087e-01 6.96937444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.26, Y:186.86, Z:69.69 [[-4.16457382e-01 9.07720421e-01 5.10576814e-02 2.17260543e+02] [-9.00720215e-01 -4.19574642e-01 1.12517618e-01 1.86857385e+02] [ 1.23557048e-01 8.70107076e-04 9.92337089e-01 6.96933390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.26, Y:186.85, Z:69.69 [[-4.18935670e-01 9.06576250e-01 5.11117173e-02 2.17257217e+02] [-8.99570523e-01 -4.22040500e-01 1.12493067e-01 1.86852119e+02] [ 1.23554758e-01 1.14876419e-03 9.92337091e-01 6.96938060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:186.84, Z:69.70 [[-4.22150667e-01 9.05080590e-01 5.11657994e-02 2.17248341e+02] [-8.98066844e-01 -4.25237333e-01 1.12468464e-01 1.86838123e+02] [ 1.23550632e-01 1.52832898e-03 9.92337093e-01 6.97010592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:186.85, Z:69.69 [[-4.21159432e-01 9.05539191e-01 5.12201874e-02 2.17252177e+02] [-8.98531814e-01 -4.24260528e-01 1.12443689e-01 1.86846070e+02] [ 1.23552871e-01 1.33375235e-03 9.92337095e-01 6.96930980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:186.84, Z:69.69 [[-4.18530871e-01 9.06754008e-01 5.12745428e-02 2.17248087e+02] [-8.99758669e-01 -4.21659021e-01 1.12418898e-01 1.86844541e+02] [ 1.23556660e-01 9.16064876e-04 9.92337096e-01 6.96918320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:186.84, Z:69.69 [[-4.16516962e-01 9.07677803e-01 5.13286094e-02 2.17246391e+02] [-9.00692443e-01 -4.19667327e-01 1.12394207e-01 1.86844689e+02] [ 1.23558667e-01 5.82802817e-04 9.92337098e-01 6.96900664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:186.84, Z:69.69 [[-4.14228613e-01 9.08721348e-01 5.13825658e-02 2.17242572e+02] [-9.01746983e-01 -4.17403242e-01 1.12369535e-01 1.86842156e+02] [ 1.23559844e-01 2.12602736e-04 9.92337100e-01 6.96885370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:186.84, Z:69.68 [[-4.07966916e-01 9.11546333e-01 5.14419850e-02 2.17246454e+02] [-9.04597376e-01 -4.11196776e-01 1.12342327e-01 1.86842502e+02] [ 1.23558014e-01 -7.02332169e-04 9.92337102e-01 6.96809365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:186.84, Z:69.69 [[-4.10178217e-01 9.10550398e-01 5.14956608e-02 2.17235416e+02] [-9.03596686e-01 -4.13397823e-01 1.12317717e-01 1.86839304e+02] [ 1.23559136e-01 -4.61027365e-04 9.92337104e-01 6.96875606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:186.84, Z:69.69 [[-4.05874933e-01 9.12473676e-01 5.15492877e-02 2.17232405e+02] [-9.05538341e-01 -4.09133931e-01 1.12293100e-01 1.86842803e+02] [ 1.23555060e-01 -1.10290214e-03 9.92337105e-01 6.96875953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:186.84, Z:69.69 [[-4.01319135e-01 9.14483514e-01 5.16028628e-02 2.17227532e+02] [-9.07567654e-01 -4.04619258e-01 1.12268475e-01 1.86842682e+02] [ 1.23547181e-01 -1.77760200e-03 9.92337107e-01 6.96873287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:186.84, Z:69.68 [[-3.94384775e-01 9.17492075e-01 5.16617990e-02 2.17234642e+02] [-9.10604909e-01 -3.97744364e-01 1.12241348e-01 1.86843566e+02] [ 1.23528737e-01 -2.77720891e-03 9.92337109e-01 6.96758389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:186.84, Z:69.68 [[-3.94359904e-01 9.17499462e-01 5.17204407e-02 2.17230275e+02] [-9.10615891e-01 -3.97726849e-01 1.12214320e-01 1.86838087e+02] [ 1.23527186e-01 -2.84462658e-03 9.92337111e-01 6.96762516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:186.84, Z:69.67 [[-3.93872727e-01 9.17705719e-01 5.17734426e-02 2.17230493e+02] [-9.10827114e-01 -3.97249801e-01 1.12189861e-01 1.86835905e+02] [ 1.23524267e-01 -2.96812888e-03 9.92337113e-01 6.96735824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:186.82, Z:69.68 [[-3.96052985e-01 9.16763903e-01 5.18264330e-02 2.17221023e+02] [-9.09880458e-01 -3.99420179e-01 1.12165377e-01 1.86815902e+02] [ 1.23529692e-01 -2.73242638e-03 9.92337115e-01 6.96764736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.81, Z:69.69 [[-4.05584526e-01 9.12583443e-01 5.18907649e-02 2.17210266e+02] [-9.05669058e-01 -4.08887715e-01 1.12135608e-01 1.86813340e+02] [ 1.23550595e-01 -1.51539294e-03 9.92337117e-01 6.96928191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.74, Z:69.69 [[-4.01364677e-01 9.14444188e-01 5.19444219e-02 2.17188026e+02] [-9.07548320e-01 -4.04706346e-01 1.12110747e-01 1.86740558e+02] [ 1.23541258e-01 -2.14477921e-03 9.92337119e-01 6.96889329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.80, Z:69.69 [[-4.09723107e-01 9.10719477e-01 5.21249487e-02 2.17206908e+02] [-9.03803872e-01 -4.13023690e-01 1.12026752e-01 1.86800964e+02] [ 1.23553784e-01 -1.21078143e-03 9.92337139e-01 6.96946056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.80, Z:69.69 [[-4.10136971e-01 9.10529449e-01 5.21899143e-02 2.17208123e+02] [-9.03616163e-01 -4.13442402e-01 1.11996479e-01 1.86798926e+02] [ 1.23553616e-01 -1.22575353e-03 9.92337141e-01 6.96948497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.79, Z:69.70 [[-4.11109258e-01 9.10087804e-01 5.22433478e-02 2.17208615e+02] [-9.03174131e-01 -4.14413877e-01 1.11971548e-01 1.86792894e+02] [ 1.23554309e-01 -1.15230022e-03 9.92337143e-01 6.96952618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.79, Z:69.70 [[-4.12676560e-01 9.09375120e-01 5.22967325e-02 2.17210184e+02] [-9.02458897e-01 -4.15975835e-01 1.11946609e-01 1.86786986e+02] [ 1.23555638e-01 -9.97909971e-04 9.92337145e-01 6.96961605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.77, Z:69.70 [[-4.13957736e-01 9.08789237e-01 5.23556671e-02 2.17207142e+02] [-9.01871828e-01 -4.17254519e-01 1.11919040e-01 1.86774150e+02] [ 1.23556458e-01 -8.88348767e-04 9.92337147e-01 6.96966616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.77, Z:69.70 [[-4.14913102e-01 9.08350367e-01 5.24092373e-02 2.17205857e+02] [-9.01432639e-01 -4.18209209e-01 1.11893949e-01 1.86769603e+02] [ 1.23556935e-01 -8.17131703e-04 9.92337148e-01 6.96973258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.77, Z:69.70 [[-4.16310765e-01 9.07707223e-01 5.24685126e-02 2.17209159e+02] [-9.00787903e-01 -4.19603526e-01 1.11866147e-01 1.86771602e+02] [ 1.23557683e-01 -6.91920140e-04 9.92337151e-01 6.96970669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.76, Z:69.70 [[-4.17638324e-01 9.07093756e-01 5.25275962e-02 2.17208312e+02] [-9.00173087e-01 -4.20928244e-01 1.11838398e-01 1.86763730e+02] [ 1.23558261e-01 -5.75927425e-04 9.92337153e-01 6.96956400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:186.76, Z:69.70 [[-4.18168501e-01 9.06846369e-01 5.25810508e-02 2.17206957e+02] [-8.99926913e-01 -4.21460966e-01 1.11813260e-01 1.86760239e+02] [ 1.23558310e-01 -5.62319188e-04 9.92337154e-01 6.96960857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.75, Z:69.70 [[-4.19211001e-01 9.06361816e-01 5.26345533e-02 2.17204110e+02] [-8.99441714e-01 -4.22502107e-01 1.11788069e-01 1.86752182e+02] [ 1.23558647e-01 -4.78924414e-04 9.92337156e-01 6.96965712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.75, Z:69.70 [[-4.20823528e-01 9.05611131e-01 5.26881209e-02 2.17204559e+02] [-8.98688318e-01 -4.24108924e-01 1.11762816e-01 1.86752074e+02] [ 1.23559153e-01 -3.17776041e-04 9.92337158e-01 6.96962501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.75, Z:69.70 [[-4.22025343e-01 9.05048575e-01 5.27416964e-02 2.17202975e+02] [-8.98124542e-01 -4.25308161e-01 1.11737528e-01 1.86748517e+02] [ 1.23559365e-01 -2.12543241e-04 9.92337160e-01 6.96961359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.74, Z:69.70 [[-4.23006574e-01 9.04586936e-01 5.28006964e-02 2.17199733e+02] [-8.97662800e-01 -4.26289167e-01 1.11709642e-01 1.86741990e+02] [ 1.23559447e-01 -1.43308267e-04 9.92337162e-01 6.96985106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.73, Z:69.70 [[-4.23555290e-01 9.04327016e-01 5.28541864e-02 2.17196228e+02] [-8.97404022e-01 -4.26840289e-01 1.11684328e-01 1.86733734e+02] [ 1.23559451e-01 -1.27071517e-04 9.92337163e-01 6.97003074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.74, Z:69.70 [[-4.25284821e-01 9.03511805e-01 5.29078388e-02 2.17198166e+02] [-8.96585675e-01 -4.28563199e-01 1.11658906e-01 1.86736646e+02] [ 1.23559492e-01 5.04273203e-05 9.92337165e-01 6.97019047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.73, Z:69.70 [[-4.26305660e-01 9.03027123e-01 5.29669664e-02 2.17195988e+02] [-8.96100750e-01 -4.29583519e-01 1.11630851e-01 1.86731261e+02] [ 1.23559422e-01 1.25125388e-04 9.92337167e-01 6.97030543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.72, Z:69.70 [[-4.24534284e-01 9.03858107e-01 5.30204185e-02 2.17191681e+02] [-8.96941319e-01 -4.27832318e-01 1.11605458e-01 1.86724434e+02] [ 1.23559346e-01 -1.75860977e-04 9.92337169e-01 6.97033003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.73, Z:69.70 [[-4.21084594e-01 9.05467237e-01 5.30739757e-02 2.17192667e+02] [-8.98566260e-01 -4.24415579e-01 1.11579983e-01 1.86731379e+02] [ 1.23557441e-01 -7.05872031e-04 9.92337171e-01 6.97013884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.72, Z:69.70 [[-4.19069949e-01 9.06398289e-01 5.31273835e-02 2.17187806e+02] [-8.99507933e-01 -4.22422846e-01 1.11554548e-01 1.86724872e+02] [ 1.23555072e-01 -1.03934414e-03 9.92337173e-01 6.97025439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:186.72, Z:69.71 [[-4.18950446e-01 9.06450087e-01 5.31861341e-02 2.17182540e+02] [-8.99563698e-01 -4.22311480e-01 1.11526531e-01 1.86715795e+02] [ 1.23554348e-01 -1.12022584e-03 9.92337175e-01 6.97050317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.72, Z:69.70 [[-4.13371702e-01 9.09000036e-01 5.33176359e-02 2.17189879e+02] [-9.02142462e-01 -4.16791119e-01 1.11463629e-01 1.86722920e+02] [ 1.23542760e-01 -2.02419310e-03 9.92337185e-01 6.96980489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:186.71, Z:69.71 [[-4.17727732e-01 9.07003374e-01 5.33706035e-02 2.17178245e+02] [-9.00132687e-01 -4.21120719e-01 1.11438262e-01 1.86713482e+02] [ 1.23550347e-01 -1.48977228e-03 9.92337187e-01 6.97069850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:186.71, Z:69.71 [[-4.18283931e-01 9.06743892e-01 5.34234835e-02 2.17177115e+02] [-8.99874334e-01 -4.21679200e-01 1.11412906e-01 1.86710532e+02] [ 1.23550544e-01 -1.47219342e-03 9.92337189e-01 6.97056435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:186.71, Z:69.70 [[-4.15217939e-01 9.08148844e-01 5.34765423e-02 2.17180525e+02] [-9.01294046e-01 -4.18642906e-01 1.11387433e-01 1.86705273e+02] [ 1.23543943e-01 -1.94802876e-03 9.92337190e-01 6.96959429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.70, Z:69.70 [[-4.20308783e-01 9.05800815e-01 5.35295327e-02 2.17171262e+02] [-8.98930116e-01 -4.23701735e-01 1.11361962e-01 1.86700545e+02] [ 1.23552311e-01 -1.31289841e-03 9.92337192e-01 6.97046264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.69, Z:69.70 [[-4.15095090e-01 9.08198600e-01 5.35851539e-02 2.17169677e+02] [-9.01350940e-01 -4.18534297e-01 1.11335192e-01 1.86687426e+02] [ 1.23541690e-01 -2.08433739e-03 9.92337194e-01 6.96990147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.70, Z:69.71 [[-4.17125466e-01 9.07264066e-01 5.36494233e-02 2.17167446e+02] [-9.00412676e-01 -4.20557232e-01 1.11304214e-01 1.86695218e+02] [ 1.23544966e-01 -1.87879869e-03 9.92337196e-01 6.97081469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.70, Z:69.71 [[-4.13239201e-01 9.09037145e-01 5.37106277e-02 2.17166767e+02] [-9.02204303e-01 -4.16707744e-01 1.11274672e-01 1.86695208e+02] [ 1.23534444e-01 -2.47490300e-03 9.92337199e-01 6.97117609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:186.69, Z:69.71 [[-4.08996726e-01 9.10950373e-01 5.37689135e-02 2.17163813e+02] [-9.04137435e-01 -4.12504199e-01 1.11246501e-01 1.86685243e+02] [ 1.23519944e-01 -3.11503308e-03 9.92337201e-01 6.97129271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.68, Z:69.71 [[-4.05043209e-01 9.12712012e-01 5.38217611e-02 2.17165624e+02] [-9.05917699e-01 -4.08586622e-01 1.11220927e-01 1.86682944e+02] [ 1.23503528e-01 -3.70880483e-03 9.92337203e-01 6.97121669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.69, Z:69.71 [[-4.02436011e-01 9.13861143e-01 5.38801240e-02 2.17170172e+02] [-9.07080705e-01 -4.06005898e-01 1.11192647e-01 1.86689142e+02] [ 1.23490287e-01 -4.12569575e-03 9.92337205e-01 6.97102094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:186.70, Z:69.69 [[-3.90943369e-01 9.18833252e-01 5.39327175e-02 2.17187636e+02] [-9.12101568e-01 -3.94604358e-01 1.11167131e-01 1.86701833e+02] [ 1.23426142e-01 -5.73206350e-03 9.92337206e-01 6.96942779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.69, Z:69.71 [[-3.95355992e-01 9.16940184e-01 5.39846095e-02 2.17172445e+02] [-9.10194359e-01 -3.98990854e-01 1.11141926e-01 1.86686538e+02] [ 1.23449863e-01 -5.19586059e-03 9.92337208e-01 6.97090303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.68, Z:69.71 [[-3.95248422e-01 9.16983821e-01 5.40310717e-02 2.17172558e+02] [-9.10241455e-01 -3.98889694e-01 1.11119334e-01 1.86678975e+02] [ 1.23447069e-01 -5.26157978e-03 9.92337209e-01 6.97106590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:186.70, Z:69.70 [[-3.91020662e-01 9.18791514e-01 5.40832372e-02 2.17197704e+02] [-9.12069431e-01 -3.94699240e-01 1.11093939e-01 1.86699307e+02] [ 1.23418781e-01 -5.88764181e-03 9.92337211e-01 6.96960770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.65, Z:69.71 [[-4.03008927e-01 9.13593579e-01 5.41348052e-02 2.17168154e+02] [-9.06827266e-01 -4.06605497e-01 1.11068805e-01 1.86651521e+02] [ 1.23483256e-01 -4.32919745e-03 9.92337213e-01 6.97143861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.64, Z:69.72 [[-4.06985566e-01 9.11814533e-01 5.43783731e-02 2.17165372e+02] [-9.05048314e-01 -4.10582236e-01 1.10949433e-01 1.86637758e+02] [ 1.23492099e-01 -4.06023718e-03 9.92337249e-01 6.97171419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.64, Z:69.72 [[-4.10635699e-01 9.10173717e-01 5.44254355e-02 2.17170803e+02] [-9.03396163e-01 -4.14210960e-01 1.10926342e-01 1.86640899e+02] [ 1.23505853e-01 -3.61741363e-03 9.92337250e-01 6.97154006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.63, Z:69.72 [[-4.16094292e-01 9.07688108e-01 5.44778836e-02 2.17171850e+02] [-9.00892540e-01 -4.19635191e-01 1.10900578e-01 1.86631765e+02] [ 1.23523973e-01 -2.93362141e-03 9.92337252e-01 6.97152708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.62, Z:69.71 [[-4.21349024e-01 9.05257995e-01 5.45248743e-02 2.17170396e+02] [-8.98444976e-01 -4.24856224e-01 1.10877470e-01 1.86619548e+02] [ 1.23537949e-01 -2.26948546e-03 9.92337254e-01 6.97131731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.62, Z:69.71 [[-4.24449236e-01 9.03805696e-01 5.45720566e-02 2.17170820e+02] [-8.96983655e-01 -4.27938851e-01 1.10854243e-01 1.86616483e+02] [ 1.23544200e-01 -1.89824390e-03 9.92337255e-01 6.97139892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.61, Z:69.71 [[-4.26468393e-01 9.02851508e-01 5.46247539e-02 2.17171161e+02] [-8.96024980e-01 -4.29949219e-01 1.10828270e-01 1.86612829e+02] [ 1.23547341e-01 -1.68038959e-03 9.92337257e-01 6.97148088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.61, Z:69.72 [[-4.27931194e-01 9.02156230e-01 5.46720182e-02 2.17171072e+02] [-8.95327021e-01 -4.31406755e-01 1.10804950e-01 1.86608883e+02] [ 1.23549254e-01 -1.53244065e-03 9.92337258e-01 6.97188496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.60, Z:69.72 [[-4.29102860e-01 9.01596332e-01 5.47246725e-02 2.17169529e+02] [-8.94765901e-01 -4.32576015e-01 1.10778939e-01 1.86602453e+02] [ 1.23550466e-01 -1.43021133e-03 9.92337260e-01 6.97200181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.60, Z:69.72 [[-4.31809483e-01 9.00299956e-01 5.47773534e-02 2.17169704e+02] [-8.93462399e-01 -4.35268584e-01 1.10752884e-01 1.86597351e+02] [ 1.23553677e-01 -1.11736013e-03 9.92337261e-01 6.97197511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.59, Z:69.72 [[-4.33602814e-01 8.99434741e-01 5.48246873e-02 2.17168752e+02] [-8.92593242e-01 -4.37054108e-01 1.10729448e-01 1.86592085e+02] [ 1.23555267e-01 -9.23545260e-04 9.92337263e-01 6.97201131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.59, Z:69.72 [[-4.34650716e-01 8.98925259e-01 5.48829197e-02 2.17168627e+02] [-8.92083357e-01 -4.38101206e-01 1.10700578e-01 1.86589518e+02] [ 1.23555819e-01 -8.44053938e-04 9.92337265e-01 6.97200579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.58, Z:69.72 [[-4.34165742e-01 8.99156703e-01 5.49302479e-02 2.17166213e+02] [-8.92319610e-01 -4.37625749e-01 1.10677088e-01 1.86584554e+02] [ 1.23554937e-01 -9.63137116e-04 9.92337266e-01 6.97198384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:186.59, Z:69.72 [[-4.34004849e-01 8.99231480e-01 5.49775994e-02 2.17165441e+02] [-8.92397961e-01 -4.37471906e-01 1.10653562e-01 1.86586313e+02] [ 1.23554322e-01 -1.03771506e-03 9.92337268e-01 6.97209451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:186.19, Z:70.42 [[-3.88166908e-01 9.19466427e-01 6.25135373e-02 2.17914198e+02] [-9.13364233e-01 -3.92858825e-01 1.06900526e-01 1.86194662e+02] [ 1.22850439e-01 -1.56023825e-02 9.92302542e-01 7.04190011e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:186.19, Z:70.41 [[-3.89712304e-01 9.19628323e-01 4.90720735e-02 2.17914825e+02] [-9.12688977e-01 -3.92788797e-01 1.12764321e-01 1.86187898e+02] [ 1.22976224e-01 -8.41897287e-04 9.92409260e-01 7.04136835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:186.17, Z:70.42 [[-3.91635713e-01 9.18808126e-01 4.91232788e-02 2.17905428e+02] [-9.11865133e-01 -3.94703964e-01 1.12742010e-01 1.86174813e+02] [ 1.22977428e-01 -6.40007528e-04 9.92409262e-01 7.04166409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:186.18, Z:70.42 [[-3.93505703e-01 9.18006204e-01 4.91718616e-02 2.17906204e+02] [-9.11059605e-01 -3.96565776e-01 1.12720817e-01 1.86182840e+02] [ 1.22978287e-01 -4.42212466e-04 9.92409263e-01 7.04153131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:186.18, Z:70.42 [[-3.96792232e-01 9.16587243e-01 4.92315950e-02 2.17901356e+02] [-9.09632936e-01 -3.99834742e-01 1.12694722e-01 1.86182229e+02] [ 1.22979047e-01 -6.62897812e-05 9.92409265e-01 7.04152230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:186.17, Z:70.42 [[-4.00656573e-01 9.14902071e-01 4.92799304e-02 2.17890108e+02] [-9.07937565e-01 -4.03675663e-01 1.12673582e-01 1.86169910e+02] [ 1.22978402e-01 4.00311335e-04 9.92409267e-01 7.04165181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:186.17, Z:70.42 [[-4.01893417e-01 9.14353548e-01 4.93889699e-02 2.17886920e+02] [-9.07390792e-01 -4.04916520e-01 1.12625767e-01 1.86171701e+02] [ 1.22978179e-01 4.48457815e-04 9.92409274e-01 7.04156942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.88, Y:186.17, Z:70.42 [[-4.02896102e-01 9.13909252e-01 4.94429935e-02 2.17878725e+02] [-9.06946071e-01 -4.05918222e-01 1.12602046e-01 1.86167446e+02] [ 1.22977863e-01 5.24796499e-04 9.92409275e-01 7.04175493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.87, Y:186.16, Z:70.42 [[-4.03732062e-01 9.13537038e-01 4.95025551e-02 2.17868851e+02] [-9.06574279e-01 -4.06755151e-01 1.12575855e-01 1.86159157e+02] [ 1.22977632e-01 5.72738966e-04 9.92409277e-01 7.04203869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.87, Y:186.16, Z:70.42 [[-4.03622495e-01 9.13582515e-01 4.95567314e-02 2.17867149e+02] [-9.06623024e-01 -4.06653094e-01 1.12552001e-01 1.86162682e+02] [ 1.22977939e-01 4.99245925e-04 9.92409279e-01 7.04209880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:186.16, Z:70.42 [[-4.01651775e-01 9.14447404e-01 4.96165000e-02 2.17861015e+02] [-9.07497693e-01 -4.04704728e-01 1.12525648e-01 1.86159318e+02] [ 1.22978819e-01 1.69266802e-04 9.92409281e-01 7.04214198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:186.16, Z:70.42 [[-3.98393497e-01 9.15868388e-01 4.96761298e-02 2.17856176e+02] [-9.08932846e-01 -4.01478499e-01 1.12499317e-01 1.86162398e+02] [ 1.22978466e-01 -3.33269552e-04 9.92409283e-01 7.04190025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.83, Y:186.10, Z:70.42 [[-3.93275289e-01 9.18074870e-01 4.97300724e-02 2.17829449e+02] [-9.11159645e-01 -3.96405564e-01 1.12475467e-01 1.86101994e+02] [ 1.22974177e-01 -1.07821320e-03 9.92409285e-01 7.04199979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.81, Y:186.07, Z:70.43 [[-3.94337247e-01 9.17616553e-01 4.97794918e-02 2.17807606e+02] [-9.10700449e-01 -3.97465575e-01 1.12453591e-01 1.86066576e+02] [ 1.22974911e-01 -9.89566000e-04 9.92409287e-01 7.04280248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:186.00, Z:70.44 [[-3.97509433e-01 9.16243720e-01 4.98367001e-02 2.17771462e+02] [-9.09319987e-01 -4.00620835e-01 1.12428232e-01 1.85995577e+02] [ 1.22977282e-01 -6.26224621e-04 9.92409289e-01 7.04421956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:186.15, Z:70.43 [[-4.00130838e-01 9.15099045e-01 4.98903908e-02 2.17836849e+02] [-9.08169380e-01 -4.03229002e-01 1.12404402e-01 1.86150197e+02] [ 1.22978414e-01 -3.32457655e-04 9.92409290e-01 7.04256175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:186.10, Z:70.43 [[-4.00210389e-01 9.15057909e-01 5.00066735e-02 2.17815106e+02] [-9.08134385e-01 -4.03322231e-01 1.12352647e-01 1.86104606e+02] [ 1.22977982e-01 -4.48082952e-04 9.92409298e-01 7.04259288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:186.14, Z:70.43 [[-4.04834126e-01 9.13017785e-01 5.00784877e-02 2.17824883e+02] [-9.06082536e-01 -4.07919741e-01 1.12320629e-01 1.86136565e+02] [ 1.22978736e-01 9.59806119e-05 9.92409301e-01 7.04279674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:186.14, Z:70.43 [[-4.07850426e-01 9.11670742e-01 5.01446764e-02 2.17823311e+02] [-9.04728933e-01 -4.10921249e-01 1.12291072e-01 1.86137474e+02] [ 1.22977998e-01 4.30622147e-04 9.92409304e-01 7.04269357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.76, Y:185.98, Z:70.44 [[-4.07488164e-01 9.11829445e-01 5.02041817e-02 2.17755717e+02] [-9.04892108e-01 -4.10569072e-01 1.12264462e-01 1.85984881e+02] [ 1.22978326e-01 3.17071694e-04 9.92409306e-01 7.04426505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:186.13, Z:70.43 [[-4.11402264e-01 9.10067659e-01 5.02497090e-02 2.17817334e+02] [-9.03119618e-01 -4.14458952e-01 1.12244080e-01 1.86128674e+02] [ 1.22976149e-01 7.95970861e-04 9.92409307e-01 7.04271759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.09, Z:70.43 [[-4.11817096e-01 9.09873622e-01 5.03653722e-02 2.17796316e+02] [-9.02930482e-01 -4.14884881e-01 1.12192158e-01 1.86087633e+02] [ 1.22976517e-01 7.26218996e-04 9.92409315e-01 7.04331380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.10, Z:70.43 [[-4.09965898e-01 9.10705890e-01 5.04256346e-02 2.17800180e+02] [-9.03772308e-01 -4.13055218e-01 1.12165066e-01 1.86102652e+02] [ 1.22977958e-01 4.10559955e-04 9.92409317e-01 7.04327318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.12, Z:70.43 [[-4.06102855e-01 9.12431059e-01 5.04978670e-02 2.17804682e+02] [-9.05514642e-01 -4.09230408e-01 1.12132538e-01 1.86117685e+02] [ 1.22978473e-01 -1.89214334e-04 9.92409321e-01 7.04307471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.11, Z:70.43 [[-4.04653931e-01 9.13070947e-01 5.05632414e-02 2.17801633e+02] [-9.06163158e-01 -4.07800488e-01 1.12103051e-01 1.86110779e+02] [ 1.22977754e-01 -4.55606154e-04 9.92409323e-01 7.04310244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.11, Z:70.43 [[-4.02614127e-01 9.13968940e-01 5.06225387e-02 2.17800171e+02] [-9.07071533e-01 -4.05783372e-01 1.12076268e-01 1.86108595e+02] [ 1.22976012e-01 -7.94774925e-04 9.92409325e-01 7.04312293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.08, Z:70.43 [[-4.01541891e-01 9.14437238e-01 5.06818373e-02 2.17790611e+02] [-9.07546908e-01 -4.04726490e-01 1.12049447e-01 1.86081616e+02] [ 1.22974469e-01 -1.00359805e-03 9.92409327e-01 7.04340544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.09, Z:70.43 [[-4.00849143e-01 9.14737494e-01 5.07472307e-02 2.17795249e+02] [-9.07853296e-01 -4.04046968e-01 1.12019823e-01 1.86086661e+02] [ 1.22972996e-01 -1.16799076e-03 9.92409330e-01 7.04328732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.09, Z:70.43 [[-3.99777882e-01 9.15202544e-01 5.08128753e-02 2.17799755e+02] [-9.08325846e-01 -4.02991798e-01 1.11990038e-01 1.86089643e+02] [ 1.22970740e-01 -1.38350762e-03 9.92409332e-01 7.04326160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.07, Z:70.44 [[-4.01799754e-01 9.14310959e-01 5.09158963e-02 2.17791774e+02] [-9.07433056e-01 -4.05011077e-01 1.11943181e-01 1.86067957e+02] [ 1.22972379e-01 -1.22402467e-03 9.92409339e-01 7.04381336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.07, Z:70.44 [[-4.02592918e-01 9.13942422e-01 5.12659011e-02 2.17795312e+02] [-9.07081933e-01 -4.05841104e-01 1.11782672e-01 1.86068548e+02] [ 1.22968736e-01 -1.49946066e-03 9.92409412e-01 7.04403136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.06, Z:70.44 [[-4.05241725e-01 9.12767722e-01 5.13247453e-02 2.17795425e+02] [-9.05901235e-01 -4.08477207e-01 1.11755647e-01 1.86059568e+02] [ 1.22971936e-01 -1.20709880e-03 9.92409414e-01 7.04399653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.05, Z:70.44 [[-4.09872484e-01 9.10694395e-01 5.13835143e-02 2.17794436e+02] [-9.03814923e-01 -4.13080259e-01 1.11728620e-01 1.86048649e+02] [ 1.22976143e-01 -6.46699924e-04 9.92409417e-01 7.04398653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.04, Z:70.44 [[-4.13429686e-01 9.09082030e-01 5.14369327e-02 2.17794076e+02] [-9.02193105e-01 -4.16617106e-01 1.11704022e-01 1.86041204e+02] [ 1.22977625e-01 -2.24287109e-04 9.92409418e-01 7.04397905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.04, Z:70.44 [[-4.18562153e-01 9.06727330e-01 5.14905136e-02 2.17797886e+02] [-8.99823511e-01 -4.21717178e-01 1.11679319e-01 1.86039821e+02] [ 1.22977125e-01 4.12361309e-04 9.92409420e-01 7.04397700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.03, Z:70.44 [[-4.22161746e-01 9.05053959e-01 5.15440626e-02 2.17797297e+02] [-8.98140652e-01 -4.25295921e-01 1.11654599e-01 1.86028539e+02] [ 1.22974916e-01 8.42482434e-04 9.92409422e-01 7.04403710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.02, Z:70.44 [[-4.23561081e-01 9.04396868e-01 5.15976398e-02 2.17796004e+02] [-8.97481712e-01 -4.26691173e-01 1.11629834e-01 1.86021884e+02] [ 1.22973930e-01 9.74115222e-04 9.92409423e-01 7.04414811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.02, Z:70.44 [[-4.24030451e-01 9.04173828e-01 5.16513805e-02 2.17796142e+02] [-8.97260053e-01 -4.27163586e-01 1.11604963e-01 1.86017579e+02] [ 1.22973876e-01 9.79182450e-04 9.92409425e-01 7.04414376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.01, Z:70.44 [[-4.22449461e-01 9.04909872e-01 5.17163011e-02 2.17796382e+02] [-8.98005237e-01 -4.25602682e-01 1.11574872e-01 1.86014875e+02] [ 1.22975800e-01 6.93235419e-04 9.92409428e-01 7.04410426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.01, Z:70.44 [[-4.19498810e-01 9.06277809e-01 5.17810851e-02 2.17794843e+02] [-8.99387166e-01 -4.22682486e-01 1.11544799e-01 1.86011048e+02] [ 1.22977533e-01 2.21666912e-04 9.92409430e-01 7.04403627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:186.01, Z:70.44 [[-4.17761999e-01 9.07076668e-01 5.18346497e-02 2.17796145e+02] [-9.00195200e-01 -4.20965454e-01 1.11519902e-01 1.86013493e+02] [ 1.22977698e-01 -7.25258097e-05 9.92409432e-01 7.04399612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.01, Z:70.44 [[-4.14393064e-01 9.08617641e-01 5.18880651e-02 2.17794502e+02] [-9.01751195e-01 -4.17628588e-01 1.11495043e-01 1.86010203e+02] [ 1.22976303e-01 -5.87352023e-04 9.92409434e-01 7.04412591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.00, Z:70.44 [[-4.11098233e-01 9.10110071e-01 5.19413319e-02 2.17788839e+02] [-9.03258502e-01 -4.14365139e-01 1.11470223e-01 1.86002792e+02] [ 1.22972850e-01 -1.09123797e-03 9.92409435e-01 7.04446936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.01, Z:70.45 [[-4.09603092e-01 9.10780906e-01 5.19947035e-02 2.17788861e+02] [-9.03937843e-01 -4.12887776e-01 1.11445323e-01 1.86005170e+02] [ 1.22970250e-01 -1.35163133e-03 9.92409437e-01 7.04455128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:186.00, Z:70.45 [[-4.10180475e-01 9.10517973e-01 5.20480432e-02 2.17787697e+02] [-9.03675964e-01 -4.13467346e-01 1.11420406e-01 1.86003676e+02] [ 1.22970449e-01 -1.33209039e-03 9.92409439e-01 7.04451538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:186.00, Z:70.45 [[-4.12309025e-01 9.09552725e-01 5.21066964e-02 2.17784181e+02] [-9.02706484e-01 -4.15587068e-01 1.11392970e-01 1.85998653e+02] [ 1.22972649e-01 -1.10872569e-03 9.92409441e-01 7.04458000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:185.99, Z:70.45 [[-4.14794052e-01 9.08419092e-01 5.21598182e-02 2.17782297e+02] [-9.01567017e-01 -4.18059879e-01 1.11368091e-01 1.85993881e+02] [ 1.22974827e-01 -8.30750121e-04 9.92409443e-01 7.04457021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:185.99, Z:70.44 [[-4.18978557e-01 9.06493034e-01 5.22240112e-02 2.17780460e+02] [-8.99629694e-01 -4.22220638e-01 1.11337981e-01 1.85988069e+02] [ 1.22977159e-01 -3.34044706e-04 9.92409445e-01 7.04446747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:185.98, Z:70.45 [[-4.21878834e-01 9.05143827e-01 5.22771662e-02 2.17777106e+02] [-8.98273210e-01 -4.25105460e-01 1.11313017e-01 1.85979988e+02] [ 1.22977599e-01 1.42799041e-06 9.92409447e-01 7.04457442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.97, Z:70.45 [[-4.25611390e-01 9.03391009e-01 5.23414701e-02 2.17774931e+02] [-8.96510821e-01 -4.28817552e-01 1.11282772e-01 1.85973842e+02] [ 1.22976797e-01 4.38521123e-04 9.92409449e-01 7.04479404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.97, Z:70.45 [[-4.27553263e-01 9.02469527e-01 5.24114552e-02 2.17771537e+02] [-8.95586468e-01 -4.30753248e-01 1.11249802e-01 1.85965676e+02] [ 1.22975961e-01 6.26225652e-04 9.92409452e-01 7.04495833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.96, Z:70.45 [[-4.32525830e-01 9.00093799e-01 5.24648380e-02 2.17769419e+02] [-8.93196218e-01 -4.35694388e-01 1.11224621e-01 1.85955645e+02] [ 1.22971227e-01 1.24612679e-03 9.92409454e-01 7.04510581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.95, Z:70.45 [[-4.36242254e-01 8.98295336e-01 5.25184236e-02 2.17768834e+02] [-8.91387738e-01 -4.39388909e-01 1.11199313e-01 1.85949856e+02] [ 1.22965838e-01 1.69556027e-03 9.92409456e-01 7.04505420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.94, Z:70.45 [[-4.37531375e-01 8.97664003e-01 5.25892999e-02 2.17766400e+02] [-8.90755887e-01 -4.40676887e-01 1.11165784e-01 1.85941462e+02] [ 1.22964412e-01 1.79429005e-03 9.92409459e-01 7.04499172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.83, Z:70.46 [[-4.37390903e-01 8.97729307e-01 5.26430332e-02 2.17711076e+02] [-8.90824719e-01 -4.40544148e-01 1.11140333e-01 1.85825198e+02] [ 1.22965515e-01 1.71605544e-03 9.92409461e-01 7.04648576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:185.94, Z:70.45 [[-4.34177755e-01 8.99284408e-01 5.26994413e-02 2.17765481e+02] [-8.92394360e-01 -4.37362641e-01 1.11113580e-01 1.85942220e+02] [ 1.22971477e-01 1.21436050e-03 9.92409463e-01 7.04504045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.76, Y:185.93, Z:70.45 [[-4.32088300e-01 9.00285891e-01 5.27732429e-02 2.17760363e+02] [-8.93407504e-01 -4.35298283e-01 1.11078517e-01 1.85934562e+02] [ 1.22974524e-01 8.47716499e-04 9.92409466e-01 7.04521027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.92, Z:70.45 [[-4.29082202e-01 9.01719359e-01 5.28267179e-02 2.17752453e+02] [-8.94854825e-01 -4.32321703e-01 1.11053080e-01 1.85923213e+02] [ 1.22976849e-01 3.78656805e-04 9.92409468e-01 7.04539314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.76, Y:185.93, Z:70.45 [[-4.28453027e-01 9.02015007e-01 5.28860149e-02 2.17756811e+02] [-8.95156194e-01 -4.31704615e-01 1.11024835e-01 1.85934153e+02] [ 1.22977204e-01 2.27682647e-04 9.92409470e-01 7.04513057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.93, Z:70.45 [[-4.29115167e-01 9.01696727e-01 5.29451259e-02 2.17752448e+02] [-8.94838978e-01 -4.32368996e-01 1.10996639e-01 1.85925581e+02] [ 1.22977137e-01 2.52979004e-04 9.92409472e-01 7.04523143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.92, Z:70.45 [[-4.30397181e-01 9.01082366e-01 5.29984640e-02 2.17747186e+02] [-8.94223108e-01 -4.33647823e-01 1.10971166e-01 1.85915327e+02] [ 1.22976829e-01 3.69225723e-04 9.92409474e-01 7.04514712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.92, Z:70.45 [[-4.31413287e-01 9.00593169e-01 5.30520454e-02 2.17747556e+02] [-8.93733374e-01 -4.34662792e-01 1.10945544e-01 1.85916954e+02] [ 1.22976550e-01 4.48998473e-04 9.92409475e-01 7.04505741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.92, Z:70.45 [[-4.31347745e-01 9.00621403e-01 5.31056519e-02 2.17747357e+02] [-8.93764979e-01 -4.34604352e-01 1.10919879e-01 1.85918781e+02] [ 1.22976765e-01 3.81067915e-04 9.92409477e-01 7.04497408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.91, Z:70.45 [[-4.30043037e-01 9.01241979e-01 5.31590303e-02 2.17741082e+02] [-8.94393415e-01 -4.33316138e-01 1.10894292e-01 1.85910436e+02] [ 1.22977256e-01 1.44231231e-04 9.92409479e-01 7.04513851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.91, Z:70.45 [[-4.28839619e-01 9.01812077e-01 5.32123964e-02 2.17739188e+02] [-8.94971041e-01 -4.32128421e-01 1.10868678e-01 1.85911027e+02] [ 1.22977302e-01 -7.86720033e-05 9.92409481e-01 7.04517335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.91, Z:70.45 [[-4.25873225e-01 9.03210027e-01 5.33258214e-02 2.17735361e+02] [-8.96386612e-01 -4.29198413e-01 1.10814097e-01 1.85908216e+02] [ 1.22975762e-01 -6.07795430e-04 9.92409488e-01 7.04518158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.91, Z:70.45 [[-4.24252637e-01 9.03969240e-01 5.33789550e-02 2.17736902e+02] [-8.97154994e-01 -4.27596569e-01 1.10788497e-01 1.85911757e+02] [ 1.22974052e-01 -8.86884020e-04 9.92409490e-01 7.04516358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.91, Z:70.45 [[-4.23899222e-01 9.04131892e-01 5.34319234e-02 2.17737602e+02] [-8.97322147e-01 -4.27252308e-01 1.10762945e-01 1.85909269e+02] [ 1.22973224e-01 -9.93321805e-04 9.92409492e-01 7.04531572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:185.89, Z:70.46 [[-4.23445215e-01 9.04341493e-01 5.34847080e-02 2.17731120e+02] [-8.97536624e-01 -4.26808183e-01 1.10737451e-01 1.85891900e+02] [ 1.22972183e-01 -1.11324035e-03 9.92409494e-01 7.04553437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.89, Z:70.46 [[-4.22758010e-01 9.04659813e-01 5.35377283e-02 2.17735371e+02] [-8.97860720e-01 -4.26132635e-01 1.10711812e-01 1.85894124e+02] [ 1.22970701e-01 -1.26511784e-03 9.92409495e-01 7.04555725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.89, Z:70.46 [[-4.22625532e-01 9.04718238e-01 5.35963497e-02 2.17737691e+02] [-8.97923208e-01 -4.26008325e-01 1.10683426e-01 1.85893512e+02] [ 1.22969806e-01 -1.34776437e-03 9.92409497e-01 7.04557690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.89, Z:70.46 [[-4.22660714e-01 9.04698670e-01 5.36492116e-02 2.17740352e+02] [-8.97906732e-01 -4.26049707e-01 1.10657798e-01 1.85891479e+02] [ 1.22969194e-01 -1.40128436e-03 9.92409499e-01 7.04570232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.88, Z:70.46 [[-4.24079356e-01 9.04031418e-01 5.37019068e-02 2.17739423e+02] [-8.97237383e-01 -4.27464139e-01 1.10632219e-01 1.85883644e+02] [ 1.22970642e-01 -1.26651794e-03 9.92409501e-01 7.04582801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.87, Z:70.46 [[-4.26718995e-01 9.02785324e-01 5.37546094e-02 2.17738891e+02] [-8.95984627e-01 -4.30090370e-01 1.10606606e-01 1.85870494e+02] [ 1.22973361e-01 -9.65363732e-04 9.92409503e-01 7.04588909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.87, Z:70.46 [[-4.29327640e-01 9.01544199e-01 5.38129621e-02 2.17743747e+02] [-8.94737311e-01 -4.32686495e-01 1.10578209e-01 1.85869865e+02] [ 1.22975285e-01 -6.74183380e-04 9.92409505e-01 7.04577221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.86, Z:70.46 [[-4.32520522e-01 9.00013592e-01 5.38658694e-02 2.17744981e+02] [-8.93198026e-01 -4.35861728e-01 1.10552431e-01 1.85863505e+02] [ 1.22976761e-01 -2.96693123e-04 9.92409506e-01 7.04586053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.85, Z:70.46 [[-4.36288938e-01 8.98190026e-01 5.39132682e-02 2.17743275e+02] [-8.91363350e-01 -4.39607382e-01 1.10529311e-01 1.85854138e+02] [ 1.22976995e-01 1.66404485e-04 9.92409508e-01 7.04601119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.85, Z:70.46 [[-4.41638162e-01 8.95568418e-01 5.39716863e-02 2.17745359e+02] [-8.88725529e-01 -4.44923040e-01 1.10500778e-01 1.85848354e+02] [ 1.22974254e-01 8.35345212e-04 9.92409510e-01 7.04606866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.83, Z:70.46 [[-4.47209145e-01 8.92796344e-01 5.40247091e-02 2.17743458e+02] [-8.85936228e-01 -4.50457887e-01 1.10474849e-01 1.85834960e+02] [ 1.22967398e-01 1.54291585e-03 9.92409512e-01 7.04607122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.83, Z:70.46 [[-4.49771904e-01 8.91505134e-01 5.40724533e-02 2.17744881e+02] [-8.84638499e-01 -4.53006841e-01 1.10451476e-01 1.85833797e+02] [ 1.22963249e-01 1.84339667e-03 9.92409513e-01 7.04596547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.83, Z:70.46 [[-4.52527743e-01 8.90106198e-01 5.41257634e-02 2.17742820e+02] [-8.83232684e-01 -4.55748033e-01 1.10425346e-01 1.85826782e+02] [ 1.22957995e-01 2.16488921e-03 9.92409515e-01 7.04609606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.82, Z:70.46 [[-4.53252144e-01 8.89730651e-01 5.42389425e-02 2.17740499e+02] [-8.82861107e-01 -4.56480875e-01 1.10369727e-01 1.85822324e+02] [ 1.22958369e-01 2.13986266e-03 9.92409523e-01 7.04620186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.82, Z:70.46 [[-4.52347315e-01 8.90188107e-01 5.42866582e-02 2.17739683e+02] [-8.83324640e-01 -4.55588943e-01 1.10346253e-01 1.85821481e+02] [ 1.22961323e-01 1.96208840e-03 9.92409524e-01 7.04627432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:185.82, Z:70.46 [[-4.51684807e-01 8.90521539e-01 5.43343638e-02 2.17736236e+02] [-8.83663288e-01 -4.54937450e-01 1.10322758e-01 1.85816074e+02] [ 1.22963529e-01 1.81783113e-03 9.92409525e-01 7.04626730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:185.83, Z:70.45 [[-4.42246802e-01 8.95242852e-01 5.43875144e-02 2.17748029e+02] [-8.88422561e-01 -4.45578304e-01 1.10296550e-01 1.85827558e+02] [ 1.22976094e-01 4.59201469e-04 9.92409527e-01 7.04512540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:185.81, Z:70.46 [[-4.43127700e-01 8.94804270e-01 5.44349057e-02 2.17729878e+02] [-8.87983554e-01 -4.46458328e-01 1.10273156e-01 1.85814985e+02] [ 1.22975808e-01 5.27788797e-04 9.92409528e-01 7.04614750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:185.81, Z:70.46 [[-4.39218485e-01 8.96725727e-01 5.44985569e-02 2.17725918e+02] [-8.89923483e-01 -4.42586674e-01 1.10241690e-01 1.85814986e+02] [ 1.22976894e-01 -7.93577265e-05 9.92409531e-01 7.04599079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:185.80, Z:70.45 [[-4.29469122e-01 9.01431759e-01 5.45624228e-02 2.17727789e+02] [-8.94670418e-01 -4.32918680e-01 1.10210071e-01 1.85803992e+02] [ 1.22967951e-01 -1.48356301e-03 9.92409534e-01 7.04497668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:185.82, Z:70.46 [[-4.31186869e-01 9.00608486e-01 5.46098797e-02 2.17721501e+02] [-8.93843534e-01 -4.34629337e-01 1.10186551e-01 1.85819427e+02] [ 1.22969999e-01 -1.30169366e-03 9.92409535e-01 7.04607395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:185.82, Z:70.46 [[-4.30000076e-01 9.01172534e-01 5.46625796e-02 2.17718340e+02] [-8.94415418e-01 -4.33457895e-01 1.10160401e-01 1.85816782e+02] [ 1.22967455e-01 -1.52207296e-03 9.92409537e-01 7.04618318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:185.81, Z:70.45 [[-4.27351325e-01 9.02428454e-01 5.47150015e-02 2.17723204e+02] [-8.95684825e-01 -4.30835372e-01 1.10134358e-01 1.85809626e+02] [ 1.22961537e-01 -1.94133263e-03 9.92409538e-01 7.04498219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.80, Z:70.46 [[-4.35031013e-01 8.98748651e-01 5.47620327e-02 2.17712864e+02] [-8.91978478e-01 -4.38463191e-01 1.10110968e-01 1.85804162e+02] [ 1.22973220e-01 -9.44868412e-04 9.92409540e-01 7.04616238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.80, Z:70.46 [[-4.40667246e-01 8.95995393e-01 5.48145424e-02 2.17712048e+02] [-8.89207023e-01 -4.44063287e-01 1.10084822e-01 1.85800005e+02] [ 1.22976620e-01 -2.30700545e-04 9.92409541e-01 7.04625421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.79, Z:70.46 [[-4.44490279e-01 8.94102106e-01 5.48617907e-02 2.17709697e+02] [-8.87302176e-01 -4.47863110e-01 1.10061271e-01 1.85791424e+02] [ 1.22976586e-01 2.42178815e-04 9.92409543e-01 7.04626813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.78, Z:70.46 [[-4.45636564e-01 8.93527418e-01 5.49254610e-02 2.17706177e+02] [-8.86727053e-01 -4.49008513e-01 1.10029488e-01 1.85782845e+02] [ 1.22976364e-01 3.29270611e-04 9.92409545e-01 7.04644427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:185.62, Z:70.48 [[-4.42463310e-01 8.95099772e-01 5.49783339e-02 2.17625327e+02] [-8.88314672e-01 -4.45865865e-01 1.10003063e-01 1.85616479e+02] [ 1.22976679e-01 -1.65741402e-04 9.92409547e-01 7.04821018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:185.57, Z:70.49 [[-4.40849313e-01 8.95893369e-01 5.50177593e-02 2.17602344e+02] [-8.89116854e-01 -4.44268933e-01 1.09983341e-01 1.85570902e+02] [ 1.22976027e-01 -4.31136778e-04 9.92409548e-01 7.04885487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:185.78, Z:70.47 [[-4.42749641e-01 8.94951914e-01 5.50801845e-02 2.17705658e+02] [-8.88172015e-01 -4.46162543e-01 1.09952069e-01 1.85779783e+02] [ 1.22976530e-01 -2.39439177e-04 9.92409550e-01 7.04654527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:185.77, Z:70.47 [[-4.42454476e-01 8.95090324e-01 5.52028054e-02 2.17703342e+02] [-8.88319168e-01 -4.45884671e-01 1.09890473e-01 1.85774052e+02] [ 1.22975984e-01 -4.16178572e-04 9.92409560e-01 7.04660196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:185.77, Z:70.47 [[-4.43291207e-01 8.94673320e-01 5.52499534e-02 2.17702804e+02] [-8.87901891e-01 -4.46720860e-01 1.09866763e-01 1.85772323e+02] [ 1.22976168e-01 -3.53568049e-04 9.92409561e-01 7.04661613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:185.76, Z:70.47 [[-4.45409424e-01 8.93616739e-01 5.53133697e-02 2.17698564e+02] [-8.86841138e-01 -4.48830822e-01 1.09834827e-01 1.85762519e+02] [ 1.22976585e-01 -1.32704792e-04 9.92409564e-01 7.04686726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:185.75, Z:70.47 [[-4.48956673e-01 8.91833627e-01 5.54137776e-02 2.17695343e+02] [-8.85050688e-01 -4.52363484e-01 1.09784147e-01 1.85754204e+02] [ 1.22976363e-01 2.44323219e-04 9.92409570e-01 7.04709507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:185.75, Z:70.47 [[-4.52725706e-01 8.89919991e-01 5.55143589e-02 2.17693030e+02] [-8.83128885e-01 -4.56116195e-01 1.09733263e-01 1.85747897e+02] [ 1.22974823e-01 6.52735088e-04 9.92409576e-01 7.04720041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:185.73, Z:70.47 [[-4.55225851e-01 8.88640722e-01 5.55616102e-02 2.17684393e+02] [-8.81843007e-01 -4.58603067e-01 1.09709333e-01 1.85730319e+02] [ 1.22972906e-01 9.45907103e-04 9.92409578e-01 7.04736202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:185.74, Z:70.47 [[-4.57621406e-01 8.87406483e-01 5.56091964e-02 2.17687987e+02] [-8.80602590e-01 -4.60986154e-01 1.09685208e-01 1.85740085e+02] [ 1.22970434e-01 1.22469651e-03 9.92409579e-01 7.04719528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:185.73, Z:70.47 [[-4.59259007e-01 8.86556754e-01 5.56622533e-02 2.17682903e+02] [-8.79749897e-01 -4.62617749e-01 1.09658276e-01 1.85731944e+02] [ 1.22968632e-01 1.39268950e-03 9.92409581e-01 7.04723925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:185.72, Z:70.47 [[-4.61430002e-01 8.85424384e-01 5.57316252e-02 2.17674655e+02] [-8.78613538e-01 -4.64780644e-01 1.09623009e-01 1.85719903e+02] [ 1.22965865e-01 1.61678466e-03 9.92409584e-01 7.04714866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:185.72, Z:70.47 [[-4.61677506e-01 8.85288966e-01 5.58330218e-02 2.17670738e+02] [-8.78483376e-01 -4.65038794e-01 1.09571342e-01 1.85720114e+02] [ 1.22966821e-01 1.53824248e-03 9.92409590e-01 7.04715755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:185.72, Z:70.47 [[-4.61628205e-01 8.85311669e-01 5.58806692e-02 2.17666127e+02] [-8.78509183e-01 -4.64995767e-01 1.09547037e-01 1.85718404e+02] [ 1.22967545e-01 1.47832090e-03 9.92409592e-01 7.04722039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:185.72, Z:70.47 [[-4.61119824e-01 8.85573562e-01 5.59282890e-02 2.17661371e+02] [-8.78775935e-01 -4.64497181e-01 1.09522720e-01 1.85719687e+02] [ 1.22968958e-01 1.35466286e-03 9.92409593e-01 7.04717915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:185.72, Z:70.47 [[-4.61668164e-01 8.85284475e-01 5.59812843e-02 2.17654716e+02] [-8.78488015e-01 -4.65047864e-01 1.09495625e-01 1.85717350e+02] [ 1.22968754e-01 1.37175711e-03 9.92409595e-01 7.04719022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:185.71, Z:70.47 [[-4.62948686e-01 8.84611092e-01 5.60511447e-02 2.17646207e+02] [-8.77814041e-01 -4.66327193e-01 1.09459852e-01 1.85710959e+02] [ 1.22967572e-01 1.47181303e-03 9.92409598e-01 7.04732795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.64, Y:185.72, Z:70.47 [[-4.64017464e-01 8.84047579e-01 5.61041095e-02 2.17644838e+02] [-8.77249705e-01 -4.67394309e-01 1.09432699e-01 1.85715679e+02] [ 1.22966454e-01 1.56136978e-03 9.92409600e-01 7.04736950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.64, Y:185.71, Z:70.48 [[-4.62889659e-01 8.84635265e-01 5.61570240e-02 2.17637998e+02] [-8.77844970e-01 -4.66281715e-01 1.09405538e-01 1.85712503e+02] [ 1.22968991e-01 1.34553120e-03 9.92409601e-01 7.04762581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:185.71, Z:70.48 [[-4.62482532e-01 8.84844478e-01 5.62152717e-02 2.17634180e+02] [-8.78059353e-01 -4.65884912e-01 1.09375601e-01 1.85708257e+02] [ 1.22970244e-01 1.22395987e-03 9.92409604e-01 7.04774554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:185.71, Z:70.48 [[-4.60946832e-01 8.85642093e-01 5.62681187e-02 2.17634242e+02] [-8.78866172e-01 -4.64367503e-01 1.09348408e-01 1.85714120e+02] [ 1.22972638e-01 9.51655963e-04 9.92409605e-01 7.04775255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:185.71, Z:70.48 [[-4.58628843e-01 8.86840989e-01 5.63262294e-02 2.17627588e+02] [-8.80077686e-01 -4.62074388e-01 1.09318466e-01 1.85708996e+02] [ 1.22975005e-01 5.65144195e-04 9.92409607e-01 7.04780482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:185.71, Z:70.48 [[-4.54893375e-01 8.88759502e-01 5.63787601e-02 2.17625159e+02] [-8.82014087e-01 -4.58373807e-01 1.09291368e-01 1.85709367e+02] [ 1.22976289e-01 -1.09411809e-05 9.92409609e-01 7.04773695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.71, Z:70.48 [[-4.51021860e-01 8.90727115e-01 5.64312778e-02 2.17622673e+02] [-8.84000273e-01 -4.54538053e-01 1.09264245e-01 1.85706711e+02] [ 1.22974789e-01 -6.04701987e-04 9.92409611e-01 7.04768118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.71, Z:70.48 [[-4.48897281e-01 8.91796400e-01 5.64837263e-02 2.17624504e+02] [-8.85081344e-01 -4.52435925e-01 1.09237125e-01 1.85710102e+02] [ 1.22972542e-01 -9.56443734e-04 9.92409613e-01 7.04760375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.70, Z:70.48 [[-4.48047089e-01 8.92220196e-01 5.65413780e-02 2.17621193e+02] [-8.85512250e-01 -4.51599188e-01 1.09207277e-01 1.85700153e+02] [ 1.22970978e-01 -1.13808033e-03 9.92409615e-01 7.04783939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.69, Z:70.48 [[-4.48703145e-01 8.91887132e-01 5.65935701e-02 2.17619178e+02] [-8.85179958e-01 -4.52256699e-01 1.09180223e-01 1.85693047e+02] [ 1.22971257e-01 -1.10598435e-03 9.92409616e-01 7.04789819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.68, Z:70.48 [[-4.50769886e-01 8.90840691e-01 5.66513344e-02 2.17616017e+02] [-8.84129032e-01 -4.54314956e-01 1.09150243e-01 1.85679971e+02] [ 1.22973026e-01 -8.85447025e-04 9.92409618e-01 7.04799280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.69, Z:70.48 [[-4.53904187e-01 8.89244430e-01 5.67038997e-02 2.17624370e+02] [-8.82523714e-01 -4.57432051e-01 1.09122928e-01 1.85689455e+02] [ 1.22975137e-01 -5.11182109e-04 9.92409620e-01 7.04776887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.68, Z:70.48 [[-4.57394314e-01 8.87450589e-01 5.67617239e-02 2.17622599e+02] [-8.80719767e-01 -4.60902857e-01 1.09092842e-01 1.85680373e+02] [ 1.22976148e-01 -9.27264473e-05 9.92409622e-01 7.04804987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.67, Z:70.48 [[-4.59740663e-01 8.86233657e-01 5.68192546e-02 2.17621062e+02] [-8.79497250e-01 -4.63238467e-01 1.09062870e-01 1.85672663e+02] [ 1.22976051e-01 1.68258226e-04 9.92409624e-01 7.04806063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.67, Z:70.48 [[-4.62559877e-01 8.84761035e-01 5.68882260e-02 2.17622302e+02] [-8.78017916e-01 -4.66044716e-01 1.09026883e-01 1.85667493e+02] [ 1.22975195e-01 4.82579932e-04 9.92409627e-01 7.04793726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.66, Z:70.48 [[-4.64345615e-01 8.83821614e-01 5.69429929e-02 2.17621461e+02] [-8.77074951e-01 -4.67823585e-01 1.08998272e-01 1.85661876e+02] [ 1.22974303e-01 6.69596844e-04 9.92409629e-01 7.04813275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.65, Z:70.48 [[-4.66376202e-01 8.82748427e-01 5.69951990e-02 2.17619447e+02] [-8.75997096e-01 -4.69845098e-01 1.08970967e-01 1.85654046e+02] [ 1.22972864e-01 8.93836730e-04 9.92409631e-01 7.04832309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.65, Z:70.48 [[-4.67187777e-01 8.82315795e-01 5.70475065e-02 2.17619469e+02] [-8.75564595e-01 -4.70656922e-01 1.08943576e-01 1.85649193e+02] [ 1.22972442e-01 9.48330360e-04 9.92409633e-01 7.04839191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.65, Z:70.48 [[-4.66854926e-01 8.82488573e-01 5.70998766e-02 2.17619946e+02] [-8.75742012e-01 -4.70333081e-01 1.08916121e-01 1.85646263e+02] [ 1.22973193e-01 8.43266945e-04 9.92409635e-01 7.04841495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:185.64, Z:70.49 [[-4.66498832e-01 8.82673475e-01 5.71522138e-02 2.17615257e+02] [-8.75931656e-01 -4.69986165e-01 1.08888651e-01 1.85636859e+02] [ 1.22973874e-01 7.34995446e-04 9.92409636e-01 7.04854849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.63, Z:70.49 [[-4.64858210e-01 8.83530623e-01 5.72754982e-02 2.17613697e+02] [-8.76803219e-01 -4.68373252e-01 1.08823766e-01 1.85633968e+02] [ 1.22975441e-01 3.68280073e-04 9.92409646e-01 7.04860599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.63, Z:70.49 [[-4.61784536e-01 8.85137251e-01 5.73331411e-02 2.17613550e+02] [-8.78425846e-01 -4.65330024e-01 1.08793389e-01 1.85633280e+02] [ 1.22975914e-01 -1.23808208e-04 9.92409648e-01 7.04866705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.63, Z:70.49 [[-4.60163375e-01 8.85977763e-01 5.73852880e-02 2.17612693e+02] [-8.79276263e-01 -4.63727546e-01 1.08765877e-01 1.85630705e+02] [ 1.22975287e-01 -4.07448692e-04 9.92409650e-01 7.04872506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.63, Z:70.49 [[-4.57835974e-01 8.87179336e-01 5.74373272e-02 2.17611348e+02] [-8.80490636e-01 -4.61424103e-01 1.08738389e-01 1.85627297e+02] [ 1.22973419e-01 -7.88682474e-04 9.92409651e-01 7.04888115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.62, Z:70.49 [[-4.57347713e-01 8.87427770e-01 5.74893337e-02 2.17608155e+02] [-8.80744473e-01 -4.60945894e-01 1.08710887e-01 1.85619872e+02] [ 1.22972532e-01 -9.14737451e-04 9.92409653e-01 7.04891380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.62, Z:70.49 [[-4.57978811e-01 8.87098865e-01 5.75414020e-02 2.17607924e+02] [-8.80416445e-01 -4.61578617e-01 1.08683320e-01 1.85616840e+02] [ 1.22972730e-01 -8.85738988e-04 9.92409655e-01 7.04880343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:185.54, Z:70.49 [[-4.59482271e-01 8.86317681e-01 5.75934961e-02 2.17569358e+02] [-8.79632600e-01 -4.63077129e-01 1.08655707e-01 1.85540749e+02] [ 1.22973705e-01 -7.35745421e-04 9.92409657e-01 7.04949944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.61, Z:70.49 [[-4.60615278e-01 8.85726604e-01 5.76363541e-02 2.17606487e+02] [-8.79039753e-01 -4.64206840e-01 1.08632969e-01 1.85610556e+02] [ 1.22974300e-01 -6.26641378e-04 9.92409658e-01 7.04872666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:185.61, Z:70.49 [[-4.61613236e-01 8.85202688e-01 5.77011430e-02 2.17606611e+02] [-8.78516061e-01 -4.65205210e-01 1.08598545e-01 1.85609870e+02] [ 1.22974596e-01 -5.60854903e-04 9.92409660e-01 7.04875960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:185.61, Z:70.49 [[-4.62832213e-01 8.84562910e-01 5.77477361e-02 2.17603709e+02] [-8.77874408e-01 -4.66420692e-01 1.08573764e-01 1.85605684e+02] [ 1.22975063e-01 -4.43824325e-04 9.92409662e-01 7.04883669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:185.60, Z:70.49 [[-4.63832273e-01 8.84035882e-01 5.77943021e-02 2.17597867e+02] [-8.77346391e-01 -4.67418903e-01 1.08548971e-01 1.85595182e+02] [ 1.22975335e-01 -3.57106526e-04 9.92409663e-01 7.04897782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:185.59, Z:70.49 [[-4.65531304e-01 8.83138949e-01 5.78463679e-02 2.17596174e+02] [-8.76445994e-01 -4.69111464e-01 1.08521218e-01 1.85593951e+02] [ 1.22975709e-01 -1.79193222e-04 9.92409665e-01 7.04889646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:185.59, Z:70.49 [[-4.67016183e-01 8.82351552e-01 5.78931983e-02 2.17592282e+02] [-8.75655658e-01 -4.70590839e-01 1.08496230e-01 1.85592654e+02] [ 1.22975825e-01 -2.50115479e-05 9.92409666e-01 7.04881912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:185.59, Z:70.49 [[-4.67637761e-01 8.82018856e-01 5.79453335e-02 2.17588945e+02] [-8.75323868e-01 -4.71214109e-01 1.08468379e-01 1.85592167e+02] [ 1.22975814e-01 2.97622315e-06 9.92409668e-01 7.04875303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.58, Y:185.59, Z:70.49 [[-4.69299175e-01 8.81131850e-01 5.80081706e-02 2.17583914e+02] [-8.74434255e-01 -4.72870634e-01 1.08434764e-01 1.85586237e+02] [ 1.22975684e-01 1.64013675e-04 9.92409671e-01 7.04867787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.58, Y:185.58, Z:70.49 [[-4.71912394e-01 8.79731611e-01 5.80601815e-02 2.17581535e+02] [-8.73026845e-01 -4.75470368e-01 1.08406908e-01 1.85584003e+02] [ 1.22974880e-01 4.70466490e-04 9.92409672e-01 7.04857404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.58, Y:185.58, Z:70.49 [[-4.76267308e-01 8.77378152e-01 5.81122179e-02 2.17575753e+02] [-8.70659207e-01 -4.79798432e-01 1.08379007e-01 1.85575791e+02] [ 1.22971524e-01 1.02144013e-03 9.92409674e-01 7.04869111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:185.57, Z:70.49 [[-4.78830921e-01 8.75978584e-01 5.81590036e-02 2.17567765e+02] [-8.69252367e-01 -4.82348169e-01 1.08353895e-01 1.85565746e+02] [ 1.22968580e-01 1.32834358e-03 9.92409675e-01 7.04892716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:185.57, Z:70.49 [[-4.81136499e-01 8.74710865e-01 5.82114326e-02 2.17568690e+02] [-8.67978787e-01 -4.84642511e-01 1.08325721e-01 1.85568557e+02] [ 1.22965420e-01 1.59316942e-03 9.92409677e-01 7.04889516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:185.57, Z:70.49 [[-4.82798261e-01 8.73790895e-01 5.82692942e-02 2.17567550e+02] [-8.67055889e-01 -4.86298640e-01 1.08294588e-01 1.85566964e+02] [ 1.22963104e-01 1.76170397e-03 9.92409679e-01 7.04883595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.55, Z:70.49 [[-4.85229393e-01 8.72439703e-01 5.83215227e-02 2.17558163e+02] [-8.65698327e-01 -4.88717486e-01 1.08266453e-01 1.85549549e+02] [ 1.22958701e-01 2.04522089e-03 9.92409681e-01 7.04896136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.56, Z:70.49 [[-4.85709717e-01 8.72169235e-01 5.83686207e-02 2.17563555e+02] [-8.65428964e-01 -4.89199941e-01 1.08241056e-01 1.85557824e+02] [ 1.22958445e-01 2.05983781e-03 9.92409682e-01 7.04885611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.54, Z:70.49 [[-4.85668688e-01 8.72188566e-01 5.84211510e-02 2.17555960e+02] [-8.65451840e-01 -4.89165745e-01 1.08212697e-01 1.85543627e+02] [ 1.22959503e-01 1.99482584e-03 9.92409684e-01 7.04900044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.55, Z:70.49 [[-4.84297741e-01 8.72947398e-01 5.84682595e-02 2.17561418e+02] [-8.66219221e-01 -4.87811216e-01 1.08187238e-01 1.85554233e+02] [ 1.22963241e-01 1.74850475e-03 9.92409686e-01 7.04881032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:185.56, Z:70.48 [[-4.77621419e-01 8.76614211e-01 5.85261154e-02 2.17570944e+02] [-8.69916849e-01 -4.81193278e-01 1.08155931e-01 1.85557399e+02] [ 1.22973399e-01 7.44735216e-04 9.92409688e-01 7.04782080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.55, Z:70.49 [[-4.79014322e-01 8.75850388e-01 5.85779564e-02 2.17556546e+02] [-8.69150763e-01 -4.82581931e-01 1.08127846e-01 1.85547456e+02] [ 1.22972479e-01 8.81711568e-04 9.92409690e-01 7.04904954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.54, Z:70.48 [[-4.67577415e-01 8.82005969e-01 5.86244991e-02 2.17562685e+02] [-8.75356470e-01 -4.71237601e-01 1.08102606e-01 1.85543138e+02] [ 1.22973212e-01 -7.70997413e-04 9.92409691e-01 7.04801598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:185.55, Z:70.49 [[-4.70588716e-01 8.80399526e-01 5.86765202e-02 2.17555554e+02] [-8.73741052e-01 -4.74232544e-01 1.08074363e-01 1.85549914e+02] [ 1.22974933e-01 -4.09508799e-04 9.92409693e-01 7.04904666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.54, Z:70.49 [[-4.66352411e-01 8.82647386e-01 5.87283580e-02 2.17549221e+02] [-8.76010018e-01 -4.70034541e-01 1.08046187e-01 1.85542057e+02] [ 1.22971041e-01 -1.05903025e-03 9.92409694e-01 7.04916498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.54, Z:70.49 [[-4.65583209e-01 8.83049565e-01 5.87855438e-02 2.17550714e+02] [-8.76419304e-01 -4.69278116e-01 1.08015064e-01 1.85544618e+02] [ 1.22969425e-01 -1.23078504e-03 9.92409697e-01 7.04911336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.54, Z:70.49 [[-4.68413795e-01 8.81547892e-01 5.88373172e-02 2.17548393e+02] [-8.74909325e-01 -4.72093754e-01 1.07986856e-01 1.85536874e+02] [ 1.22972315e-01 -8.94784634e-04 9.92409698e-01 7.04919903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.53, Z:70.49 [[-4.72857246e-01 8.79167908e-01 5.89051300e-02 2.17545685e+02] [-8.72515423e-01 -4.76511979e-01 1.07949853e-01 1.85527197e+02] [ 1.22975046e-01 -3.50764462e-04 9.92409701e-01 7.04923430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.52, Z:70.49 [[-4.78972497e-01 8.75847476e-01 5.89622426e-02 2.17544001e+02] [-8.69173493e-01 -4.82587820e-01 1.07918649e-01 1.85517917e+02] [ 1.22974736e-01 4.41646393e-04 9.92409703e-01 7.04915515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.51, Z:70.48 [[-4.78571668e-01 8.76062699e-01 5.90195324e-02 2.17548317e+02] [-8.69394205e-01 -4.82197101e-01 1.07887309e-01 1.85511687e+02] [ 1.22975095e-01 3.20569964e-04 9.92409705e-01 7.04824131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.51, Z:70.49 [[-4.82288774e-01 8.74018363e-01 5.90714692e-02 2.17544795e+02] [-8.67337985e-01 -4.85892257e-01 1.07858865e-01 1.85512948e+02] [ 1.22972998e-01 7.84190578e-04 9.92409707e-01 7.04908754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.50, Z:70.49 [[-4.80261771e-01 8.75130671e-01 5.91180135e-02 2.17540275e+02] [-8.68461778e-01 -4.83886463e-01 1.07833348e-01 1.85501752e+02] [ 1.22974676e-01 4.46499367e-04 9.92409709e-01 7.04921462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.51, Z:70.49 [[-4.76188523e-01 8.77350576e-01 5.91646666e-02 2.17545641e+02] [-8.70701760e-01 -4.79849909e-01 1.07807745e-01 1.85508687e+02] [ 1.22975347e-01 -1.77968543e-04 9.92409710e-01 7.04900497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.51, Z:70.49 [[-4.71808691e-01 8.79710155e-01 5.92165651e-02 2.17548433e+02] [-8.73083225e-01 -4.75509538e-01 1.07779231e-01 1.85510734e+02] [ 1.22972525e-01 -8.49811782e-04 9.92409712e-01 7.04893068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.51, Z:70.49 [[-4.68742683e-01 8.81344196e-01 5.92680738e-02 2.17548400e+02] [-8.74733743e-01 -4.72472880e-01 1.07750899e-01 1.85508584e+02] [ 1.22968187e-01 -1.33633870e-03 9.92409713e-01 7.04887551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.51, Z:70.49 [[-4.64853702e-01 8.83398123e-01 5.93194023e-02 2.17548929e+02] [-8.76807749e-01 -4.68619255e-01 1.07722634e-01 1.85505377e+02] [ 1.22960187e-01 -1.93644629e-03 9.92409715e-01 7.04871594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.50, Z:70.49 [[-4.63294012e-01 8.84210520e-01 5.94173041e-02 2.17548655e+02] [-8.77633660e-01 -4.67083108e-01 1.07668607e-01 1.85502272e+02] [ 1.22954534e-01 -2.26440496e-03 9.92409721e-01 7.04890092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.50, Z:70.49 [[-4.63271081e-01 8.84219269e-01 5.94658758e-02 2.17548493e+02] [-8.77645918e-01 -4.67066259e-01 1.07641775e-01 1.85498140e+02] [ 1.22953435e-01 -2.32266193e-03 9.92409723e-01 7.04928561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.49, Z:70.50 [[-4.65630089e-01 8.82975496e-01 5.95222090e-02 2.17548621e+02] [-8.76395983e-01 -4.69414568e-01 1.07610616e-01 1.85492989e+02] [ 1.22958129e-01 -2.05828434e-03 9.92409725e-01 7.04954588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.49, Z:70.50 [[-4.69273977e-01 8.81041193e-01 5.95680304e-02 2.17548437e+02] [-8.74449293e-01 -4.73036837e-01 1.07585245e-01 1.85485124e+02] [ 1.22964906e-01 -1.60226618e-03 9.92409726e-01 7.04978280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.48, Z:70.50 [[-4.72263750e-01 8.79438744e-01 5.96191685e-02 2.17548242e+02] [-8.72837650e-01 -4.76010452e-01 1.07556899e-01 1.85479233e+02] [ 1.22969052e-01 -1.24263020e-03 9.92409728e-01 7.04981253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.47, Z:70.50 [[-4.73913712e-01 8.78547589e-01 5.96651319e-02 2.17546518e+02] [-8.71942657e-01 -4.77653643e-01 1.07531396e-01 1.85474541e+02] [ 1.22970717e-01 -1.06397045e-03 9.92409729e-01 7.04988974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.47, Z:70.50 [[-4.78296115e-01 8.76166311e-01 5.97111510e-02 2.17547225e+02] [-8.69545946e-01 -4.82008655e-01 1.07505836e-01 1.85469589e+02] [ 1.22974284e-01 -5.01965341e-04 9.92409731e-01 7.05002575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.46, Z:70.50 [[-4.82958740e-01 8.73601701e-01 5.97572079e-02 2.17547253e+02] [-8.66964787e-01 -4.86641612e-01 1.07480230e-01 1.85459858e+02] [ 1.22975256e-01 1.01121362e-04 9.92409732e-01 7.05014480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:185.45, Z:70.50 [[-4.85728840e-01 8.72061021e-01 5.98086120e-02 2.17545196e+02] [-8.65415947e-01 -4.89396964e-01 1.07451618e-01 1.85452206e+02] [ 1.22974521e-01 4.33023094e-04 9.92409734e-01 7.05012535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.45, Z:70.50 [[-4.88404395e-01 8.70561835e-01 5.98601508e-02 2.17544973e+02] [-8.63909020e-01 -4.92058457e-01 1.07422899e-01 1.85447281e+02] [ 1.22972969e-01 7.52091724e-04 9.92409736e-01 7.04998999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.44, Z:70.50 [[-4.89943320e-01 8.69693121e-01 5.99117503e-02 2.17540924e+02] [-8.63037345e-01 -4.93591982e-01 1.07394113e-01 1.85437119e+02] [ 1.22971881e-01 9.10950576e-04 9.92409737e-01 7.05002247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.44, Z:70.50 [[-4.92162475e-01 8.68436369e-01 5.99530712e-02 2.17543329e+02] [-8.61774086e-01 -4.95799239e-01 1.07371041e-01 1.85437880e+02] [ 1.22969604e-01 1.17799425e-03 9.92409738e-01 7.04984397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.43, Z:70.50 [[-4.92417389e-01 8.68288643e-01 5.99995572e-02 2.17538855e+02] [-8.61628432e-01 -4.96057943e-01 1.07345058e-01 1.85430384e+02] [ 1.22969752e-01 1.16124892e-03 9.92409740e-01 7.04990972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.43, Z:70.50 [[-4.90055345e-01 8.69621094e-01 6.00409209e-02 2.17541067e+02] [-8.62973615e-01 -4.93719095e-01 1.07321918e-01 1.85433226e+02] [ 1.22972753e-01 7.79948803e-04 9.92409741e-01 7.04998423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.43, Z:70.50 [[-4.87912321e-01 8.70821701e-01 6.00926992e-02 2.17540540e+02] [-8.64186808e-01 -4.91598811e-01 1.07292918e-01 1.85433425e+02] [ 1.22974501e-01 4.18218713e-04 9.92409743e-01 7.05012980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.43, Z:70.50 [[-4.85215832e-01 8.72323850e-01 6.01389826e-02 2.17540354e+02] [-8.65703585e-01 -4.88928523e-01 1.07266969e-01 1.85434699e+02] [ 1.22975200e-01 -1.49010082e-05 9.92409744e-01 7.05020569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:185.42, Z:70.50 [[-4.85637584e-01 8.72085940e-01 6.01851380e-02 2.17534572e+02] [-8.65467065e-01 -4.89352750e-01 1.07241067e-01 1.85423331e+02] [ 1.22975189e-01 -7.96222572e-06 9.92409745e-01 7.05026449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:185.43, Z:70.50 [[-4.88244299e-01 8.70625298e-01 6.02419637e-02 2.17536665e+02] [-8.63999247e-01 -4.91946646e-01 1.07209136e-01 1.85426380e+02] [ 1.22974818e-01 2.95238161e-04 9.92409748e-01 7.05000607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:185.42, Z:70.50 [[-4.91327731e-01 8.68885721e-01 6.02881780e-02 2.17531745e+02] [-8.62249750e-01 -4.95012265e-01 1.07183142e-01 1.85419777e+02] [ 1.22973289e-01 6.78583366e-04 9.92409749e-01 7.05009710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:185.41, Z:70.50 [[-4.93227582e-01 8.67805815e-01 6.03292542e-02 2.17528735e+02] [-8.61164604e-01 -4.96902662e-01 1.07160017e-01 1.85413705e+02] [ 1.22971853e-01 9.00857535e-04 9.92409750e-01 7.05020152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:185.41, Z:70.50 [[-4.94928341e-01 8.66834091e-01 6.03704850e-02 2.17527999e+02] [-8.60188497e-01 -4.98595486e-01 1.07136784e-01 1.85413955e+02] [ 1.22970268e-01 1.09503378e-03 9.92409751e-01 7.05026093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:185.41, Z:70.50 [[-4.95505112e-01 8.66501293e-01 6.04168363e-02 2.17525591e+02] [-8.59856421e-01 -4.99173563e-01 1.07110639e-01 1.85413759e+02] [ 1.22969995e-01 1.12406440e-03 9.92409753e-01 7.05038031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:185.41, Z:70.51 [[-4.95587431e-01 8.66450618e-01 6.04683795e-02 2.17521044e+02] [-8.59808920e-01 -4.99261621e-01 1.07081533e-01 1.85407930e+02] [ 1.22970402e-01 1.07700974e-03 9.92409754e-01 7.05057643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:185.41, Z:70.50 [[-4.94869512e-01 8.66857625e-01 6.05146556e-02 2.17519659e+02] [-8.60222146e-01 -4.98554919e-01 1.07055375e-01 1.85408932e+02] [ 1.22971647e-01 9.22394209e-04 9.92409756e-01 7.05049594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:185.41, Z:70.50 [[-4.93893935e-01 8.67410603e-01 6.05609370e-02 2.17517833e+02] [-8.60782459e-01 -4.97592515e-01 1.07029187e-01 1.85408119e+02] [ 1.22972921e-01 7.31274253e-04 9.92409757e-01 7.05030522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:185.41, Z:70.50 [[-4.92880290e-01 8.67983754e-01 6.06071064e-02 2.17514530e+02] [-8.61363126e-01 -4.96592303e-01 1.07003037e-01 1.85405780e+02] [ 1.22973920e-01 5.34961299e-04 9.92409759e-01 7.05028929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:185.40, Z:70.50 [[-4.90786941e-01 8.69165900e-01 6.06532482e-02 2.17510543e+02] [-8.62557444e-01 -4.94520580e-01 1.06976876e-01 1.85403219e+02] [ 1.22974932e-01 1.85943030e-04 9.92409760e-01 7.05028783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:185.40, Z:70.51 [[-4.90034719e-01 8.69586636e-01 6.07046718e-02 2.17508215e+02] [-8.62985000e-01 -4.93780399e-01 1.06947688e-01 1.85402931e+02] [ 1.22975057e-01 2.08589339e-05 9.92409762e-01 7.05056397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:185.39, Z:70.51 [[-4.89302982e-01 8.69994997e-01 6.07560427e-02 2.17501032e+02] [-8.63400110e-01 -4.93060528e-01 1.06918497e-01 1.85394917e+02] [ 1.22974964e-01 -1.41234831e-04 9.92409763e-01 7.05081248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:185.39, Z:70.51 [[-4.90354593e-01 8.69394294e-01 6.08763966e-02 2.17498894e+02] [-8.62803308e-01 -4.94118959e-01 1.06849928e-01 1.85394450e+02] [ 1.22974899e-01 -1.30003541e-04 9.92409773e-01 7.05064819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:185.39, Z:70.51 [[-4.92090034e-01 8.68409594e-01 6.09276273e-02 2.17496688e+02] [-8.61814691e-01 -4.95847531e-01 1.06820707e-01 1.85394163e+02] [ 1.22974941e-01 5.70812747e-05 9.92409775e-01 7.05056992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:185.39, Z:70.51 [[-4.94674665e-01 8.66936679e-01 6.09735236e-02 2.17491592e+02] [-8.60333817e-01 -4.98418155e-01 1.06794503e-01 1.85391804e+02] [ 1.22974383e-01 3.70951008e-04 9.92409776e-01 7.05063546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:185.38, Z:70.51 [[-4.97789767e-01 8.65147790e-01 6.10299065e-02 2.17485058e+02] [-8.58535425e-01 -5.01516441e-01 1.06762273e-01 1.85384827e+02] [ 1.22972646e-01 7.48830238e-04 9.92409778e-01 7.05075724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:185.38, Z:70.51 [[-4.99889532e-01 8.63932982e-01 6.10758445e-02 2.17480897e+02] [-8.57314771e-01 -5.03605811e-01 1.06735987e-01 1.85380859e+02] [ 1.22970889e-01 9.94978787e-04 9.92409779e-01 7.05082791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:185.38, Z:70.51 [[-5.03274037e-01 8.61962503e-01 6.11219038e-02 2.17475486e+02] [-8.55332945e-01 -5.06970033e-01 1.06709605e-01 1.85376486e+02] [ 1.22966652e-01 1.42459565e-03 9.92409781e-01 7.05111961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:185.38, Z:70.51 [[-5.05285672e-01 8.60781540e-01 6.11680519e-02 2.17475605e+02] [-8.54146544e-01 -5.08971893e-01 1.06683145e-01 1.85378440e+02] [ 1.22963701e-01 1.65898457e-03 9.92409782e-01 7.05123063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.47, Y:185.38, Z:70.51 [[-5.07589100e-01 8.59421975e-01 6.12141722e-02 2.17472128e+02] [-8.52780294e-01 -5.11263262e-01 1.06656675e-01 1.85376132e+02] [ 1.22959648e-01 1.93552610e-03 9.92409784e-01 7.05107358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.47, Y:185.37, Z:70.51 [[-5.07151929e-01 8.59676746e-01 6.12602136e-02 2.17466878e+02] [-8.53040102e-01 -5.10835179e-01 1.06630224e-01 1.85369857e+02] [ 1.22961396e-01 1.82030514e-03 9.92409785e-01 7.05085490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.36, Z:70.51 [[-5.07183834e-01 8.59654636e-01 6.13063274e-02 2.17462938e+02] [-8.53021033e-01 -5.10872555e-01 1.06603705e-01 1.85364330e+02] [ 1.22962089e-01 1.77208916e-03 9.92409786e-01 7.05108060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.37, Z:70.51 [[-5.05365570e-01 8.60721126e-01 6.13578336e-02 2.17463285e+02] [-8.54098905e-01 -5.09074682e-01 1.06574052e-01 1.85369835e+02] [ 1.22966257e-01 1.45319792e-03 9.92409788e-01 7.05087395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.37, Z:70.51 [[-5.03296036e-01 8.61929236e-01 6.14092120e-02 2.17461306e+02] [-8.55319530e-01 -5.07027400e-01 1.06544439e-01 1.85370909e+02] [ 1.22969920e-01 1.09889548e-03 9.92409790e-01 7.05100632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.37, Z:70.51 [[-5.01611382e-01 8.62907464e-01 6.14551051e-02 2.17457735e+02] [-8.56308277e-01 -5.05361315e-01 1.06517961e-01 1.85367213e+02] [ 1.22972177e-01 8.06106668e-04 9.92409791e-01 7.05125582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.36, Z:70.52 [[-4.98502633e-01 8.64703854e-01 6.15009705e-02 2.17450311e+02] [-8.58121448e-01 -5.02281940e-01 1.06491473e-01 1.85356807e+02] [ 1.22974414e-01 3.10978002e-04 9.92409793e-01 7.05150509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.37, Z:70.52 [[-4.96979407e-01 8.65576186e-01 6.15575831e-02 2.17454153e+02] [-8.59004465e-01 -5.00777262e-01 1.06458739e-01 1.85365595e+02] [ 1.22974787e-01 2.95619195e-05 9.92409795e-01 7.05152829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.35, Z:70.52 [[-4.95855366e-01 8.66216957e-01 6.16087574e-02 2.17445084e+02] [-8.59653824e-01 -4.99668037e-01 1.06429115e-01 1.85350734e+02] [ 1.22974631e-01 -1.88755861e-04 9.92409797e-01 7.05164517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.36, Z:70.51 [[-4.96085955e-01 8.66081276e-01 6.16599365e-02 2.17451010e+02] [-8.59520785e-01 -4.99903167e-01 1.06399457e-01 1.85358687e+02] [ 1.22974575e-01 -2.14720917e-04 9.92409798e-01 7.05145520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.35, Z:70.51 [[-4.96177361e-01 8.66025271e-01 6.17110822e-02 2.17446592e+02] [-8.59468037e-01 -5.00000163e-01 1.06369784e-01 1.85349917e+02] [ 1.22974473e-01 -2.60423800e-04 9.92409800e-01 7.05142142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.34, Z:70.51 [[-4.94726892e-01 8.66851054e-01 6.17620661e-02 2.17442205e+02] [-8.60303896e-01 -4.98566921e-01 1.06340173e-01 1.85341892e+02] [ 1.22973615e-01 -5.24802652e-04 9.92409802e-01 7.05131002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.35, Z:70.51 [[-4.93359174e-01 8.67626384e-01 6.18157174e-02 2.17445307e+02] [-8.61089166e-01 -4.97216099e-01 1.06308977e-01 1.85347097e+02] [ 1.22972243e-01 -7.80335517e-04 9.92409804e-01 7.05129199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.35, Z:70.51 [[-4.90469324e-01 8.69259281e-01 6.18720047e-02 2.17446423e+02] [-8.62739033e-01 -4.94354862e-01 1.06276208e-01 1.85348833e+02] [ 1.22968306e-01 -1.25417369e-03 9.92409806e-01 7.05137263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.34, Z:70.51 [[-4.90176764e-01 8.69420681e-01 6.19226837e-02 2.17441555e+02] [-8.62905440e-01 -4.94070689e-01 1.06246671e-01 1.85338182e+02] [ 1.22967236e-01 -1.35377103e-03 9.92409808e-01 7.05149596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.34, Z:70.52 [[-4.91756705e-01 8.68524775e-01 6.19682006e-02 2.17442591e+02] [-8.62005783e-01 -4.95644344e-01 1.06220117e-01 1.85337179e+02] [ 1.22968992e-01 -1.18249252e-03 9.92409809e-01 7.05161775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.32, Z:70.52 [[-4.94634649e-01 8.66884974e-01 6.20242363e-02 2.17437328e+02] [-8.60357194e-01 -4.98507510e-01 1.06187387e-01 1.85323838e+02] [ 1.22971798e-01 -8.39037010e-04 9.92409811e-01 7.05168809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.33, Z:70.52 [[-4.97404019e-01 8.65295281e-01 6.20751137e-02 2.17441871e+02] [-8.58758833e-01 -5.01262230e-01 1.06157637e-01 1.85329757e+02] [ 1.22973612e-01 -5.04316925e-04 9.92409813e-01 7.05155313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.32, Z:70.52 [[-4.99099425e-01 8.64314656e-01 6.21284172e-02 2.17438308e+02] [-8.57774510e-01 -5.02951360e-01 1.06126432e-01 1.85320635e+02] [ 1.22974203e-01 -3.24531213e-04 9.92409815e-01 7.05152573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.32, Z:70.51 [[-5.00622699e-01 8.63429599e-01 6.21791002e-02 2.17439410e+02] [-8.56886331e-01 -5.04469325e-01 1.06096729e-01 1.85320583e+02] [ 1.22974505e-01 -1.65989991e-04 9.92409816e-01 7.05146292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.31, Z:70.52 [[-5.00927851e-01 8.63248945e-01 6.22297850e-02 2.17436776e+02] [-8.56707983e-01 -5.04778392e-01 1.06066993e-01 1.85314059e+02] [ 1.22974470e-01 -1.80842928e-04 9.92409818e-01 7.05176562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.31, Z:70.52 [[-5.02572027e-01 8.62289483e-01 6.22752411e-02 2.17435180e+02] [-8.55744476e-01 -5.06415687e-01 1.06040297e-01 1.85305146e+02] [ 1.22974592e-01 1.19372866e-06 9.92409819e-01 7.05203568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.30, Z:70.52 [[-5.03937865e-01 8.61488301e-01 6.23260478e-02 2.17440080e+02] [-8.54940875e-01 -5.07777401e-01 1.06010427e-01 1.85303321e+02] [ 1.22974501e-01 1.37582457e-04 9.92409821e-01 7.05200041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.30, Z:70.52 [[-5.01967138e-01 8.62634408e-01 6.23768403e-02 2.17442188e+02] [-8.56099463e-01 -5.05827873e-01 1.05980533e-01 1.85297443e+02] [ 1.22974398e-01 -2.02034883e-04 9.92409823e-01 7.05185110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.30, Z:70.52 [[-5.00021176e-01 8.63760543e-01 6.24223413e-02 2.17444172e+02] [-8.57237637e-01 -5.03902215e-01 1.05953726e-01 1.85296031e+02] [ 1.22973404e-01 -5.31673767e-04 9.92409824e-01 7.05174881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:185.29, Z:70.52 [[-4.96985074e-01 8.65508070e-01 6.24629174e-02 2.17444784e+02] [-8.59001815e-01 -5.00893961e-01 1.05929800e-01 1.85287103e+02] [ 1.22970395e-01 -1.01022997e-03 9.92409825e-01 7.05184021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.29, Z:70.52 [[-4.95510537e-01 8.66349825e-01 6.25083146e-02 2.17449264e+02] [-8.59853586e-01 -4.99436045e-01 1.05903005e-01 1.85288905e+02] [ 1.22967955e-01 -1.27194374e-03 9.92409827e-01 7.05169181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.28, Z:70.52 [[-4.95685915e-01 8.66246220e-01 6.25536521e-02 2.17452036e+02] [-8.59752539e-01 -4.99615650e-01 1.05876219e-01 1.85283545e+02] [ 1.22967658e-01 -1.29931084e-03 9.92409828e-01 7.05196111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.28, Z:70.52 [[-4.97012742e-01 8.65482361e-01 6.25988631e-02 2.17454836e+02] [-8.58986005e-01 -5.00938051e-01 1.05849481e-01 1.85279362e+02] [ 1.22969012e-01 -1.16300632e-03 9.92409829e-01 7.05221251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:185.27, Z:70.53 [[-4.98972531e-01 8.64351071e-01 6.26389565e-02 2.17454914e+02] [-8.57848793e-01 -5.02888019e-01 1.05825750e-01 1.85267919e+02] [ 1.22970981e-01 -9.30610887e-04 9.92409831e-01 7.05258592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.27, Z:70.53 [[-5.00423567e-01 8.63508503e-01 6.26842769e-02 2.17459731e+02] [-8.57002993e-01 -5.04333682e-01 1.05798899e-01 1.85267069e+02] [ 1.22972041e-01 -7.76350764e-04 9.92409832e-01 7.05294640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.26, Z:70.53 [[-5.01093842e-01 8.63116793e-01 6.27244956e-02 2.17458767e+02] [-8.56611211e-01 -5.05003834e-01 1.05775049e-01 1.85258260e+02] [ 1.22972332e-01 -7.27280379e-04 9.92409833e-01 7.05301397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:185.26, Z:70.53 [[-5.01012000e-01 8.63161368e-01 6.27648717e-02 2.17463727e+02] [-8.56659134e-01 -5.04927555e-01 1.05751085e-01 1.85257908e+02] [ 1.22971965e-01 -7.85537929e-04 9.92409834e-01 7.05273566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:184.71, Z:71.30 [[-4.45996465e-01 8.92828106e-01 6.28102420e-02 2.18097561e+02] [-8.86587428e-01 -4.50316712e-01 1.05724131e-01 1.84708923e+02] [ 1.22677978e-01 -8.53418201e-03 9.92409836e-01 7.12950089e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:218.11, Y:184.72, Z:71.29 [[-4.44356576e-01 8.94089118e-01 5.61416275e-02 2.18109295e+02] [-8.87401633e-01 -4.47887172e-01 1.09157791e-01 1.84722112e+02] [ 1.22741908e-01 -1.31518954e-03 9.92437753e-01 7.12897288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.94, Z:71.27 [[-4.43347139e-01 8.94586472e-01 5.61992730e-02 2.18222156e+02] [-8.87906705e-01 -4.46892313e-01 1.09128105e-01 1.84942963e+02] [ 1.22739549e-01 -1.51807829e-03 9.92437755e-01 7.12680379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.94, Z:71.27 [[-4.42605987e-01 8.94946516e-01 5.63087288e-02 2.18222275e+02] [-8.88276808e-01 -4.46170033e-01 1.09071599e-01 1.84940773e+02] [ 1.22736515e-01 -1.74199518e-03 9.92437763e-01 7.12686321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.93, Z:71.27 [[-4.42275941e-01 8.95106406e-01 5.63605728e-02 2.18219171e+02] [-8.88441395e-01 -4.45848761e-01 1.09044803e-01 1.84932671e+02] [ 1.22734993e-01 -1.84517294e-03 9.92437765e-01 7.12692330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.93, Z:71.27 [[-4.43314602e-01 8.94589513e-01 5.64071550e-02 2.18218648e+02] [-8.87923399e-01 -4.46885359e-01 1.09020702e-01 1.84929949e+02] [ 1.22736308e-01 -1.75476379e-03 9.92437766e-01 7.12693342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.93, Z:71.27 [[-4.47873123e-01 8.92313405e-01 5.64486677e-02 2.18220309e+02] [-8.85631846e-01 -4.51414894e-01 1.08999203e-01 1.84929337e+02] [ 1.22743220e-01 -1.17492416e-03 9.92437767e-01 7.12695547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.92, Z:71.27 [[-4.54233712e-01 8.89089759e-01 5.64901382e-02 2.18219841e+02] [-8.82385731e-01 -4.57732762e-01 1.08977707e-01 1.84920884e+02] [ 1.22748350e-01 -3.44743751e-04 9.92437768e-01 7.12691319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:184.91, Z:71.27 [[-4.58084639e-01 8.87109145e-01 5.65316481e-02 2.18217119e+02] [-8.80392645e-01 -4.61559686e-01 1.08956169e-01 1.84914427e+02] [ 1.22748744e-01 1.41100352e-04 9.92437769e-01 7.12692282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:184.91, Z:71.27 [[-4.62514854e-01 8.84804095e-01 5.65837771e-02 2.18212761e+02] [-8.78073587e-01 -4.65962691e-01 1.08929091e-01 1.84906504e+02] [ 1.22746835e-01 6.96602588e-04 9.92437771e-01 7.12708074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:184.90, Z:71.27 [[-4.65082953e-01 8.83452522e-01 5.66523469e-02 2.18210973e+02] [-8.76716337e-01 -4.68519677e-01 1.08893418e-01 1.84903199e+02] [ 1.22744904e-01 9.76434119e-04 9.92437774e-01 7.12725062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:184.90, Z:71.27 [[-4.68770157e-01 8.81498573e-01 5.66992517e-02 2.18207704e+02] [-8.74751017e-01 -4.72184499e-01 1.08868990e-01 1.84896315e+02] [ 1.22740367e-01 1.43680535e-03 9.92437775e-01 7.12745744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:184.89, Z:71.27 [[-4.71231524e-01 8.80182205e-01 5.67462478e-02 2.18205451e+02] [-8.73428060e-01 -4.74632808e-01 1.08844488e-01 1.84891125e+02] [ 1.22736613e-01 1.72718898e-03 9.92437777e-01 7.12734524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:184.89, Z:71.27 [[-4.72690880e-01 8.79395601e-01 5.68041341e-02 2.18201037e+02] [-8.72639421e-01 -4.76088118e-01 1.08814270e-01 1.84886108e+02] [ 1.22734564e-01 1.86598653e-03 9.92437779e-01 7.12712446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:184.89, Z:71.27 [[-4.71793869e-01 8.79874463e-01 5.68460634e-02 2.18199835e+02] [-8.73124368e-01 -4.75203178e-01 1.08792362e-01 1.84890943e+02] [ 1.22737051e-01 1.69388605e-03 9.92437780e-01 7.12701692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:184.89, Z:71.27 [[-4.69187269e-01 8.81264137e-01 5.68931305e-02 2.18196995e+02] [-8.74527123e-01 -4.72622353e-01 1.08767743e-01 1.84891116e+02] [ 1.22742076e-01 1.27785428e-03 9.92437781e-01 7.12690072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:184.89, Z:71.27 [[-4.63108637e-01 8.84470921e-01 5.69348755e-02 2.18193067e+02] [-8.77760384e-01 -4.66595157e-01 1.08745887e-01 1.84894529e+02] [ 1.22748112e-01 3.85981201e-04 9.92437782e-01 7.12698201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:184.90, Z:71.27 [[-4.56707790e-01 8.87789999e-01 5.69816833e-02 2.18190022e+02] [-8.81107857e-01 -4.60248424e-01 1.08721355e-01 1.84900092e+02] [ 1.22747461e-01 -5.53119342e-04 9.92437784e-01 7.12711190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:184.90, Z:71.27 [[-4.53831562e-01 8.89260753e-01 5.70282950e-02 2.18185729e+02] [-8.82593155e-01 -4.57399505e-01 1.08696900e-01 1.84899096e+02] [ 1.22744601e-01 -1.00269896e-03 9.92437785e-01 7.12727925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:184.89, Z:71.27 [[-4.52480077e-01 8.89946205e-01 5.70747940e-02 2.18180550e+02] [-8.83287089e-01 -4.56063823e-01 1.08672479e-01 1.84894180e+02] [ 1.22742409e-01 -1.24129720e-03 9.92437787e-01 7.12736779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:184.90, Z:71.27 [[-4.53811099e-01 8.89265225e-01 5.71213336e-02 2.18180921e+02] [-8.82603808e-01 -4.57390565e-01 1.08648011e-01 1.84896186e+02] [ 1.22743657e-01 -1.10983331e-03 9.92437788e-01 7.12730866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:184.66, Z:71.30 [[-4.54972154e-01 8.88668766e-01 5.71678462e-02 2.18055736e+02] [-8.82005730e-01 -4.58548602e-01 1.08623532e-01 1.84662171e+02] [ 1.22744576e-01 -1.00168572e-03 9.92437789e-01 7.13013231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.17, Y:184.88, Z:71.27 [[-4.61800710e-01 8.85136938e-01 5.72075594e-02 2.18169999e+02] [-8.78449135e-01 -4.65330625e-01 1.08602613e-01 1.84881423e+02] [ 1.22748613e-01 -1.01167448e-04 9.92437790e-01 7.12726274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.17, Y:184.88, Z:71.27 [[-4.65258488e-01 8.83315576e-01 5.73422369e-02 2.18167404e+02] [-8.76622713e-01 -4.68778777e-01 1.08531458e-01 1.84879058e+02] [ 1.22748351e-01 2.27674654e-04 9.92437802e-01 7.12732281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:184.89, Z:71.27 [[-4.65969252e-01 8.82937812e-01 5.73888165e-02 2.18175591e+02] [-8.76245128e-01 -4.69489877e-01 1.08506822e-01 1.84891735e+02] [ 1.22748245e-01 2.74171808e-04 9.92437803e-01 7.12673899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.32, Z:72.05 [[-3.85580210e-01 9.20885200e-01 5.74312681e-02 2.18855074e+02] [-9.14535428e-01 -3.89687179e-01 1.08484349e-01 1.84316620e+02] [ 1.22281860e-01 -1.06935114e-02 9.92437804e-01 7.20466450e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:184.57, Z:72.01 [[-3.88618971e-01 9.20226824e-01 4.64530680e-02 2.18962896e+02] [-9.13262933e-01 -3.91382631e-01 1.13006422e-01 1.84569058e+02] [ 1.22172465e-01 1.49257424e-03 9.92507764e-01 7.20093940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:184.56, Z:72.01 [[-3.90003966e-01 9.19629071e-01 4.66827416e-02 2.18957117e+02] [-9.12672270e-01 -3.92785345e-01 1.12911469e-01 1.84563915e+02] [ 1.22172966e-01 1.42987680e-03 9.92507794e-01 7.20096904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:184.55, Z:72.01 [[-3.90735502e-01 9.19315450e-01 4.67426099e-02 2.18951481e+02] [-9.12359377e-01 -3.93518696e-01 1.12886679e-01 1.84554779e+02] [ 1.22172559e-01 1.46277484e-03 9.92507796e-01 7.20104805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:184.55, Z:72.01 [[-3.90607503e-01 9.19366788e-01 4.68026451e-02 2.18949581e+02] [-9.12414060e-01 -3.93399035e-01 1.12861784e-01 1.84551485e+02] [ 1.22173491e-01 1.38126802e-03 9.92507799e-01 7.20082337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:184.55, Z:72.01 [[-3.89149583e-01 9.19982070e-01 4.68571532e-02 2.18948555e+02] [-9.13036478e-01 -3.91958819e-01 1.12839149e-01 1.84552069e+02] [ 1.22176068e-01 1.12901768e-03 9.92507800e-01 7.20082957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:184.55, Z:72.01 [[-3.87022464e-01 9.20876169e-01 4.69115507e-02 2.18947626e+02] [-9.13939807e-01 -3.89854409e-01 1.12816530e-01 1.84554213e+02] [ 1.22178728e-01 7.88197653e-04 9.92507802e-01 7.20093765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:184.53, Z:72.01 [[-3.87052260e-01 9.20860884e-01 4.69657393e-02 2.18936395e+02] [-9.13927146e-01 -3.89890618e-01 1.12793967e-01 1.84529039e+02] [ 1.22179053e-01 7.33895607e-04 9.92507804e-01 7.20142932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:184.53, Z:72.02 [[-3.85024968e-01 9.21691232e-01 4.73396947e-02 2.18936003e+02] [-9.14782860e-01 -3.87924308e-01 1.12636809e-01 1.84529098e+02] [ 1.22180578e-01 6.24425164e-05 9.92507885e-01 7.20152079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.52, Z:72.02 [[-3.83573640e-01 9.22293396e-01 4.73936207e-02 2.18933563e+02] [-9.15392377e-01 -3.86490436e-01 1.12614115e-01 1.84524055e+02] [ 1.22180435e-01 -1.87953217e-04 9.92507887e-01 7.20152076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:184.52, Z:72.01 [[-3.78999949e-01 9.24179514e-01 4.74474984e-02 2.18940752e+02] [-9.17295848e-01 -3.81957461e-01 1.12591410e-01 1.84523500e+02] [ 1.22177601e-01 -8.51254544e-04 9.92507889e-01 7.20071170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.51, Z:72.02 [[-3.88025993e-01 9.20423522e-01 4.75012477e-02 2.18931739e+02] [-9.13513997e-01 -3.90922573e-01 1.12568729e-01 1.84513759e+02] [ 1.22180216e-01 2.86538388e-04 9.92507890e-01 7.20162026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.51, Z:72.02 [[-3.92920212e-01 9.18342392e-01 4.75495246e-02 2.18931331e+02] [-9.11419994e-01 -3.95785886e-01 1.12548334e-01 1.84506804e+02] [ 1.22177337e-01 8.84927679e-04 9.92507892e-01 7.20184682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.50, Z:72.02 [[-3.95711233e-01 9.17140691e-01 4.75980385e-02 2.18929517e+02] [-9.10212057e-01 -3.98561793e-01 1.12527813e-01 1.84497395e+02] [ 1.22174596e-01 1.20421107e-03 9.92507893e-01 7.20198479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:184.49, Z:72.01 [[-3.93354894e-01 9.18150670e-01 4.76578825e-02 2.18937289e+02] [-9.11232425e-01 -3.96230569e-01 1.12502462e-01 1.84493486e+02] [ 1.22177721e-01 8.25986226e-04 9.92507895e-01 7.20138785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.49, Z:72.02 [[-3.97932340e-01 9.16173242e-01 4.77121001e-02 2.18931873e+02] [-9.09243463e-01 -4.00780107e-01 1.12479464e-01 1.84492952e+02] [ 1.22172736e-01 1.37730119e-03 9.92507897e-01 7.20197128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.49, Z:72.02 [[-3.97064073e-01 9.16546474e-01 4.77774308e-02 2.18930808e+02] [-9.09622708e-01 -3.99926421e-01 1.12451707e-01 1.84488987e+02] [ 1.22174673e-01 1.19109702e-03 9.92507900e-01 7.20196059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.48, Z:72.02 [[-3.96021058e-01 9.16994806e-01 4.78314438e-02 2.18929500e+02] [-9.10077054e-01 -3.98897904e-01 1.12428728e-01 1.84483189e+02] [ 1.22176423e-01 9.93844520e-04 9.92507901e-01 7.20182792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.48, Z:72.02 [[-3.94801668e-01 9.17517351e-01 4.78910558e-02 2.18928596e+02] [-9.10606485e-01 -3.97695011e-01 1.12403330e-01 1.84480858e+02] [ 1.22178040e-01 7.67116274e-04 9.92507903e-01 7.20152726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:184.47, Z:72.02 [[-3.93928103e-01 9.17889501e-01 4.79532431e-02 2.18925346e+02] [-9.10984596e-01 -3.96835637e-01 1.12376794e-01 1.84474405e+02] [ 1.22179035e-01 5.83711456e-04 9.92507906e-01 7.20161178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.47, Z:72.02 [[-3.91800935e-01 9.18796967e-01 4.80016640e-02 2.18924690e+02] [-9.11901329e-01 -3.94730378e-01 1.12356107e-01 1.84474883e+02] [ 1.22180166e-01 2.48446806e-04 9.92507907e-01 7.20172564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.48, Z:72.02 [[-3.90275045e-01 9.19443335e-01 4.80556138e-02 2.18924910e+02] [-9.12555389e-01 -3.93222523e-01 1.12333028e-01 1.84475063e+02] [ 1.22180404e-01 -1.26316742e-05 9.92507909e-01 7.20177285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.47, Z:72.02 [[-3.89984736e-01 9.19563696e-01 4.81093941e-02 2.18923785e+02] [-9.12679500e-01 -3.92940958e-01 1.12309991e-01 1.84473189e+02] [ 1.22180342e-01 -1.09275548e-04 9.92507910e-01 7.20181360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.47, Z:72.02 [[-3.89486764e-01 9.19772205e-01 4.81575599e-02 2.18921185e+02] [-9.12892144e-01 -3.92452594e-01 1.12289334e-01 1.84465251e+02] [ 1.22180168e-01 -2.27448669e-04 9.92507912e-01 7.20174753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.46, Z:72.02 [[-3.89419126e-01 9.19798030e-01 4.82112821e-02 2.18920317e+02] [-9.12921020e-01 -3.92392019e-01 1.12266264e-01 1.84463998e+02] [ 1.22180011e-01 -2.94462367e-04 9.92507913e-01 7.20179140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.46, Z:72.02 [[-3.89463036e-01 9.19776771e-01 4.82621431e-02 2.18917630e+02] [-9.12902307e-01 -3.92441809e-01 1.12244395e-01 1.84458548e+02] [ 1.22179870e-01 -3.43578690e-04 9.92507915e-01 7.20196576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.46, Z:72.02 [[-3.89369351e-01 9.19813903e-01 4.83103678e-02 2.18917660e+02] [-9.12942298e-01 -3.92354708e-01 1.12223636e-01 1.84457934e+02] [ 1.22179661e-01 -4.08133961e-04 9.92507916e-01 7.20205193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:184.46, Z:72.02 [[-3.89151545e-01 9.19902959e-01 4.83696312e-02 2.18917589e+02] [-9.13035210e-01 -3.92145757e-01 1.12198087e-01 1.84456194e+02] [ 1.22179298e-01 -5.01117455e-04 9.92507918e-01 7.20208124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:184.45, Z:72.02 [[-3.88108793e-01 9.20340567e-01 4.84231924e-02 2.18914783e+02] [-9.13479076e-01 -3.91117315e-01 1.12174966e-01 1.84449889e+02] [ 1.22178321e-01 -6.97482374e-04 9.92507920e-01 7.20228307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.42, Z:72.03 [[-3.90055128e-01 9.19511372e-01 4.85369418e-02 2.18904254e+02] [-9.12649604e-01 -3.93063000e-01 1.12125727e-01 1.84423936e+02] [ 1.22178957e-01 -5.62005732e-04 9.92507928e-01 7.20266188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:184.42, Z:72.03 [[-3.90937865e-01 9.19117543e-01 4.88930219e-02 2.18905533e+02] [-9.12272114e-01 -3.93982553e-01 1.11970251e-01 1.84421671e+02] [ 1.22176820e-01 -8.30329448e-04 9.92508003e-01 7.20263426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.41, Z:72.02 [[-3.92793039e-01 9.18323697e-01 4.89409383e-02 2.18904844e+02] [-9.11474723e-01 -3.95829740e-01 1.11949304e-01 1.84414793e+02] [ 1.22177977e-01 -6.35520913e-04 9.92508004e-01 7.20247011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.40, Z:72.02 [[-3.94246947e-01 9.17697609e-01 4.89943209e-02 2.18901568e+02] [-9.10846714e-01 -3.97279308e-01 1.11925936e-01 1.84404560e+02] [ 1.22178594e-01 -4.99857506e-04 9.92508006e-01 7.20248678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.41, Z:72.02 [[-3.95123482e-01 9.17317688e-01 4.90478689e-02 2.18904074e+02] [-9.10466789e-01 -3.98155830e-01 1.11902466e-01 1.84407579e+02] [ 1.22178806e-01 -4.41163719e-04 9.92508007e-01 7.20239203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.40, Z:72.03 [[-3.95466977e-01 9.17166792e-01 4.91013857e-02 2.18902355e+02] [-9.10317650e-01 -3.98503287e-01 1.11878979e-01 1.84401661e+02] [ 1.22178748e-01 -4.53416575e-04 9.92508009e-01 7.20256413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.40, Z:72.03 [[-3.95755411e-01 9.17039803e-01 4.91493138e-02 2.18900400e+02] [-9.10192300e-01 -3.98795414e-01 1.11857920e-01 1.84395967e+02] [ 1.22178686e-01 -4.66949929e-04 9.92508010e-01 7.20263146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.39, Z:72.03 [[-3.96346899e-01 9.16780850e-01 4.92139013e-02 2.18898054e+02] [-9.09934888e-01 -3.99390364e-01 1.11829497e-01 1.84392775e+02] [ 1.22178699e-01 -4.58171608e-04 9.92508013e-01 7.20266155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:184.39, Z:72.03 [[-3.97487220e-01 9.16283250e-01 4.92840381e-02 2.18896905e+02] [-9.09437308e-01 -4.00530723e-01 1.11798579e-01 1.84389909e+02] [ 1.22178936e-01 -3.82236762e-04 9.92508016e-01 7.20261039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:184.38, Z:72.03 [[-3.98558313e-01 9.15815283e-01 4.93319148e-02 2.18893659e+02] [-9.08968382e-01 -4.01599654e-01 1.11777449e-01 1.84383005e+02] [ 1.22179176e-01 -2.91319280e-04 9.92508017e-01 7.20270383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:184.38, Z:72.03 [[-3.99144421e-01 9.15557405e-01 4.93798519e-02 2.18892806e+02] [-9.08711158e-01 -4.02187230e-01 1.11756268e-01 1.84382762e+02] [ 1.22179224e-01 -2.65131655e-04 9.92508019e-01 7.20269505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:184.38, Z:72.03 [[-4.00025008e-01 9.15170413e-01 4.94278140e-02 2.18889932e+02] [-9.08323842e-01 -4.03067086e-01 1.11735051e-01 1.84379311e+02] [ 1.22179338e-01 -1.99647099e-04 9.92508020e-01 7.20251569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:184.37, Z:72.03 [[-4.01083408e-01 9.14704165e-01 4.94812107e-02 2.18883584e+02] [-9.07856975e-01 -4.04124086e-01 1.11711400e-01 1.84366587e+02] [ 1.22179432e-01 -1.16273186e-04 9.92508022e-01 7.20260076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:184.37, Z:72.03 [[-3.99981722e-01 9.15182947e-01 4.95458975e-02 2.18884789e+02] [-9.08342948e-01 -4.03038538e-01 1.11682703e-01 1.84373230e+02] [ 1.22179012e-01 -3.33626513e-04 9.92508024e-01 7.20285156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:184.17, Z:72.05 [[-3.96985356e-01 9.16484080e-01 4.95939317e-02 2.18795988e+02] [-9.09656762e-01 -4.00070386e-01 1.11661369e-01 1.84170166e+02] [ 1.22176931e-01 -7.85526908e-04 9.92508025e-01 7.20539013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:184.35, Z:72.03 [[-3.99210143e-01 9.15514996e-01 4.96341957e-02 2.18876058e+02] [-9.08682413e-01 -4.02283492e-01 1.11643469e-01 1.84354241e+02] [ 1.22178288e-01 -5.32515575e-04 9.92508026e-01 7.20331642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.34, Z:72.03 [[-4.00960551e-01 9.14744557e-01 4.97295898e-02 2.18872510e+02] [-9.07911335e-01 -4.04032466e-01 1.11600962e-01 1.84344560e+02] [ 1.22178741e-01 -4.02475032e-04 9.92508032e-01 7.20338799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.33, Z:72.03 [[-3.99676187e-01 9.15289473e-01 5.00412549e-02 2.18868024e+02] [-9.08477896e-01 -4.02795665e-01 1.11461045e-01 1.84334209e+02] [ 1.22175522e-01 -9.13048353e-04 9.92508090e-01 7.20348118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.33, Z:72.04 [[-3.99141236e-01 9.15520266e-01 5.00890901e-02 2.18870222e+02] [-9.08713188e-01 -4.02270517e-01 1.11439545e-01 1.84334196e+02] [ 1.22174526e-01 -1.03649900e-03 9.92508091e-01 7.20353254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.33, Z:72.04 [[-3.99481067e-01 9.15368200e-01 5.01590972e-02 2.18870404e+02] [-9.08563885e-01 -4.02616342e-01 1.11408026e-01 1.84331406e+02] [ 1.22174237e-01 -1.06734696e-03 9.92508094e-01 7.20361587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.32, Z:72.04 [[-3.99560170e-01 9.15331060e-01 5.02067895e-02 2.18865714e+02] [-9.08529152e-01 -4.02700661e-01 1.11386529e-01 1.84321668e+02] [ 1.22173857e-01 -1.10871129e-03 9.92508095e-01 7.20376825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.32, Z:72.04 [[-4.00513207e-01 9.14911825e-01 5.02545927e-02 2.18867277e+02] [-9.08109334e-01 -4.03652430e-01 1.11364958e-01 1.84322338e+02] [ 1.22174505e-01 -1.03352830e-03 9.92508097e-01 7.20375699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:184.32, Z:72.04 [[-4.03739787e-01 9.13489627e-01 5.03079089e-02 2.18865337e+02] [-9.06679075e-01 -4.06861482e-01 1.11340868e-01 1.84315244e+02] [ 1.22177078e-01 -6.60390049e-04 9.92508098e-01 7.20393618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.31, Z:72.04 [[-4.05908589e-01 9.12524749e-01 5.03666671e-02 2.18864839e+02] [-9.05710073e-01 -4.09021265e-01 1.11314282e-01 1.84312340e+02] [ 1.22178075e-01 -4.34174783e-04 9.92508101e-01 7.20389307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.31, Z:72.04 [[-4.07267328e-01 9.11916501e-01 5.04144748e-02 2.18864883e+02] [-9.05099856e-01 -4.10375685e-01 1.11292625e-01 1.84310535e+02] [ 1.22178456e-01 -3.04283744e-04 9.92508102e-01 7.20385451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.30, Z:72.04 [[-4.09081369e-01 9.11101529e-01 5.04622376e-02 2.18861767e+02] [-9.04281362e-01 -4.12181988e-01 1.11270965e-01 1.84300560e+02] [ 1.22178772e-01 -1.13182336e-04 9.92508103e-01 7.20375156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.30, Z:72.04 [[-4.09272629e-01 9.11012675e-01 5.05155487e-02 2.18860147e+02] [-9.04194821e-01 -4.12378327e-01 1.11246757e-01 1.84298204e+02] [ 1.22178723e-01 -1.45644653e-04 9.92508105e-01 7.20374050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.30, Z:72.04 [[-4.08405108e-01 9.11399255e-01 5.05634821e-02 2.18861728e+02] [-9.04587037e-01 -4.11523145e-01 1.11224967e-01 1.84300999e+02] [ 1.22178395e-01 -3.14225947e-04 9.92508106e-01 7.20362741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.29, Z:72.04 [[-4.06450095e-01 9.12270145e-01 5.06112853e-02 2.18859138e+02] [-9.05467315e-01 -4.09588558e-01 1.11203210e-01 1.84294508e+02] [ 1.22177172e-01 -6.28309198e-04 9.92508108e-01 7.20355047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.29, Z:72.04 [[-4.05163368e-01 9.12839393e-01 5.06644672e-02 2.18855320e+02] [-9.06044000e-01 -4.08317898e-01 1.11178976e-01 1.84287776e+02] [ 1.22175757e-01 -8.58588426e-04 9.92508109e-01 7.20364982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.29, Z:72.04 [[-4.04972525e-01 9.12921418e-01 5.07123203e-02 2.18857188e+02] [-9.06129395e-01 -4.08134302e-01 1.11157144e-01 1.84292357e+02] [ 1.22175175e-01 -9.36334872e-04 9.92508111e-01 7.20357938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.29, Z:72.04 [[-4.05046762e-01 9.12885827e-01 5.07600944e-02 2.18856538e+02] [-9.06096259e-01 -4.08213803e-01 1.11135324e-01 1.84291915e+02] [ 1.22174833e-01 -9.78528510e-04 9.92508112e-01 7.20363484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.29, Z:72.03 [[-4.03090404e-01 9.13748710e-01 5.08076867e-02 2.18854279e+02] [-9.06968661e-01 -4.06277769e-01 1.11113562e-01 1.84289983e+02] [ 1.22171908e-01 -1.29216891e-03 9.92508113e-01 7.20348691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.29, Z:72.03 [[-4.01556914e-01 9.14421015e-01 5.08552175e-02 2.18851362e+02] [-9.07649053e-01 -4.04761422e-01 1.11091804e-01 1.84285372e+02] [ 1.22168910e-01 -1.54900820e-03 9.92508115e-01 7.20313837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.29, Z:72.03 [[-4.02058684e-01 9.14197858e-01 5.09027576e-02 2.18851765e+02] [-9.07426872e-01 -4.05265251e-01 1.11070017e-01 1.84287106e+02] [ 1.22169090e-01 -1.53386541e-03 9.92508116e-01 7.20307051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.28, Z:72.03 [[-4.01511694e-01 9.14435583e-01 5.09502195e-02 2.18850044e+02] [-9.07669254e-01 -4.04728074e-01 1.11048241e-01 1.84275655e+02] [ 1.22167447e-01 -1.65878048e-03 9.92508118e-01 7.20334362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.28, Z:72.04 [[-4.07427020e-01 9.11812730e-01 5.09977409e-02 2.18848283e+02] [-9.05028417e-01 -4.10605286e-01 1.11026413e-01 1.84276341e+02] [ 1.22175239e-01 -9.19244201e-04 9.92508119e-01 7.20358084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.27, Z:72.04 [[-4.10839646e-01 9.10277518e-01 5.10453387e-02 2.18846713e+02] [-9.03484044e-01 -4.13998282e-01 1.11004525e-01 1.84270298e+02] [ 1.22177606e-01 -5.13589257e-04 9.92508120e-01 7.20383714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.26, Z:72.04 [[-4.14200127e-01 9.08750357e-01 5.10983661e-02 2.18844791e+02] [-9.01948248e-01 -4.17340117e-01 1.10980110e-01 1.84261264e+02] [ 1.22178613e-01 -1.20106100e-04 9.92508122e-01 7.20380626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.25, Z:72.04 [[-4.16813078e-01 9.07552168e-01 5.11460809e-02 2.18840252e+02] [-9.00743729e-01 -4.19939318e-01 1.10958116e-01 1.84249112e+02] [ 1.22178529e-01 1.79282273e-04 9.92508123e-01 7.20385454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.26, Z:72.04 [[-4.18892123e-01 9.06591727e-01 5.11940468e-02 2.18845201e+02] [-8.99778824e-01 -4.22008620e-01 1.10935981e-01 1.84255882e+02] [ 1.22177972e-01 4.06889490e-04 9.92508125e-01 7.20361297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.25, Z:72.04 [[-4.21015296e-01 9.05604359e-01 5.12529508e-02 2.18842135e+02] [-8.98787460e-01 -4.24123035e-01 1.10908761e-01 1.84248381e+02] [ 1.22177015e-01 6.28775460e-04 9.92508127e-01 7.20379504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.24, Z:72.04 [[-4.21476153e-01 9.05387260e-01 5.13007044e-02 2.18836914e+02] [-8.98571447e-01 -4.24586272e-01 1.10886669e-01 1.84237269e+02] [ 1.22176952e-01 6.38738334e-04 9.92508128e-01 7.20395436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.24, Z:72.04 [[-4.23713584e-01 9.04339599e-01 5.13486926e-02 2.18837851e+02] [-8.97518788e-01 -4.26812723e-01 1.10864442e-01 1.84235909e+02] [ 1.22175380e-01 8.88353883e-04 9.92508130e-01 7.20424552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.23, Z:72.04 [[-4.26084931e-01 9.03222011e-01 5.13967931e-02 2.18838563e+02] [-8.96395760e-01 -4.29172065e-01 1.10842138e-01 1.84233900e+02] [ 1.22173127e-01 1.15629744e-03 9.92508131e-01 7.20448956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.23, Z:72.05 [[-4.26666250e-01 9.02944816e-01 5.14448324e-02 2.18836522e+02] [-8.96119246e-01 -4.29754885e-01 1.10819838e-01 1.84226019e+02] [ 1.22172866e-01 1.18238022e-03 9.92508132e-01 7.20456501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.23, Z:72.04 [[-4.26150606e-01 9.03185552e-01 5.14929136e-02 2.18842825e+02] [-8.96364424e-01 -4.29249037e-01 1.10797492e-01 1.84232468e+02] [ 1.22173978e-01 1.06000272e-03 9.92508134e-01 7.20422159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.23, Z:72.04 [[-4.22990682e-01 9.04667023e-01 5.15408631e-02 2.18843802e+02] [-8.97859465e-01 -4.26118811e-01 1.10775183e-01 1.84228536e+02] [ 1.22177186e-01 5.80418432e-04 9.92508135e-01 7.20406890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.23, Z:72.04 [[-4.19095117e-01 9.06475537e-01 5.15885931e-02 2.18845730e+02] [-8.99684213e-01 -4.22258334e-01 1.10752951e-01 1.84229600e+02] [ 1.22178554e-01 2.57802015e-06 9.92508137e-01 7.20394793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.23, Z:72.04 [[-4.13078622e-01 9.09229999e-01 5.16416556e-02 2.18847889e+02] [-9.02462855e-01 -4.16293238e-01 1.10728203e-01 1.84229662e+02] [ 1.22175476e-01 -8.65222367e-04 9.92508138e-01 7.20402003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.23, Z:72.04 [[-4.07315538e-01 9.11823607e-01 5.16890902e-02 2.18850683e+02] [-9.05079730e-01 -4.10578679e-01 1.10706056e-01 1.84228225e+02] [ 1.22166834e-01 -1.69045097e-03 9.92508140e-01 7.20365389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.22, Z:72.04 [[-4.06399380e-01 9.12229626e-01 5.17363797e-02 2.18848476e+02] [-9.05491818e-01 -4.09675031e-01 1.10683952e-01 1.84220783e+02] [ 1.22164283e-01 -1.86497906e-03 9.92508141e-01 7.20428166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.22, Z:72.04 [[-4.06718486e-01 9.12085008e-01 5.17784891e-02 2.18852873e+02] [-9.05348539e-01 -4.09996887e-01 1.10664250e-01 1.84221827e+02] [ 1.22164222e-01 -1.86838335e-03 9.92508142e-01 7.20438465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.21, Z:72.05 [[-4.09369772e-01 9.10895425e-01 5.18258108e-02 2.18852821e+02] [-9.04152229e-01 -4.12634313e-01 1.10642084e-01 1.84214289e+02] [ 1.22168476e-01 -1.56489770e-03 9.92508143e-01 7.20450979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.21, Z:72.05 [[-4.15950644e-01 9.07905900e-01 5.18839054e-02 2.18854132e+02] [-9.01142627e-01 -4.19173381e-01 1.10614835e-01 1.84205868e+02] [ 1.22176213e-01 -7.44487007e-04 9.92508145e-01 7.20461696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.20, Z:72.05 [[-4.20410520e-01 9.05846643e-01 5.19312411e-02 2.18856501e+02] [-8.99070328e-01 -4.23605737e-01 1.10592608e-01 1.84201032e+02] [ 1.22178314e-01 -1.95542303e-04 9.92508147e-01 7.20452410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.19, Z:72.05 [[-4.24800493e-01 9.03793839e-01 5.19734262e-02 2.18856411e+02] [-8.97004508e-01 -4.27967958e-01 1.10572779e-01 1.84192862e+02] [ 1.22177958e-01 3.50973494e-04 9.92508148e-01 7.20454763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.19, Z:72.05 [[-4.27238226e-01 9.02641605e-01 5.20156941e-02 2.18857321e+02] [-8.95846151e-01 -4.30392532e-01 1.10552892e-01 1.84188741e+02] [ 1.22176806e-01 6.34362096e-04 9.92508149e-01 7.20462291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.18, Z:72.05 [[-4.31911811e-01 9.00412210e-01 5.20580450e-02 2.18858985e+02] [-8.93602880e-01 -4.35036046e-01 1.10532946e-01 1.84183676e+02] [ 1.22172340e-01 1.22126601e-03 9.92508150e-01 7.20489212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.18, Z:72.05 [[-4.36764753e-01 8.98065761e-01 5.21002893e-02 2.18859297e+02] [-8.91242024e-01 -4.39857392e-01 1.10513031e-01 1.84176876e+02] [ 1.22164666e-01 1.83422916e-03 9.92508151e-01 7.20508892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.17, Z:72.05 [[-4.39906929e-01 8.96528318e-01 5.21427651e-02 2.18858855e+02] [-8.89696147e-01 -4.42980887e-01 1.10492986e-01 1.84169829e+02] [ 1.22158339e-01 2.21541287e-03 9.92508152e-01 7.20512007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.17, Z:72.05 [[-4.42375303e-01 8.95310438e-01 5.21853532e-02 2.18859080e+02] [-8.88472173e-01 -4.45435678e-01 1.10472868e-01 1.84167630e+02] [ 1.22152730e-01 2.50523433e-03 9.92508153e-01 7.20497697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:184.16, Z:72.05 [[-4.42058581e-01 8.95464069e-01 5.22332494e-02 2.18856815e+02] [-8.88629537e-01 -4.45127281e-01 1.10450218e-01 1.84164368e+02] [ 1.22154646e-01 2.40945830e-03 9.92508155e-01 7.20486756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.16, Z:72.05 [[-4.38990514e-01 8.96969665e-01 5.22757068e-02 2.18853858e+02] [-8.90148049e-01 -4.42087818e-01 1.10430119e-01 1.84163057e+02] [ 1.22162920e-01 1.94465632e-03 9.92508156e-01 7.20489183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.17, Z:72.05 [[-4.33606579e-01 8.99581889e-01 5.23236016e-02 2.18853469e+02] [-8.92781676e-01 -4.36750592e-01 1.10407421e-01 1.84170733e+02] [ 1.22172881e-01 1.15983162e-03 9.92508157e-01 7.20483792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.17, Z:72.05 [[-4.30598850e-01 9.01022989e-01 5.23660509e-02 2.18849257e+02] [-8.94235747e-01 -4.33770764e-01 1.10387284e-01 1.84168123e+02] [ 1.22176343e-01 7.05043013e-04 9.92508158e-01 7.20504284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:184.17, Z:72.05 [[-4.27513692e-01 9.02487514e-01 5.24245178e-02 2.18846868e+02] [-8.95714542e-01 -4.30715959e-01 1.10359511e-01 1.84170450e+02] [ 1.22178157e-01 2.22799002e-04 9.92508160e-01 7.20510840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.17, Z:72.05 [[-4.27660653e-01 9.02415125e-01 5.24719655e-02 2.18843415e+02] [-8.95644379e-01 -4.30867619e-01 1.10336947e-01 1.84165944e+02] [ 1.22178200e-01 1.90549811e-04 9.92508162e-01 7.20511073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.17, Z:72.05 [[-4.28960600e-01 9.01795469e-01 5.25141570e-02 2.18841073e+02] [-8.95022547e-01 -4.32162967e-01 1.10316862e-01 1.84166372e+02] [ 1.22177921e-01 3.20232936e-04 9.92508163e-01 7.20519851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:184.16, Z:72.05 [[-4.32426989e-01 9.00135950e-01 5.25563548e-02 2.18835536e+02] [-8.93353182e-01 -4.35608445e-01 1.10296755e-01 1.84157414e+02] [ 1.22176067e-01 7.43906993e-04 9.92508164e-01 7.20533869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:184.16, Z:72.05 [[-4.34272918e-01 8.99242745e-01 5.26262015e-02 2.18834890e+02] [-8.92457470e-01 -4.37449017e-01 1.10263420e-01 1.84156642e+02] [ 1.22174860e-01 9.17770383e-04 9.92508167e-01 7.20528767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:184.15, Z:72.05 [[-4.34440253e-01 8.99159134e-01 5.26736938e-02 2.18831507e+02] [-8.92375997e-01 -4.37620912e-01 1.10240728e-01 1.84153113e+02] [ 1.22175067e-01 8.88269625e-04 9.92508168e-01 7.20535614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:184.16, Z:72.05 [[-4.32582946e-01 9.00051679e-01 5.27159390e-02 2.18829032e+02] [-8.93277565e-01 -4.35782776e-01 1.10220523e-01 1.84156399e+02] [ 1.22176865e-01 5.89552830e-04 9.92508169e-01 7.20537444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:184.15, Z:72.05 [[-4.31908301e-01 9.00373143e-01 5.27581485e-02 2.18827242e+02] [-8.93603879e-01 -4.35118373e-01 1.10200315e-01 1.84154631e+02] [ 1.22177444e-01 4.51544785e-04 9.92508170e-01 7.20540483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:184.15, Z:72.05 [[-4.31068145e-01 9.00773215e-01 5.28002878e-02 2.18825421e+02] [-8.94009401e-01 -4.34289686e-01 1.10180122e-01 1.84152693e+02] [ 1.22177923e-01 2.91186910e-04 9.92508171e-01 7.20539308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:184.15, Z:72.06 [[-4.31826353e-01 9.00407202e-01 5.28476246e-02 2.18819747e+02] [-8.93643436e-01 -4.35047990e-01 1.10157412e-01 1.84147774e+02] [ 1.22177780e-01 3.41940569e-04 9.92508173e-01 7.20553012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:184.14, Z:72.06 [[-4.33739519e-01 8.99483093e-01 5.29168661e-02 2.18818560e+02] [-8.92716520e-01 -4.36955249e-01 1.10124141e-01 1.84144760e+02] [ 1.22177105e-01 5.25431239e-04 9.92508176e-01 7.20550083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:184.14, Z:72.05 [[-4.37431124e-01 8.97690500e-01 5.29695876e-02 2.18815458e+02] [-8.90913819e-01 -4.40625494e-01 1.10098776e-01 1.84137434e+02] [ 1.22174376e-01 9.69293764e-04 9.92508177e-01 7.20544964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:184.14, Z:72.05 [[-4.39534787e-01 8.96659872e-01 5.30117365e-02 2.18813709e+02] [-8.89878148e-01 -4.42718433e-01 1.10078478e-01 1.84136445e+02] [ 1.22172227e-01 1.20933445e-03 9.92508179e-01 7.20534885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:184.14, Z:72.05 [[-4.40250040e-01 8.96306101e-01 5.30591660e-02 2.18811195e+02] [-8.89524571e-01 -4.43434098e-01 1.10055612e-01 1.84135059e+02] [ 1.22171760e-01 1.25455569e-03 9.92508180e-01 7.20545661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:184.12, Z:72.05 [[-4.38303347e-01 8.97257168e-01 5.31013262e-02 2.18814166e+02] [-8.90485011e-01 -4.41507288e-01 1.10035266e-01 1.84124384e+02] [ 1.22174554e-01 9.42890298e-04 9.92508181e-01 7.20455615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:184.13, Z:72.06 [[-4.44777268e-01 8.94063174e-01 5.31434080e-02 2.18806258e+02] [-8.87270444e-01 -4.47937354e-01 1.10014938e-01 1.84125656e+02] [ 1.22165223e-01 1.77956855e-03 9.92508182e-01 7.20572348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:184.12, Z:72.06 [[-4.47455022e-01 8.92722231e-01 5.32073448e-02 2.18802629e+02] [-8.85923703e-01 -4.50602609e-01 1.09984008e-01 1.84118046e+02] [ 1.22160537e-01 2.07524862e-03 9.92508185e-01 7.20583958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:184.12, Z:72.06 [[-4.47947477e-01 8.92472706e-01 5.32496592e-02 2.18802071e+02] [-8.85674855e-01 -4.51096526e-01 1.09963517e-01 1.84117360e+02] [ 1.22160174e-01 2.09599590e-03 9.92508186e-01 7.20585027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:184.12, Z:72.06 [[-4.47995762e-01 8.92445940e-01 5.32920430e-02 2.18801365e+02] [-8.85650340e-01 -4.51149663e-01 1.09942973e-01 1.84115879e+02] [ 1.22160847e-01 2.05586990e-03 9.92508187e-01 7.20598493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:183.64, Z:72.85 [[-3.47168910e-01 9.36284781e-01 5.33343907e-02 2.19469321e+02] [-9.29880080e-01 -3.51055690e-01 1.09922426e-01 1.83637918e+02] [ 1.21642036e-01 -1.14329387e-02 9.92508188e-01 7.28496182e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.87, Z:72.81 [[-3.40885730e-01 9.39224471e-01 4.06732386e-02 2.19565459e+02] [-9.32227768e-01 -3.43301908e-01 1.14434210e-01 1.83867954e+02] [ 1.21442611e-01 1.09226677e-03 9.92597854e-01 7.28059249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.88, Z:72.80 [[-3.38703783e-01 9.40008186e-01 4.07965372e-02 2.19569745e+02] [-9.33022361e-01 -3.41151208e-01 1.14390237e-01 1.83883267e+02] [ 1.21445548e-01 6.80324642e-04 9.92597862e-01 7.28044964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.87, Z:72.81 [[-3.40810239e-01 9.39244139e-01 4.08512993e-02 2.19558700e+02] [-9.32255170e-01 -3.43248666e-01 1.14370678e-01 1.83869614e+02] [ 1.21444143e-01 8.94863002e-04 9.92597864e-01 7.28139486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.87, Z:72.81 [[-3.36165378e-01 9.40914450e-01 4.09003286e-02 2.19560629e+02] [-9.33939730e-01 -3.38644266e-01 1.14353142e-01 1.83871080e+02] [ 1.21447185e-01 2.43125196e-04 9.92597865e-01 7.28121260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.87, Z:72.81 [[-3.31018858e-01 9.42735198e-01 4.09495087e-02 2.19561129e+02] [-9.35776289e-01 -3.33541787e-01 1.14335528e-01 1.83868342e+02] [ 1.21446499e-01 -4.72363498e-04 9.92597867e-01 7.28107551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.87, Z:72.81 [[-3.28460199e-01 9.43627583e-01 4.09985750e-02 2.19563054e+02] [-9.36677721e-01 -3.31007941e-01 1.14317931e-01 1.83870527e+02] [ 1.21444407e-01 -8.53561399e-04 9.92597868e-01 7.28106543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.87, Z:72.81 [[-3.26055430e-01 9.44459083e-01 4.10475105e-02 2.19566143e+02] [-9.37517926e-01 -3.28626789e-01 1.14300358e-01 1.83867208e+02] [ 1.21441322e-01 -1.21452478e-03 9.92597869e-01 7.28103194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.86, Z:72.81 [[-3.26338768e-01 9.44359096e-01 4.10963143e-02 2.19568142e+02] [-9.37419358e-01 -3.28913950e-01 1.14282808e-01 1.83862499e+02] [ 1.21441160e-01 -1.22956988e-03 9.92597871e-01 7.28108668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.85, Z:72.81 [[-3.28240541e-01 9.43697278e-01 4.11533017e-02 2.19566708e+02] [-9.36754918e-01 -3.30808638e-01 1.14262283e-01 1.83851088e+02] [ 1.21442873e-01 -1.04504411e-03 9.92597872e-01 7.28105040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.85, Z:72.81 [[-3.31740923e-01 9.42466877e-01 4.12812887e-02 2.19568878e+02] [-9.35520736e-01 -3.34298748e-01 1.14216026e-01 1.83845657e+02] [ 1.21445104e-01 -7.29371759e-04 9.92597882e-01 7.28124931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.84, Z:72.81 [[-3.35385686e-01 9.41173634e-01 4.13355933e-02 2.19569957e+02] [-9.34220049e-01 -3.37923201e-01 1.14196369e-01 1.83841883e+02] [ 1.21446868e-01 -3.16712313e-04 9.92597883e-01 7.28133548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.84, Z:72.82 [[-3.40309396e-01 9.39402391e-01 4.13843354e-02 2.19571309e+02] [-9.32437744e-01 -3.42816389e-01 1.14178703e-01 1.83836789e+02] [ 1.21446975e-01 2.67769042e-04 9.92597885e-01 7.28150824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.83, Z:72.82 [[-3.45931534e-01 9.37345435e-01 4.14114624e-02 2.19570747e+02] [-9.30367062e-01 -3.48400058e-01 1.14168863e-01 1.83825219e+02] [ 1.21443419e-01 9.66749444e-04 9.92597885e-01 7.28202463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.82, Z:72.83 [[-3.49887735e-01 9.35873953e-01 4.14550095e-02 2.19571731e+02] [-9.28887072e-01 -3.52332072e-01 1.14153049e-01 1.83823786e+02] [ 1.21438795e-01 1.43372943e-03 9.92597886e-01 7.28263060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.81, Z:72.84 [[-3.56173719e-01 9.33497559e-01 4.15040860e-02 2.19570130e+02] [-9.26496456e-01 -3.58577012e-01 1.14135203e-01 1.83813103e+02] [ 1.21427345e-01 2.19857118e-03 9.92597887e-01 7.28436458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.80, Z:72.85 [[-3.63783603e-01 9.30555556e-01 4.15673821e-02 2.19568435e+02] [-9.23537663e-01 -3.66137411e-01 1.14112147e-01 1.83802435e+02] [ 1.21407066e-01 3.12308503e-03 9.92597890e-01 7.28548045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.80, Z:72.86 [[-3.69104753e-01 9.28455807e-01 4.16112450e-02 2.19567710e+02] [-9.21426329e-01 -3.71423732e-01 1.14096150e-01 1.83797630e+02] [ 1.21388637e-01 3.77173455e-03 9.92597891e-01 7.28597579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:183.79, Z:72.86 [[-3.73650060e-01 9.26633946e-01 4.16552917e-02 2.19566649e+02] [-9.19594949e-01 -3.75939980e-01 1.14080067e-01 1.83792797e+02] [ 1.21370352e-01 4.32002809e-03 9.92597892e-01 7.28630843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:183.58, Z:72.89 [[-3.75501623e-01 9.25883187e-01 4.16995838e-02 2.19486085e+02] [-9.18841391e-01 -3.77782916e-01 1.14063875e-01 1.83581348e+02] [ 1.21363214e-01 4.51586658e-03 9.92597893e-01 7.28901665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:183.51, Z:72.90 [[-3.72614229e-01 9.27046795e-01 4.17477609e-02 2.19461505e+02] [-9.20014086e-01 -3.74923376e-01 1.14046239e-01 1.83511865e+02] [ 1.21378412e-01 4.08672336e-03 9.92597894e-01 7.28952929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.78, Z:72.86 [[-3.71921606e-01 9.27322424e-01 4.18024045e-02 2.19560681e+02] [-9.20293655e-01 -3.74242718e-01 1.14026207e-01 1.83783218e+02] [ 1.21383304e-01 3.93832245e-03 9.92597896e-01 7.28635526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.78, Z:72.86 [[-3.70423499e-01 9.27916182e-01 4.19284004e-02 2.19560525e+02] [-9.20896334e-01 -3.72771423e-01 1.13979859e-01 1.83783834e+02] [ 1.21393465e-01 3.60910818e-03 9.92597905e-01 7.28611432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:183.78, Z:72.86 [[-3.67773741e-01 9.28967586e-01 4.19726091e-02 2.19559302e+02] [-9.21956301e-01 -3.70147109e-01 1.13963578e-01 1.83783165e+02] [ 1.21404509e-01 3.21589977e-03 9.92597906e-01 7.28579082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.18, Y:183.30, Z:73.60 [[-2.46384110e-01 9.68260816e-01 4.20221798e-02 2.20184175e+02] [-9.61611991e-01 -2.49637433e-01 1.13945296e-01 1.83298109e+02] [ 1.20819075e-01 -1.23347215e-02 9.92597907e-01 7.35989038e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:183.62, Z:73.55 [[-2.46270173e-01 9.68821112e-01 2.71413703e-02 2.20264768e+02] [-9.61685755e-01 -2.47745338e-01 1.17399981e-01 1.83620858e+02] [ 1.20463728e-01 2.81064446e-03 9.92713751e-01 7.35543899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:183.62, Z:73.56 [[-2.44933430e-01 9.69149389e-01 2.75150311e-02 2.20264585e+02] [-9.62025714e-01 -2.46463666e-01 1.17312350e-01 1.83622656e+02] [ 1.20474647e-01 2.26354879e-03 9.92713824e-01 7.35579534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:183.62, Z:73.56 [[-2.44366025e-01 9.69291170e-01 2.75657945e-02 2.20265238e+02] [-9.62169720e-01 -2.45906572e-01 1.17300420e-01 1.83619900e+02] [ 1.20476872e-01 2.14126467e-03 9.92713825e-01 7.35642837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:183.62, Z:73.57 [[-2.44343603e-01 9.69295380e-01 2.76164785e-02 2.20266235e+02] [-9.62175296e-01 -2.45890446e-01 1.17288487e-01 1.83615520e+02] [ 1.20477816e-01 2.08679808e-03 9.92713826e-01 7.35689977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:183.61, Z:73.57 [[-2.43238235e-01 9.69572330e-01 2.76524531e-02 2.20268248e+02] [-9.62454966e-01 -2.44797546e-01 1.17280005e-01 1.83612718e+02] [ 1.20480700e-01 1.91274043e-03 9.92713827e-01 7.35739799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:183.25, Z:74.27 [[-1.39785808e-01 9.89794151e-01 2.77032025e-02 2.20942150e+02] [-9.82882549e-01 -1.42091899e-01 1.17268016e-01 1.83249308e+02] [ 1.20007597e-01 -1.08365900e-02 9.92713828e-01 7.42739589e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:183.51, Z:74.24 [[-1.39955691e-01 9.90040182e-01 1.52592084e-02 2.20985753e+02] [-9.82878940e-01 -1.40775536e-01 1.18874884e-01 1.83512268e+02] [ 1.19839035e-01 1.63926188e-03 9.92791982e-01 7.42379206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:183.51, Z:74.24 [[-1.36483793e-01 9.90521263e-01 1.54855443e-02 2.20991688e+02] [-9.83366223e-01 -1.37355898e-01 1.18845395e-01 1.83513106e+02] [ 1.19845922e-01 9.92509113e-04 9.92792007e-01 7.42359508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:183.51, Z:74.23 [[-1.31460722e-01 9.91199708e-01 1.55311628e-02 2.20996075e+02] [-9.84049880e-01 -1.32374557e-01 1.18839434e-01 1.83513916e+02] [ 1.19849543e-01 3.39278841e-04 9.92792008e-01 7.42327536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:183.51, Z:74.23 [[-1.27449947e-01 9.91722683e-01 1.55766509e-02 2.20998954e+02] [-9.84577332e-01 -1.28398148e-01 1.18833471e-01 1.83514086e+02] [ 1.19849862e-01 -1.91097874e-04 9.92792010e-01 7.42323559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:183.52, Z:74.24 [[-1.21283017e-01 9.92494941e-01 1.56276244e-02 2.21002930e+02] [-9.85356474e-01 -1.22281717e-01 1.18826767e-01 1.83516454e+02] [ 1.19845938e-01 -9.87111997e-04 9.92792011e-01 7.42352335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:183.52, Z:74.24 [[-1.16361552e-01 9.93083255e-01 1.56728244e-02 2.21006755e+02] [-9.85950614e-01 -1.17401035e-01 1.18820806e-01 1.83515268e+02] [ 1.19838958e-01 -1.62645746e-03 9.92792012e-01 7.42384422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:183.52, Z:74.24 [[-1.14791334e-01 9.93265272e-01 1.57177704e-02 2.21009468e+02] [-9.86135079e-01 -1.15847467e-01 1.18814860e-01 1.83515037e+02] [ 1.19835538e-01 -1.86092843e-03 9.92792013e-01 7.42392019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:183.51, Z:74.24 [[-1.15636278e-01 9.93166456e-01 1.57683699e-02 2.21013202e+02] [-9.86036262e-01 -1.16692396e-01 1.18808144e-01 1.83510990e+02] [ 1.19836313e-01 -1.80965297e-03 9.92792014e-01 7.42385717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:183.51, Z:74.24 [[-1.17994302e-01 9.92888353e-01 1.58133564e-02 2.21015443e+02] [-9.85756458e-01 -1.19038869e-01 1.18802157e-01 1.83507075e+02] [ 1.19839682e-01 -1.57014060e-03 9.92792015e-01 7.42399509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:183.50, Z:74.24 [[-1.23487829e-01 9.92219365e-01 1.58583846e-02 2.21018395e+02] [-9.85082560e-01 -1.24498297e-01 1.18796146e-01 1.83498133e+02] [ 1.19846178e-01 -9.51940034e-04 9.92792016e-01 7.42406610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:183.49, Z:74.24 [[-1.28198834e-01 9.91620688e-01 1.59207296e-02 2.21019970e+02] [-9.84480192e-01 -1.29182864e-01 1.18787790e-01 1.83491624e+02] [ 1.19849116e-01 -4.45186728e-04 9.92792018e-01 7.42398006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:183.48, Z:74.24 [[-1.36047176e-01 9.90573718e-01 1.59648231e-02 2.21024041e+02] [-9.83426342e-01 -1.36979919e-01 1.18781864e-01 1.83483281e+02] [ 1.19849053e-01 4.59709485e-04 9.92792019e-01 7.42372148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.48, Z:74.24 [[-1.43440234e-01 9.89529471e-01 1.60101846e-02 2.21028172e+02] [-9.82376002e-01 -1.44325024e-01 1.18775750e-01 1.83476144e+02] [ 1.19842775e-01 1.30920016e-03 9.92792020e-01 7.42387702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.47, Z:74.24 [[-1.48015241e-01 9.88854743e-01 1.60556934e-02 2.21031018e+02] [-9.81697912e-01 -1.48872402e-01 1.18769598e-01 1.83470452e+02] [ 1.19836130e-01 1.81786991e-03 9.92792021e-01 7.42442775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.47, Z:74.25 [[-1.50354953e-01 9.88500980e-01 1.60997348e-02 2.21032448e+02] [-9.81342764e-01 -1.51200465e-01 1.18763627e-01 1.83465015e+02] [ 1.19832249e-01 2.05734130e-03 9.92792022e-01 7.42480352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.46, Z:74.25 [[-1.53435815e-01 9.88026714e-01 1.61450807e-02 2.21035758e+02] [-9.80866526e-01 -1.54264457e-01 1.18757463e-01 1.83457571e+02] [ 1.19826158e-01 2.38547894e-03 9.92792023e-01 7.42508742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.45, Z:74.25 [[-1.55818453e-01 9.87653010e-01 1.61908076e-02 2.21037794e+02] [-9.80491470e-01 -1.56635317e-01 1.18751228e-01 1.83452884e+02] [ 1.19821060e-01 2.62868397e-03 9.92792024e-01 7.42528934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.45, Z:74.25 [[-1.58716429e-01 9.87190501e-01 1.62483838e-02 2.21041533e+02] [-9.80027369e-01 -1.59519193e-01 1.18743350e-01 1.83447284e+02] [ 1.19814236e-01 2.92265961e-03 9.92792026e-01 7.42537263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.45, Z:74.25 [[-1.60917289e-01 9.86833382e-01 1.62942574e-02 2.21046050e+02] [-9.79669086e-01 -1.61709595e-01 1.18737055e-01 1.83445416e+02] [ 1.19808627e-01 3.14386479e-03 9.92792027e-01 7.42497264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.42, Z:74.25 [[-1.62808502e-01 9.86522372e-01 1.63401439e-02 2.21045572e+02] [-9.79357175e-01 -1.63592592e-01 1.18730740e-01 1.83424402e+02] [ 1.19803658e-01 3.32753678e-03 9.92792028e-01 7.42500779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.42, Z:74.25 [[-1.62846404e-01 9.86511561e-01 1.66129414e-02 2.21049315e+02] [-9.79350035e-01 -1.63663023e-01 1.18692562e-01 1.83422302e+02] [ 1.19810509e-01 3.05877216e-03 9.92792066e-01 7.42503859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.42, Z:74.25 [[-1.62964145e-01 9.86491344e-01 1.66587728e-02 2.21050699e+02] [-9.79330352e-01 -1.63785420e-01 1.18686129e-01 1.83420808e+02] [ 1.19811304e-01 3.02714181e-03 9.92792067e-01 7.42520715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.42, Z:74.25 [[-1.62087168e-01 9.86635043e-01 1.67045710e-02 2.21053521e+02] [-9.79475423e-01 -1.62920314e-01 1.18679683e-01 1.83415240e+02] [ 1.19815048e-01 2.87473706e-03 9.92792068e-01 7.42539510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.42, Z:74.25 [[-1.56397287e-01 9.87552083e-01 1.67562623e-02 2.21060527e+02] [-9.80398148e-01 -1.57277898e-01 1.18672385e-01 1.83420025e+02] [ 1.19830551e-01 2.13223053e-03 9.92792069e-01 7.42471587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.42, Z:74.26 [[-1.58325206e-01 9.87244151e-01 1.67962949e-02 2.21056497e+02] [-9.80089095e-01 -1.59196658e-01 1.18666719e-01 1.83416665e+02] [ 1.19826938e-01 2.32606725e-03 9.92792070e-01 7.42555321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.41, Z:74.26 [[-1.57494907e-01 9.87376172e-01 1.68419147e-02 2.21056940e+02] [-9.80222526e-01 -1.58377856e-01 1.18660244e-01 1.83409699e+02] [ 1.19829684e-01 2.17955980e-03 9.92792071e-01 7.42575019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.41, Z:74.26 [[-1.57035690e-01 9.87448023e-01 1.69172930e-02 2.21057366e+02] [-9.80295919e-01 -1.57931021e-01 1.18649497e-01 1.83409257e+02] [ 1.19831976e-01 2.04825230e-03 9.92792074e-01 7.42562027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.41, Z:74.25 [[-1.56098176e-01 9.87595878e-01 1.69629253e-02 2.21056122e+02] [-9.80445323e-01 -1.57005777e-01 1.18642972e-01 1.83407754e+02] [ 1.19834588e-01 1.88873076e-03 9.92792075e-01 7.42521190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.41, Z:74.25 [[-1.55134106e-01 9.87746989e-01 1.70086701e-02 2.21055794e+02] [-9.80598029e-01 -1.56054180e-01 1.18636414e-01 1.83407499e+02] [ 1.19837035e-01 1.72588568e-03 9.92792076e-01 7.42516855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:183.41, Z:74.26 [[-1.54526946e-01 9.87841470e-01 1.70485328e-02 2.21055048e+02] [-9.80693698e-01 -1.55456201e-01 1.18630686e-01 1.83406357e+02] [ 1.19838611e-01 1.61224893e-03 9.92792077e-01 7.42551463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.40, Z:74.26 [[-1.55617760e-01 9.87669432e-01 1.70940294e-02 2.21052626e+02] [-9.80521346e-01 -1.56544583e-01 1.18624130e-01 1.83402200e+02] [ 1.19837404e-01 1.69896053e-03 9.92792078e-01 7.42596909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.39, Z:74.26 [[-1.58919649e-01 9.87142736e-01 1.71395538e-02 2.21049675e+02] [-9.79992284e-01 -1.59828033e-01 1.18617552e-01 1.83385131e+02] [ 1.19831836e-01 2.05402922e-03 9.92792079e-01 7.42631588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.38, Z:74.26 [[-1.62842216e-01 9.86499474e-01 1.73551214e-02 2.21049018e+02] [-9.79348726e-01 -1.63748077e-01 1.18586006e-01 1.83380746e+02] [ 1.19826900e-01 2.31409205e-03 9.92792103e-01 7.42636964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.38, Z:74.26 [[-1.65475282e-01 9.86060417e-01 1.74007141e-02 2.21047822e+02] [-9.78907959e-01 -1.66367529e-01 1.18579316e-01 1.83376942e+02] [ 1.19821283e-01 2.58824821e-03 9.92792104e-01 7.42631162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:183.37, Z:74.26 [[-1.67734234e-01 9.85677864e-01 1.74463722e-02 2.21045688e+02] [-9.78524055e-01 -1.68615580e-01 1.18572598e-01 1.83374196e+02] [ 1.19816115e-01 2.81698905e-03 9.92792105e-01 7.42610266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.37, Z:74.26 [[-1.68366179e-01 9.85569304e-01 1.74922193e-02 2.21044035e+02] [-9.78415610e-01 -1.69248450e-01 1.18565834e-01 1.83370031e+02] [ 1.19815378e-01 2.84781606e-03 9.92792106e-01 7.42604727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.37, Z:74.26 [[-1.67657294e-01 9.85689329e-01 1.75379404e-02 2.21042772e+02] [-9.78536956e-01 -1.68550207e-01 1.18559071e-01 1.83370227e+02] [ 1.19818435e-01 2.71577027e-03 9.92792107e-01 7.42598621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.37, Z:74.26 [[-1.65248258e-01 9.86095243e-01 1.75836364e-02 2.21039635e+02] [-9.78945777e-01 -1.66164137e-01 1.18552294e-01 1.83367608e+02] [ 1.19825622e-01 2.37713341e-03 9.92792108e-01 7.42644748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.37, Z:74.27 [[-1.62912205e-01 9.86482635e-01 1.76529100e-02 2.21037409e+02] [-9.79336451e-01 -1.63853337e-01 1.18541978e-01 1.83368179e+02] [ 1.19832091e-01 2.02379674e-03 9.92792110e-01 7.42666720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:183.37, Z:74.27 [[-1.60745668e-01 9.86837167e-01 1.76984553e-02 2.21035155e+02] [-9.79693803e-01 -1.61707959e-01 1.18535178e-01 1.83367184e+02] [ 1.19836900e-01 1.71494926e-03 9.92792111e-01 7.42680210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.36, Z:74.27 [[-1.60776305e-01 9.86831360e-01 1.77439455e-02 2.21033098e+02] [-9.79688704e-01 -1.61743837e-01 1.18528368e-01 1.83364412e+02] [ 1.19837484e-01 1.67301001e-03 9.92792112e-01 7.42676682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.36, Z:74.27 [[-1.61106610e-01 9.86776670e-01 1.77894331e-02 2.21030212e+02] [-9.79634432e-01 -1.62077214e-01 1.18521540e-01 1.83363400e+02] [ 1.19837553e-01 1.66746242e-03 9.92792113e-01 7.42669991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:183.36, Z:74.27 [[-1.61701790e-01 9.86678516e-01 1.78336095e-02 2.21028563e+02] [-9.79536415e-01 -1.62673391e-01 1.18514893e-01 1.83362439e+02] [ 1.19837153e-01 1.69540038e-03 9.92792114e-01 7.42657797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.26, Z:74.92 [[-6.52290973e-02 9.97710149e-01 1.78780263e-02 2.21615360e+02] [-9.90697219e-01 -6.68941556e-02 1.18508193e-01 1.83259356e+02] [ 1.19432762e-01 -9.98152850e-03 9.92792115e-01 7.49190444e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.26, Z:74.92 [[-6.65937906e-02 9.97762017e-01 6.01872006e-03 2.21618546e+02] [-9.90628255e-01 -6.68361938e-02 1.19115843e-01 1.83255370e+02] [ 1.19251532e-01 1.97006137e-03 9.92862121e-01 7.49190996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.25, Z:74.92 [[-6.81358049e-02 9.97657626e-01 6.06412457e-03 2.21617229e+02] [-9.90523677e-01 -6.83726015e-02 1.19113532e-01 1.83249823e+02] [ 1.19249143e-01 2.10923739e-03 9.92862122e-01 7.49222336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.25, Z:74.92 [[-6.79107625e-02 9.97672691e-01 6.10988799e-03 2.21616665e+02] [-9.90538981e-01 -6.81546304e-02 1.19111184e-01 1.83250686e+02] [ 1.19250393e-01 2.03684913e-03 9.92862123e-01 7.49223064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters Centerline goodness : 0.999898 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.25, Z:74.92 [[-6.73274821e-02 9.97711941e-01 6.15565050e-03 2.21616359e+02] [-9.90578568e-01 -6.75809824e-02 1.19108819e-01 1.83248650e+02] [ 1.19252296e-01 1.92164145e-03 9.92862124e-01 7.49184512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.25, Z:74.92 [[-6.69150138e-02 9.97739416e-01 6.19995617e-03 2.21616142e+02] [-9.90606341e-01 -6.71767509e-02 1.19106513e-01 1.83246666e+02] [ 1.19253756e-01 1.82829808e-03 9.92862125e-01 7.49181995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.25, Z:74.92 [[-6.73560886e-02 9.97709459e-01 6.24444568e-03 2.21616397e+02] [-9.90576465e-01 -6.76199821e-02 1.19104181e-01 1.83245031e+02] [ 1.19253617e-01 1.83679084e-03 9.92862126e-01 7.49179804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-6.80633088e-02 9.97661175e-01 6.29009188e-03 2.21617347e+02] [-9.90528197e-01 -6.83275939e-02 1.19101770e-01 1.83240971e+02] [ 1.19252999e-01 1.87594721e-03 9.92862127e-01 7.49186410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-6.64543031e-02 9.97769353e-01 6.33592810e-03 2.21617156e+02] [-9.90637024e-01 -6.67355614e-02 1.19099332e-01 1.83239254e+02] [ 1.19256495e-01 1.63805815e-03 9.92862128e-01 7.49215061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-6.43958313e-02 9.97904032e-01 6.38117678e-03 2.21617403e+02] [-9.90772526e-01 -6.46972022e-02 1.19096908e-01 1.83239432e+02] [ 1.19260129e-01 1.34704975e-03 9.92862129e-01 7.49232685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-6.36736112e-02 9.97950083e-01 6.42682831e-03 2.21617506e+02] [-9.90819034e-01 -6.39855906e-02 1.19094444e-01 1.83239241e+02] [ 1.19261535e-01 1.21534952e-03 9.92862130e-01 7.49235372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-6.03468645e-02 9.98156482e-01 6.47255561e-03 2.21618009e+02] [-9.91026773e-01 -6.06880672e-02 1.19091959e-01 1.83237560e+02] [ 1.19265218e-01 7.72350424e-04 9.92862131e-01 7.49232009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-5.61461979e-02 9.98401281e-01 6.51823652e-03 2.21617293e+02] [-9.91273357e-01 -5.65228475e-02 1.19089459e-01 1.83240005e+02] [ 1.19267498e-01 2.25066142e-04 9.92862132e-01 7.49204865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:183.24, Z:74.92 [[-5.28855919e-02 9.98579009e-01 6.56329088e-03 2.21616257e+02] [-9.91452658e-01 -5.32908890e-02 1.19086976e-01 1.83238986e+02] [ 1.19267518e-01 -2.09206972e-04 9.92862133e-01 7.49174793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.17, Z:74.93 [[-5.85409866e-02 9.98263140e-01 6.60730507e-03 2.21612998e+02] [-9.91134879e-01 -5.89111620e-02 1.19084534e-01 1.83174187e+02] [ 1.19266945e-01 4.22595600e-04 9.92862134e-01 7.49266676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.18, Z:74.93 [[-5.54896159e-02 9.98427958e-01 7.90669707e-03 2.21611587e+02] [-9.91311917e-01 -5.60364927e-02 1.18998299e-01 1.83175837e+02] [ 1.19254292e-01 -1.23483313e-03 9.92862976e-01 7.49306732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.17, Z:74.93 [[-5.49861538e-02 9.98455461e-01 7.95075791e-03 2.21610645e+02] [-9.91340106e-01 -5.55418693e-02 1.18995355e-01 1.83172661e+02] [ 1.19253162e-01 -1.33880831e-03 9.92862977e-01 7.49338563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.17, Z:74.93 [[-5.69322466e-02 9.98346026e-01 7.99576778e-03 2.21609761e+02] [-9.91230012e-01 -5.74794560e-02 1.18992331e-01 1.83166639e+02] [ 1.19255113e-01 -1.15114428e-03 9.92862978e-01 7.49347143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.17, Z:74.93 [[-5.93175716e-02 9.98206776e-01 8.04101382e-03 2.21609380e+02] [-9.91089880e-01 -5.98531695e-02 1.18989273e-01 1.83165026e+02] [ 1.19257179e-01 -9.11212692e-04 9.92862979e-01 7.49330528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.16, Z:74.93 [[-6.42451409e-02 9.97901385e-01 8.08631060e-03 2.21609222e+02] [-9.90782314e-01 -6.47509961e-02 1.18986195e-01 1.83160507e+02] [ 1.19260085e-01 -3.67488669e-04 9.92862980e-01 7.49298677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:183.15, Z:74.93 [[-6.92333484e-02 9.97567483e-01 8.11546123e-03 2.21607367e+02] [-9.90446203e-01 -6.97070824e-02 1.18984207e-01 1.83147096e+02] [ 1.19260481e-01 1.99747275e-04 9.92862980e-01 7.49311271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:183.09, Z:75.58 [[ 3.21078316e-03 9.99961403e-01 8.17826767e-03 2.22218904e+02] [-9.92894194e-01 2.21500406e-03 1.18979890e-01 1.83088694e+02] [ 1.18957183e-01 -8.50217311e-03 9.92862982e-01 7.55772837e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:183.14, Z:76.21 [[ 9.08507710e-02 9.95864185e-01 -8.13980096e-04 2.22868992e+02] [-9.88788525e-01 9.03024752e-02 1.18923150e-01 1.83135876e+02] [ 1.18504810e-01 -9.99940570e-03 9.92903128e-01 7.62113874e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.51, Y:183.24, Z:76.84 [[ 1.81052193e-01 9.83405951e-01 -1.15256274e-02 2.23511621e+02] [-9.76367105e-01 1.81137889e-01 1.17882744e-01 1.83241391e+02] [ 1.18014319e-01 -1.00896857e-02 9.92960633e-01 7.68429074e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:183.41, Z:77.47 [[ 2.72694064e-01 9.61842030e-01 -2.23127194e-02 2.24150406e+02] [-9.54899633e-01 2.73412398e-01 1.15811708e-01 1.83407829e+02] [ 1.17493142e-01 -1.02747578e-02 9.93020539e-01 7.74700024e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:183.35, Z:77.47 [[ 2.71964236e-01 9.61733163e-01 -3.32381778e-02 2.24169480e+02] [-9.55120118e-01 2.73985505e-01 1.12594422e-01 1.83352544e+02] [ 1.17392569e-01 1.12479621e-03 9.93084951e-01 7.74738784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:183.30, Z:77.48 [[ 2.70236141e-01 9.62219155e-01 -3.32674916e-02 2.24184868e+02] [-9.55610807e-01 2.72272716e-01 1.12585760e-01 1.83297336e+02] [ 1.17390006e-01 1.36603311e-03 9.93084951e-01 7.74819382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:183.24, Z:77.49 [[ 2.68073953e-01 9.62822663e-01 -3.32997700e-02 2.24201379e+02] [-9.56220081e-01 2.70129141e-01 1.12576213e-01 1.83241535e+02] [ 1.17386167e-01 1.66315845e-03 9.93084952e-01 7.74880160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:183.47, Z:78.11 [[ 3.71091195e-01 9.27998022e-01 -3.33316206e-02 2.24818967e+02] [-9.21211988e-01 3.72420719e-01 1.12566782e-01 1.83469009e+02] [ 1.16875137e-01 -1.10670531e-02 9.93084952e-01 7.81145315e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:183.76, Z:78.74 [[ 4.72212204e-01 8.80318166e-01 -4.53382823e-02 2.25413850e+02] [-8.73799247e-01 4.74252607e-01 1.07514376e-01 1.83763588e+02] [ 1.16148657e-01 -1.11530436e-02 9.93169220e-01 7.87370318e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:184.13, Z:79.36 [[ 5.69605129e-01 8.19946938e-01 -5.68947765e-02 2.25978896e+02] [-8.13778128e-01 5.72329168e-01 1.01017239e-01 1.84128173e+02] [ 1.15391316e-01 -1.12402128e-02 9.93256514e-01 7.93594446e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:226.02, Y:184.08, Z:79.36 [[ 5.71238097e-01 8.17978977e-01 -6.78043540e-02 2.26017543e+02] [-8.12667714e-01 5.75244878e-01 9.30833827e-02 1.84084669e+02] [ 1.15144358e-01 1.92963506e-03 9.93346895e-01 7.93642070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:226.05, Y:184.04, Z:79.38 [[ 5.72280188e-01 8.17249518e-01 -6.78130685e-02 2.26052516e+02] [-8.11933899e-01 5.76281189e-01 9.30770336e-02 1.84039077e+02] [ 1.15146557e-01 1.79358680e-03 9.93346895e-01 7.93762553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:183.99, Z:79.39 [[ 5.72466571e-01 8.17118441e-01 -6.78194554e-02 2.26087692e+02] [-8.11802458e-01 5.76467086e-01 9.30723796e-02 1.83993084e+02] [ 1.15146842e-01 1.77517465e-03 9.93346895e-01 7.93854078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:183.94, Z:79.39 [[ 5.70768548e-01 8.18304889e-01 -6.78260474e-02 2.26127108e+02] [-8.12997791e-01 5.74780844e-01 9.30675755e-02 1.83944457e+02] [ 1.15142765e-01 2.02238181e-03 9.93346895e-01 7.93923548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:226.16, Y:183.90, Z:79.40 [[ 5.70261490e-01 8.18660575e-01 -6.77989406e-02 2.26163580e+02] [-8.13353634e-01 5.74273992e-01 9.30873185e-02 1.83899496e+02] [ 1.15142086e-01 2.06040182e-03 9.93346896e-01 7.93951739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:226.20, Y:183.85, Z:79.40 [[ 5.71411196e-01 8.17857824e-01 -6.78072615e-02 2.26200896e+02] [-8.12545964e-01 5.75417185e-01 9.30812569e-02 1.83849779e+02] [ 1.15144698e-01 1.90884433e-03 9.93346896e-01 7.94013310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:183.80, Z:79.41 [[ 5.74713282e-01 8.15542787e-01 -6.77835274e-02 2.26236090e+02] [-8.10212749e-01 5.78695052e-01 9.30985374e-02 1.83803721e+02] [ 1.15151833e-01 1.41411210e-03 9.93346896e-01 7.94071481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.27, Y:183.76, Z:79.41 [[ 5.76914173e-01 8.13986949e-01 -6.77885315e-02 2.26271467e+02] [-8.08646600e-01 5.80882103e-01 9.30948936e-02 1.83757441e+02] [ 1.15155173e-01 1.10920201e-03 9.93346896e-01 7.94144148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:183.71, Z:79.42 [[ 5.80098768e-01 8.11719932e-01 -6.77950636e-02 2.26306085e+02] [-8.06364631e-01 5.84046495e-01 9.30901364e-02 1.83711280e+02] [ 1.15158588e-01 6.66068050e-04 9.93346896e-01 7.94236496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:183.66, Z:79.43 [[ 5.82255096e-01 8.10173852e-01 -6.78036271e-02 2.26343586e+02] [-8.04808795e-01 5.86189553e-01 9.30838986e-02 1.83662789e+02] [ 1.15159919e-01 3.70381008e-04 9.93346896e-01 7.94322016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:183.62, Z:79.44 [[ 5.83015584e-01 8.09628735e-01 -6.77800821e-02 2.26378383e+02] [-8.04258006e-01 5.86942294e-01 9.31010401e-02 1.83615792e+02] [ 1.15160274e-01 2.33316422e-04 9.93346897e-01 7.94386154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.41, Y:183.57, Z:79.45 [[ 5.85296344e-01 8.07980909e-01 -6.77867332e-02 2.26413120e+02] [-8.02599685e-01 5.89208659e-01 9.30961972e-02 1.83568942e+02] [ 1.15160480e-01 -8.32531135e-05 9.93346897e-01 7.94458595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:183.52, Z:79.45 [[ 5.88828185e-01 8.05410100e-01 -6.77933542e-02 2.26447608e+02] [-8.00012351e-01 5.92717669e-01 9.30913755e-02 1.83522042e+02] [ 1.15159053e-01 -5.79304954e-04 9.93346897e-01 7.94533855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:183.47, Z:79.46 [[ 5.90543156e-01 8.04152945e-01 -6.77998754e-02 2.26484017e+02] [-7.98747460e-01 5.94421883e-01 9.30866257e-02 1.83474060e+02] [ 1.15157614e-01 -8.16691394e-04 9.93346897e-01 7.94603496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.52, Y:183.43, Z:79.47 [[ 5.89135346e-01 8.05184899e-01 -6.77998754e-02 2.26520324e+02] [-7.99786209e-01 5.93023524e-01 9.30866257e-02 1.83428262e+02] [ 1.15158866e-01 -6.15216126e-04 9.93346897e-01 7.94660345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:183.38, Z:79.47 [[ 5.87241431e-01 8.06566661e-01 -6.78065165e-02 2.26556497e+02] [-8.01177678e-01 5.91143052e-01 9.30817880e-02 1.83381588e+02] [ 1.15160018e-01 -3.36414908e-04 9.93346897e-01 7.94721510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:183.34, Z:79.48 [[ 5.83437049e-01 8.09322444e-01 -6.78114410e-02 2.26592478e+02] [-8.03952307e-01 5.87364569e-01 9.30782003e-02 1.83335255e+02] [ 1.15160314e-01 2.11893946e-04 9.93346897e-01 7.94791794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.63, Y:183.29, Z:79.48 [[ 5.79112471e-01 8.12421970e-01 -6.78180580e-02 2.26627932e+02] [-8.07073416e-01 5.83069333e-01 9.30733788e-02 1.83289409e+02] [ 1.15157488e-01 8.34197430e-04 9.93346897e-01 7.94847258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.11, Y:183.69, Z:80.10 [[ 6.54354372e-01 7.53138398e-01 -6.78447387e-02 2.27105939e+02] [-7.47436992e-01 6.57783330e-01 9.30539263e-02 1.83685026e+02] [ 1.14709623e-01 -1.01805761e-02 9.93346897e-01 8.00958864e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:183.64, Z:80.10 [[ 6.50715707e-01 7.55471920e-01 -7.63625988e-02 2.27147844e+02] [-7.50625537e-01 6.55178783e-01 8.54521259e-02 1.83641970e+02] [ 1.14587836e-01 1.71467619e-03 9.93411641e-01 8.00990137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.19, Y:183.60, Z:80.11 [[ 6.47248720e-01 7.58444058e-01 -7.63656048e-02 2.27188083e+02] [-7.53618481e-01 6.51734285e-01 8.54494394e-02 1.83595060e+02] [ 1.14578702e-01 2.24349084e-03 9.93411641e-01 8.01050483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:183.55, Z:80.11 [[ 6.44962354e-01 7.60391442e-01 -7.63440701e-02 2.27228411e+02] [-7.55577133e-01 6.49460008e-01 8.54686752e-02 1.83547621e+02] [ 1.14572070e-01 2.55975564e-03 9.93411641e-01 8.01122487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:183.50, Z:80.12 [[ 6.42318009e-01 7.62628955e-01 -7.63194030e-02 2.27265534e+02] [-7.57827697e-01 6.46829593e-01 8.54906961e-02 1.83500997e+02] [ 1.14563329e-01 2.92474369e-03 9.93411642e-01 8.01206921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:183.45, Z:80.13 [[ 6.39658198e-01 7.64861406e-01 -7.63178874e-02 2.27304215e+02] [-7.60075729e-01 6.44186306e-01 8.54920491e-02 1.83452744e+02] [ 1.14552507e-01 3.32168385e-03 9.93411642e-01 8.01305301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:183.41, Z:80.14 [[ 6.37760914e-01 7.66446624e-01 -7.62927793e-02 2.27343831e+02] [-7.61669526e-01 6.42298071e-01 8.55144496e-02 1.83405847e+02] [ 1.14544966e-01 3.57211151e-03 9.93411642e-01 8.01380429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters Centerline goodness : 0.999898 with order 1 Centerline is valid? [True, True] Translation: X:227.38, Y:183.36, Z:80.15 [[ 6.34584691e-01 7.69080762e-01 -7.62696006e-02 2.27382858e+02] [-7.64320014e-01 6.39138999e-01 8.55351176e-02 1.83357422e+02] [ 1.14530290e-01 4.01510598e-03 9.93411643e-01 8.01453670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:183.31, Z:80.15 [[ 6.31648648e-01 7.71496374e-01 -7.62451939e-02 2.27419192e+02] [-7.66750420e-01 6.36218371e-01 8.55568681e-02 1.83312588e+02] [ 1.14515407e-01 4.41915436e-03 9.93411643e-01 8.01516114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:183.27, Z:80.16 [[ 6.29295067e-01 7.73416604e-01 -7.62527016e-02 2.27459296e+02] [-7.68685398e-01 6.33880057e-01 8.55501763e-02 1.83265320e+02] [ 1.14500994e-01 4.77803430e-03 9.93411643e-01 8.01593475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:227.50, Y:183.22, Z:80.17 [[ 6.25635973e-01 7.76381915e-01 -7.62282846e-02 2.27497211e+02] [-7.71669791e-01 6.30240572e-01 8.55719273e-02 1.83218952e+02] [ 1.14478654e-01 5.28618847e-03 9.93411644e-01 8.01671834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:227.53, Y:183.17, Z:80.17 [[ 6.22505625e-01 7.78894085e-01 -7.62282846e-02 2.27534721e+02] [-7.74200535e-01 6.27129155e-01 8.55719273e-02 1.83173674e+02] [ 1.14456448e-01 5.74697261e-03 9.93411644e-01 8.01747844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:183.13, Z:80.18 [[ 6.22436731e-01 7.78948557e-01 -7.62342548e-02 2.27576896e+02] [-7.74256060e-01 6.27061328e-01 8.55666083e-02 1.83127193e+02] [ 1.14455539e-01 5.76503381e-03 9.93411644e-01 8.01822347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:227.61, Y:183.08, Z:80.19 [[ 6.20157131e-01 7.80767206e-01 -7.62082861e-02 2.27614140e+02] [-7.76085442e-01 6.24792593e-01 8.55897306e-02 1.83077807e+02] [ 1.14440028e-01 6.06505967e-03 9.93411644e-01 8.01916682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:183.03, Z:80.20 [[ 6.19407002e-01 7.81364769e-01 -7.61844049e-02 2.27653713e+02] [-7.76684879e-01 6.24044356e-01 8.56109824e-02 1.83030936e+02] [ 1.14435853e-01 6.14323340e-03 9.93411645e-01 8.01973381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:182.98, Z:80.20 [[ 6.18448149e-01 7.82126176e-01 -7.61612206e-02 2.27695091e+02] [-7.77449472e-01 6.23088716e-01 8.56316026e-02 1.82983726e+02] [ 1.14429915e-01 6.25279459e-03 9.93411645e-01 8.02030221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:227.74, Y:182.94, Z:80.21 [[ 6.16883691e-01 7.83363099e-01 -7.61365004e-02 2.27737397e+02] [-7.78693005e-01 6.21530908e-01 8.56535763e-02 1.82936787e+02] [ 1.14419039e-01 6.44866598e-03 9.93411646e-01 8.02072647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:182.89, Z:80.21 [[ 6.16346157e-01 7.83788503e-01 -7.61117461e-02 2.27778043e+02] [-7.79118919e-01 6.20993887e-01 8.56755674e-02 1.82890469e+02] [ 1.14416454e-01 6.49429463e-03 9.93411646e-01 8.02130200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:182.84, Z:80.22 [[ 6.18083036e-01 7.82421696e-01 -7.60897487e-02 2.27818470e+02] [-7.77739443e-01 6.22718001e-01 8.56950991e-02 1.82843444e+02] [ 1.14432161e-01 6.21131173e-03 9.93411647e-01 8.02210201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:182.80, Z:80.23 [[ 6.20807208e-01 7.80264403e-01 -7.60649206e-02 2.27858163e+02] [-7.75563352e-01 6.25423106e-01 8.57171316e-02 1.82798195e+02] [ 1.14454785e-01 5.77935162e-03 9.93411647e-01 8.02298882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:227.90, Y:182.75, Z:80.24 [[ 6.25167939e-01 7.76776797e-01 -7.60450864e-02 2.27899187e+02] [-7.72047849e-01 6.29755251e-01 8.57347242e-02 1.82751793e+02] [ 1.14486537e-01 5.11184457e-03 9.93411648e-01 8.02398934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:182.71, Z:80.24 [[ 6.29902873e-01 7.72944541e-01 -7.60204377e-02 2.27942975e+02] [-7.68185038e-01 6.34458475e-01 8.57565746e-02 1.82708326e+02] [ 1.14516887e-01 4.37945007e-03 9.93411648e-01 8.02441401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:182.66, Z:80.25 [[ 6.29116024e-01 7.73587418e-01 -7.59969425e-02 2.27981290e+02] [-7.68830064e-01 6.33673869e-01 8.57773909e-02 1.82660879e+02] [ 1.14513587e-01 4.46480300e-03 9.93411649e-01 8.02524966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:182.61, Z:80.26 [[ 6.29449781e-01 7.73317972e-01 -7.59755733e-02 2.28022922e+02] [-7.68556390e-01 6.34003209e-01 8.57963141e-02 1.82614900e+02] [ 1.14516589e-01 4.38704116e-03 9.93411649e-01 8.02563593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:228.06, Y:182.57, Z:80.26 [[ 6.30589084e-01 7.72391326e-01 -7.59542379e-02 2.28064147e+02] [-7.67620784e-01 6.35133123e-01 8.58151980e-02 1.82568250e+02] [ 1.14523967e-01 4.18992448e-03 9.93411650e-01 8.02633977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:182.52, Z:80.27 [[ 6.32966363e-01 7.70446808e-01 -7.59295721e-02 2.28104162e+02] [-7.65659691e-01 6.37492937e-01 8.58370168e-02 1.82522152e+02] [ 1.14537422e-01 3.80426836e-03 9.93411650e-01 8.02714526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:228.14, Y:182.48, Z:80.28 [[ 6.37097518e-01 7.67036445e-01 -7.59068109e-02 2.28144969e+02] [-7.62222695e-01 6.41595757e-01 8.58571403e-02 1.82475369e+02] [ 1.14557043e-01 3.15852299e-03 9.93411651e-01 8.02831951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:182.43, Z:80.29 [[ 6.37780782e-01 7.66470851e-01 -7.58822064e-02 2.28187295e+02] [-7.61650528e-01 6.42271976e-01 8.58788808e-02 1.82429154e+02] [ 1.14560673e-01 3.02382274e-03 9.93411651e-01 8.02923761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:228.23, Y:182.39, Z:80.30 [[ 6.35698209e-01 7.68201407e-01 -7.58576684e-02 2.28230651e+02] [-7.63390727e-01 6.40199730e-01 8.59005500e-02 1.82386570e+02] [ 1.14552982e-01 3.30221481e-03 9.93411652e-01 8.02977765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:228.27, Y:182.35, Z:80.30 [[ 6.31588697e-01 7.71585580e-01 -7.58380608e-02 2.28272385e+02] [-7.66796937e-01 6.36113653e-01 8.59178574e-02 1.82345573e+02] [ 1.14534606e-01 3.88764516e-03 9.93411652e-01 8.02985563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:182.30, Z:80.30 [[ 6.29228099e-01 7.73511127e-01 -7.58454749e-02 2.28315023e+02] [-7.68737114e-01 6.33768488e-01 8.59113119e-02 1.82299924e+02] [ 1.14521828e-01 4.24741991e-03 9.93411652e-01 8.03041437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:228.35, Y:182.26, Z:80.31 [[ 6.28239795e-01 7.74314790e-01 -7.58377560e-02 2.28354754e+02] [-7.69545765e-01 6.32785423e-01 8.59181252e-02 1.82257744e+02] [ 1.14516702e-01 4.38343855e-03 9.93411652e-01 8.03137551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:182.21, Z:80.32 [[ 6.28963547e-01 7.73726566e-01 -7.58423137e-02 2.28395125e+02] [-7.68953773e-01 6.33505218e-01 8.59141018e-02 1.82214017e+02] [ 1.14520524e-01 4.28239510e-03 9.93411652e-01 8.03248906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:182.17, Z:80.34 [[ 6.28399085e-01 7.74185077e-01 -7.58423137e-02 2.28437106e+02] [-7.69415598e-01 6.32944235e-01 8.59141018e-02 1.82169581e+02] [ 1.14517371e-01 4.36591624e-03 9.93411652e-01 8.03354609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:182.13, Z:80.33 [[ 6.27714627e-01 7.74740939e-01 -7.58341960e-02 2.28480890e+02] [-7.69974621e-01 6.32263093e-01 8.59212665e-02 1.82129238e+02] [ 1.14513886e-01 4.45637062e-03 9.93411652e-01 8.03347865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:182.09, Z:80.34 [[ 6.25642938e-01 7.76414420e-01 -7.58390587e-02 2.28521795e+02] [-7.71660784e-01 6.30204656e-01 8.59169742e-02 1.82088026e+02] [ 1.14501306e-01 4.76867928e-03 9.93411652e-01 8.03365414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:182.05, Z:80.34 [[ 6.28759493e-01 7.73891976e-01 -7.58466213e-02 2.28560049e+02] [-7.69120835e-01 6.33302899e-01 8.59102975e-02 1.82045659e+02] [ 1.14519175e-01 4.31830150e-03 9.93411652e-01 8.03444054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.60, Y:182.00, Z:80.35 [[ 6.32213094e-01 7.71072319e-01 -7.58556636e-02 2.28598680e+02] [-7.66281863e-01 6.36736130e-01 8.59023127e-02 1.82001422e+02] [ 1.14536937e-01 3.81825227e-03 9.93411652e-01 8.03526912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.64, Y:181.96, Z:80.36 [[ 6.38093250e-01 7.66212769e-01 -7.58616912e-02 2.28636908e+02] [-7.61388480e-01 6.42580182e-01 8.58969893e-02 1.81957546e+02] [ 1.14562589e-01 2.94992863e-03 9.93411652e-01 8.03613756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:181.92, Z:80.37 [[ 6.40831539e-01 7.63923447e-01 -7.58676841e-02 2.28675796e+02] [-7.59083751e-01 6.45301848e-01 8.58916959e-02 1.81916477e+02] [ 1.14572237e-01 2.54781853e-03 9.93411652e-01 8.03689750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:181.87, Z:80.38 [[ 6.40320415e-01 7.64350897e-01 -7.58780066e-02 2.28718075e+02] [-7.59515264e-01 6.44795120e-01 8.58825758e-02 1.81871724e+02] [ 1.14570192e-01 2.63813761e-03 9.93411653e-01 8.03757627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.76, Y:181.83, Z:80.38 [[ 6.37862245e-01 7.66405606e-01 -7.58564659e-02 2.28759895e+02] [-7.61582125e-01 6.42350046e-01 8.59015977e-02 1.81828404e+02] [ 1.14561870e-01 2.97754249e-03 9.93411653e-01 8.03807506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:181.79, Z:80.39 [[ 6.36225489e-01 7.67764888e-01 -7.58564659e-02 2.28800153e+02] [-7.62950995e-01 6.40723571e-01 8.59015977e-02 1.81785492e+02] [ 1.14555256e-01 3.22198009e-03 9.93411653e-01 8.03870361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.84, Y:181.74, Z:80.40 [[ 6.34908050e-01 7.68854105e-01 -7.58625913e-02 2.28841178e+02] [-7.64048573e-01 6.39415064e-01 8.58961878e-02 1.81743055e+02] [ 1.14549320e-01 3.42652345e-03 9.93411653e-01 8.03964538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.88, Y:181.70, Z:80.41 [[ 6.32133636e-01 7.71136628e-01 -7.58641361e-02 2.28879765e+02] [-7.66347528e-01 6.36658108e-01 8.58948234e-02 1.81701563e+02] [ 1.14536162e-01 3.84128610e-03 9.93411653e-01 8.04097984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:181.66, Z:80.42 [[ 6.29427006e-01 7.73346690e-01 -7.58718660e-02 2.28921814e+02] [-7.68574293e-01 6.33969092e-01 8.58879950e-02 1.81660419e+02] [ 1.14521615e-01 4.25294214e-03 9.93411653e-01 8.04165125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:181.62, Z:80.42 [[ 6.25396123e-01 7.76608905e-01 -7.58834507e-02 2.28961036e+02] [-7.71861425e-01 6.29964246e-01 8.58777585e-02 1.81619936e+02] [ 1.14497293e-01 4.86389119e-03 9.93411653e-01 8.04237438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:181.58, Z:80.42 [[ 6.20610931e-01 7.80436385e-01 -7.59020454e-02 2.29005502e+02] [-7.75719058e-01 6.25210186e-01 8.58613207e-02 1.81580213e+02] [ 1.14464031e-01 5.59218901e-03 9.93411653e-01 8.04225852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:181.54, Z:80.43 [[ 6.16725604e-01 7.83509841e-01 -7.59069086e-02 2.29047396e+02] [-7.78815946e-01 6.21348770e-01 8.58570211e-02 1.81538097e+02] [ 1.14434485e-01 6.16728757e-03 9.93411653e-01 8.04266383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.09, Y:181.50, Z:80.43 [[ 6.15655529e-01 7.84350472e-01 -7.59118378e-02 2.29085120e+02] [-7.79663422e-01 6.20285634e-01 8.58526627e-02 1.81495085e+02] [ 1.14425599e-01 6.33001679e-03 9.93411653e-01 8.04326543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:181.45, Z:80.45 [[ 6.17298056e-01 7.83056201e-01 -7.59348160e-02 2.29123441e+02] [-7.78361925e-01 6.21920834e-01 8.58323342e-02 1.81453638e+02] [ 1.14436986e-01 6.12063647e-03 9.93411654e-01 8.04457688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:181.41, Z:80.46 [[ 6.19534586e-01 7.81287135e-01 -7.59427977e-02 2.29162196e+02] [-7.76580515e-01 6.24144796e-01 8.58252716e-02 1.81411935e+02] [ 1.14453483e-01 5.80397287e-03 9.93411654e-01 8.04573549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:181.37, Z:80.46 [[ 6.19570605e-01 7.81257488e-01 -7.59539563e-02 2.29202497e+02] [-7.76551851e-01 6.24181817e-01 8.58153953e-02 1.81369303e+02] [ 1.14452999e-01 5.81348904e-03 9.93411654e-01 8.04644034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:181.33, Z:80.47 [[ 6.20889487e-01 7.80208461e-01 -7.59671152e-02 2.29243197e+02] [-7.75496449e-01 6.25494185e-01 8.58037449e-02 1.81329198e+02] [ 1.14461797e-01 5.63758492e-03 9.93411654e-01 8.04729731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:181.29, Z:80.48 [[ 6.21767927e-01 7.79507364e-01 -7.59796943e-02 2.29282351e+02] [-7.74791514e-01 6.26368693e-01 8.57926047e-02 1.81286331e+02] [ 1.14467269e-01 5.52533237e-03 9.93411654e-01 8.04798892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:181.24, Z:80.48 [[ 6.24067917e-01 7.77664880e-01 -7.60037470e-02 2.29321765e+02] [-7.72938024e-01 6.28657376e-01 8.57712911e-02 1.81243057e+02] [ 1.14481637e-01 5.21907499e-03 9.93411655e-01 8.04825413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.36, Y:181.20, Z:80.49 [[ 6.25929038e-01 7.76165324e-01 -7.60278202e-02 2.29360543e+02] [-7.71430052e-01 6.30509811e-01 8.57499474e-02 1.81199684e+02] [ 1.14492422e-01 4.97676321e-03 9.93411655e-01 8.04890287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.40, Y:181.16, Z:80.49 [[ 6.28950900e-01 7.73716115e-01 -7.60535300e-02 2.29399204e+02] [-7.68965746e-01 6.33516014e-01 8.57271388e-02 1.81155832e+02] [ 1.14509598e-01 4.56439836e-03 9.93411656e-01 8.04932169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.44, Y:181.11, Z:80.50 [[ 6.30848102e-01 7.72169411e-01 -7.60596679e-02 2.29438665e+02] [-7.67408501e-01 6.35402222e-01 8.57216927e-02 1.81111997e+02] [ 1.14520151e-01 4.29146860e-03 9.93411656e-01 8.04984697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.48, Y:181.07, Z:80.51 [[ 6.31196935e-01 7.71882189e-01 -7.60809775e-02 2.29479125e+02] [-7.67121479e-01 6.35751264e-01 8.57027756e-02 1.81068041e+02] [ 1.14521024e-01 4.26802264e-03 9.93411656e-01 8.05051222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:181.02, Z:80.51 [[ 6.31837008e-01 7.71358018e-01 -7.60841864e-02 2.29518134e+02] [-7.66593872e-01 6.36387742e-01 8.56999268e-02 1.81023875e+02] [ 1.14524369e-01 4.17728567e-03 9.93411656e-01 8.05120527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:180.98, Z:80.52 [[ 6.32760567e-01 7.70598405e-01 -7.61062672e-02 2.29555895e+02] [-7.65831147e-01 6.37308040e-01 8.56803133e-02 1.80981974e+02] [ 1.14528249e-01 4.06942631e-03 9.93411657e-01 8.05199008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:180.94, Z:80.53 [[ 6.32612260e-01 7.70718987e-01 -7.61181483e-02 2.29593921e+02] [-7.65953862e-01 6.37161969e-01 8.56697570e-02 1.80937876e+02] [ 1.14526897e-01 4.10725107e-03 9.93411657e-01 8.05267504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:229.63, Y:180.89, Z:80.53 [[ 6.34950682e-01 7.68793026e-01 -7.61243377e-02 2.29631512e+02] [-7.64014756e-01 6.39486582e-01 8.56642568e-02 1.80894108e+02] [ 1.14538576e-01 3.76753898e-03 9.93411657e-01 8.05322123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.67, Y:180.85, Z:80.54 [[ 6.39283961e-01 7.65192742e-01 -7.61320250e-02 2.29667938e+02] [-7.60389728e-01 6.43793653e-01 8.56574244e-02 1.80848725e+02] [ 1.14557754e-01 3.13059219e-03 9.93411657e-01 8.05404770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:180.80, Z:80.55 [[ 6.41510540e-01 7.63326416e-01 -7.61380976e-02 2.29704982e+02] [-7.58510920e-01 6.46006900e-01 8.56520263e-02 1.80803625e+02] [ 1.14566191e-01 2.80490083e-03 9.93411657e-01 8.05477810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:180.76, Z:80.55 [[ 6.44011779e-01 7.61216809e-01 -7.61432808e-02 2.29743094e+02] [-7.56387125e-01 6.48492897e-01 8.56474183e-02 1.80760337e+02] [ 1.14574631e-01 2.43585109e-03 9.93411657e-01 8.05523931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.78, Y:180.71, Z:80.56 [[ 6.44402488e-01 7.60885220e-01 -7.61519249e-02 2.29779460e+02] [-7.56054138e-01 6.48882098e-01 8.56397319e-02 1.80714074e+02] [ 1.14575627e-01 2.38852161e-03 9.93411657e-01 8.05589049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:180.67, Z:80.56 [[ 6.46347302e-01 7.59233327e-01 -7.61572101e-02 2.29815290e+02] [-7.54391348e-01 6.50815132e-01 8.56350316e-02 1.80670160e+02] [ 1.14581235e-01 2.10236867e-03 9.93411657e-01 8.05647500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:180.62, Z:80.57 [[ 6.47266063e-01 7.58448972e-01 -7.61695500e-02 2.29852277e+02] [-7.53602870e-01 6.51729419e-01 8.56240543e-02 1.80624814e+02] [ 1.14583413e-01 1.98004699e-03 9.93411657e-01 8.05722022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.89, Y:180.58, Z:80.58 [[ 6.47204740e-01 7.58500683e-01 -7.61757030e-02 2.29889033e+02] [-7.53655581e-01 6.51669183e-01 8.56185799e-02 1.80578289e+02] [ 1.14583109e-01 1.99749297e-03 9.93411657e-01 8.05782253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:229.93, Y:180.53, Z:80.58 [[ 6.45403805e-01 7.60033369e-01 -7.61787874e-02 2.29926343e+02] [-7.55199191e-01 6.49880074e-01 8.56158355e-02 1.80534052e+02] [ 1.14577968e-01 2.27337266e-03 9.93411657e-01 8.05824603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:180.49, Z:80.59 [[ 6.41105714e-01 7.63661640e-01 -7.61863710e-02 2.29964393e+02] [-7.58853589e-01 6.45610034e-01 8.56090866e-02 1.80489619e+02] [ 1.14563061e-01 2.92982650e-03 9.93411657e-01 8.05862105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.00, Y:180.44, Z:80.59 [[ 6.36975565e-01 7.67109410e-01 -7.61924071e-02 2.29999667e+02] [-7.62326371e-01 6.41506437e-01 8.56037141e-02 1.80444845e+02] [ 1.14545334e-01 3.55600706e-03 9.93411658e-01 8.05907647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:180.40, Z:80.60 [[ 6.38183066e-01 7.66102638e-01 -7.62175943e-02 2.30038740e+02] [-7.61315124e-01 6.42709208e-01 8.55812828e-02 1.80401465e+02] [ 1.14549796e-01 3.40908178e-03 9.93411658e-01 8.06037185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:180.35, Z:80.61 [[ 6.34726645e-01 7.68968409e-01 -7.62212016e-02 2.30073123e+02] [-7.64201708e-01 6.39274701e-01 8.55780700e-02 1.80351396e+02] [ 1.14533118e-01 3.92969119e-03 9.93411658e-01 8.06113487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters Centerline goodness : 0.999939 with order 1 Centerline is valid? [True, True] Translation: X:230.12, Y:180.30, Z:80.61 [[ 6.38277935e-01 7.66025351e-01 -7.61999911e-02 2.30115594e+02] [-7.61235422e-01 6.42801520e-01 8.55969520e-02 1.80303947e+02] [ 1.14550905e-01 3.37148656e-03 9.93411658e-01 8.06089453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:180.26, Z:80.61 [[ 6.37934155e-01 7.66314272e-01 -7.61738110e-02 2.30155678e+02] [-7.61523615e-01 6.42456969e-01 8.56202438e-02 1.80255927e+02] [ 1.14550411e-01 3.38807805e-03 9.93411659e-01 8.06111756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:180.21, Z:80.62 [[ 6.37776581e-01 7.66447801e-01 -7.61498536e-02 2.30192645e+02] [-7.61655553e-01 6.42297707e-01 8.56415460e-02 1.80205739e+02] [ 1.14550651e-01 3.37978642e-03 9.93411660e-01 8.06182246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:180.15, Z:80.63 [[ 6.37156024e-01 7.66966267e-01 -7.61245412e-02 2.30227740e+02] [-7.62175015e-01 6.41678205e-01 8.56640397e-02 1.80154535e+02] [ 1.14548888e-01 3.43886441e-03 9.93411660e-01 8.06311449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters Centerline goodness : 0.999980 with order 1 Centerline is valid? [True, True] Translation: X:230.27, Y:180.11, Z:80.64 [[ 6.36787497e-01 7.67273075e-01 -7.61164391e-02 2.30265519e+02] [-7.62483142e-01 6.41311076e-01 8.56712382e-02 1.80106192e+02] [ 1.14547550e-01 3.48312831e-03 9.93411660e-01 8.06388284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:180.06, Z:80.65 [[ 6.34526414e-01 7.69146402e-01 -7.60923309e-02 2.30300063e+02] [-7.64367260e-01 6.39061391e-01 8.56926456e-02 1.80055473e+02] [ 1.14537861e-01 3.78823946e-03 9.93411661e-01 8.06485219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:180.00, Z:80.65 [[ 6.32522106e-01 7.70797609e-01 -7.60712237e-02 2.30335367e+02] [-7.66028057e-01 6.37067167e-01 8.57113789e-02 1.80002804e+02] [ 1.14528605e-01 4.05834979e-03 9.93411661e-01 8.06542584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:179.95, Z:80.67 [[ 6.26448475e-01 7.75744442e-01 -7.60451805e-02 2.30364671e+02] [-7.71007961e-01 6.31027989e-01 8.57344789e-02 1.79948522e+02] [ 1.14494683e-01 4.92320604e-03 9.93411662e-01 8.06689662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:179.90, Z:80.67 [[ 6.30403026e-01 7.72536297e-01 -7.60242985e-02 2.30407778e+02] [-7.67774274e-01 6.34955974e-01 8.57529919e-02 1.79903866e+02] [ 1.14519381e-01 4.31055502e-03 9.93411662e-01 8.06693790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:230.44, Y:179.85, Z:80.68 [[ 6.24364673e-01 7.77426884e-01 -7.60012885e-02 2.30436865e+02] [-7.72698025e-01 6.28952056e-01 8.57733805e-02 1.79849523e+02] [ 1.14483699e-01 5.17217689e-03 9.93411663e-01 8.06814942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:179.80, Z:80.69 [[ 6.23663452e-01 7.77991582e-01 -7.59802428e-02 2.30474580e+02] [-7.73264616e-01 6.28252786e-01 8.57920193e-02 1.79800202e+02] [ 1.14480268e-01 5.24748635e-03 9.93411663e-01 8.06885533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:179.75, Z:80.70 [[ 6.22076858e-01 7.79262908e-01 -7.59585576e-02 2.30512051e+02] [-7.74542988e-01 6.26673436e-01 8.58112147e-02 1.79749271e+02] [ 1.14470707e-01 5.45199728e-03 9.93411663e-01 8.06955343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:179.71, Z:80.69 [[ 6.26157575e-01 7.75990205e-01 -7.59334764e-02 2.30556626e+02] [-7.71243566e-01 6.30726556e-01 8.58334032e-02 1.79705399e+02] [ 1.14499140e-01 4.81796959e-03 9.93411664e-01 8.06930123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:179.65, Z:80.71 [[ 6.19775562e-01 7.81099092e-01 -7.59108776e-02 2.30586783e+02] [-7.76387648e-01 6.24380826e-01 8.58533849e-02 1.79652384e+02] [ 1.14457297e-01 5.72643784e-03 9.93411664e-01 8.07124883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:230.62, Y:179.60, Z:80.72 [[ 6.18582810e-01 7.82046337e-01 -7.58869844e-02 2.30623489e+02] [-7.77339369e-01 6.23192648e-01 8.58744993e-02 1.79602523e+02] [ 1.14450048e-01 5.86945150e-03 9.93411665e-01 8.07192592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.66, Y:179.55, Z:80.72 [[ 6.18813155e-01 7.81865559e-01 -7.58717884e-02 2.30661018e+02] [-7.77155607e-01 6.23419944e-01 8.58879232e-02 1.79551433e+02] [ 1.14452795e-01 5.81560913e-03 9.93411665e-01 8.07221113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:179.50, Z:80.73 [[ 6.19879737e-01 7.81022542e-01 -7.58478782e-02 2.30698574e+02] [-7.76303755e-01 6.24477476e-01 8.59090332e-02 1.79502015e+02] [ 1.14462183e-01 5.62772377e-03 9.93411666e-01 8.07256028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.74, Y:179.45, Z:80.73 [[ 6.22782299e-01 7.78712068e-01 -7.58269244e-02 2.30735524e+02] [-7.73973976e-01 6.27360140e-01 8.59275240e-02 1.79451199e+02] [ 1.14483590e-01 5.17392522e-03 9.93411666e-01 8.07308089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.77, Y:179.40, Z:80.74 [[ 6.25461016e-01 7.76564527e-01 -7.58027214e-02 2.30774096e+02] [-7.71808134e-01 6.30019838e-01 8.59488700e-02 1.79402496e+02] [ 1.14502062e-01 4.74748947e-03 9.93411667e-01 8.07379403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:179.35, Z:80.75 [[ 6.29435895e-01 7.73347739e-01 -7.57873888e-02 2.30810167e+02] [-7.68566413e-01 6.33968561e-01 8.59623878e-02 1.79351782e+02] [ 1.14525640e-01 4.13982907e-03 9.93411667e-01 8.07466666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:179.30, Z:80.75 [[ 6.35685966e-01 7.68220916e-01 -7.57626347e-02 2.30852067e+02] [-7.63400416e-01 6.40176946e-01 8.59841993e-02 1.79304851e+02] [ 1.14556352e-01 3.17827804e-03 9.93411667e-01 8.07500294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:179.25, Z:80.76 [[ 6.34294327e-01 7.69372860e-01 -7.57371071e-02 2.30884136e+02] [-7.64557836e-01 6.38791177e-01 8.60066788e-02 1.79251746e+02] [ 1.14551400e-01 3.35185028e-03 9.93411668e-01 8.07640920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:179.20, Z:80.77 [[ 6.34512335e-01 7.69195392e-01 -7.57135748e-02 2.30923562e+02] [-7.64376643e-01 6.39005193e-01 8.60273900e-02 1.79203277e+02] [ 1.14553239e-01 3.28824799e-03 9.93411668e-01 8.07720075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.96, Y:179.15, Z:80.78 [[ 6.33812702e-01 7.69774409e-01 -7.56889611e-02 2.30964157e+02] [-7.64957183e-01 6.38307192e-01 8.60490403e-02 1.79154888e+02] [ 1.14551157e-01 3.35983967e-03 9.93411669e-01 8.07777710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:179.11, Z:80.79 [[ 6.32994350e-01 7.70449925e-01 -7.56641730e-02 2.31004986e+02] [-7.65634895e-01 6.37491192e-01 8.60708314e-02 1.79107490e+02] [ 1.14548509e-01 3.44878115e-03 9.93411669e-01 8.07856339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:179.06, Z:80.79 [[ 6.38149027e-01 7.66188283e-01 -7.56395072e-02 2.31050266e+02] [-7.61340643e-01 6.42610695e-01 8.60925024e-02 1.79064180e+02] [ 1.14569823e-01 2.64758445e-03 9.93411670e-01 8.07854244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:179.02, Z:80.79 [[ 6.40977721e-01 7.63825647e-01 -7.56170750e-02 2.31091865e+02] [-7.58959237e-01 6.45418908e-01 8.61122008e-02 1.79017984e+02] [ 1.14579397e-01 2.19427526e-03 9.93411670e-01 8.07888354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:178.97, Z:80.80 [[ 6.42432991e-01 7.62604357e-01 -7.55939630e-02 2.31131728e+02] [-7.57727117e-01 6.46862282e-01 8.61324850e-02 1.78971675e+02] [ 1.14583892e-01 1.94524566e-03 9.93411671e-01 8.07954968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.17, Y:178.92, Z:80.80 [[ 6.42932288e-01 7.62185548e-01 -7.55729036e-02 2.31170494e+02] [-7.57303253e-01 6.47356004e-01 8.61509587e-02 1.78923950e+02] [ 1.14585589e-01 1.84237274e-03 9.93411671e-01 8.08038436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:178.88, Z:80.81 [[ 6.44716079e-01 7.60679489e-01 -7.55505928e-02 2.31210098e+02] [-7.55784568e-01 6.49125819e-01 8.61705199e-02 1.78876567e+02] [ 1.14589988e-01 1.54445238e-03 9.93411672e-01 8.08124105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.24, Y:178.83, Z:80.83 [[ 6.41871908e-01 7.63082520e-01 -7.55349019e-02 2.31243763e+02] [-7.58202488e-01 6.46298120e-01 8.61842720e-02 1.78825167e+02] [ 1.14583777e-01 1.95148746e-03 9.93411672e-01 8.08307610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:178.78, Z:80.84 [[ 6.43426739e-01 7.61774447e-01 -7.55097530e-02 2.31283875e+02] [-7.56882831e-01 6.47840145e-01 8.62063005e-02 1.78778594e+02] [ 1.14588006e-01 1.68459680e-03 9.93411672e-01 8.08355521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.32, Y:178.73, Z:80.84 [[ 6.45129307e-01 7.60335298e-01 -7.54878280e-02 2.31324704e+02] [-7.55431590e-01 6.49529273e-01 8.62254952e-02 1.78731541e+02] [ 1.14591842e-01 1.39929609e-03 9.93411673e-01 8.08393194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:178.68, Z:80.85 [[ 6.47548480e-01 7.58278211e-01 -7.54660185e-02 2.31362976e+02] [-7.53358301e-01 6.51930321e-01 8.62445791e-02 1.78684902e+02] [ 1.14595971e-01 1.00540528e-03 9.93411673e-01 8.08458003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:178.64, Z:80.86 [[ 6.49572392e-01 7.56547153e-01 -7.54460892e-02 2.31401593e+02] [-7.51613540e-01 6.53938799e-01 8.62620096e-02 1.78638736e+02] [ 1.14598403e-01 6.72882230e-04 9.93411674e-01 8.08587068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:178.59, Z:80.87 [[ 6.50990779e-01 7.55328954e-01 -7.54266285e-02 2.31441053e+02] [-7.50385199e-01 6.55345698e-01 8.62790226e-02 1.78592372e+02] [ 1.14599560e-01 4.32177488e-04 9.93411674e-01 8.08704784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:178.55, Z:80.87 [[ 6.55920980e-01 7.51053709e-01 -7.54055333e-02 2.31486001e+02] [-7.46079448e-01 6.60241021e-01 8.62974553e-02 1.78548890e+02] [ 1.14599850e-01 -3.45792717e-04 9.93411674e-01 8.08714551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:178.50, Z:80.88 [[ 6.55134086e-01 7.51741039e-01 -7.53972198e-02 2.31526028e+02] [-7.46770474e-01 6.59458380e-01 8.63047181e-02 1.78502473e+02] [ 1.14600127e-01 -2.36745033e-04 9.93411674e-01 8.08758118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.56, Y:178.45, Z:80.88 [[ 6.52714230e-01 7.53845414e-01 -7.53739091e-02 2.31563401e+02] [-7.48886440e-01 6.57051811e-01 8.63250717e-02 1.78454618e+02] [ 1.14600323e-01 1.00895770e-04 9.93411675e-01 8.08835680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.60, Y:178.41, Z:80.89 [[ 6.53567299e-01 7.53108101e-01 -7.53523311e-02 2.31604438e+02] [-7.48142062e-01 6.57896789e-01 8.63439029e-02 1.78408235e+02] [ 1.14600349e-01 -5.73030587e-05 9.93411675e-01 8.08919100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:178.37, Z:80.90 [[ 6.58601145e-01 7.48712079e-01 -7.53309652e-02 2.31649386e+02] [-7.43715011e-01 6.62894783e-01 8.63625397e-02 1.78365148e+02] [ 1.14597181e-01 -8.53697921e-04 9.93411676e-01 8.08950549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:178.32, Z:80.92 [[ 6.56719632e-01 7.50364165e-01 -7.53189534e-02 2.31684753e+02] [-7.45376697e-01 6.61024418e-01 8.63730142e-02 1.78317907e+02] [ 1.14598882e-01 -5.81861461e-04 9.93411676e-01 8.09151068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:178.27, Z:80.92 [[ 6.59604720e-01 7.47830672e-01 -7.53053712e-02 2.31725579e+02] [-7.42825319e-01 6.63888697e-01 8.63848545e-02 1.78271058e+02] [ 1.14595629e-01 -1.04112142e-03 9.93411676e-01 8.09245166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.77, Y:178.22, Z:80.93 [[ 6.60350080e-01 7.47175075e-01 -7.52806711e-02 2.31766706e+02] [-7.42163016e-01 6.64626208e-01 8.64063742e-02 1.78223643e+02] [ 1.14594196e-01 -1.18792613e-03 9.93411677e-01 8.09313828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:178.18, Z:80.94 [[ 6.63156251e-01 7.44688075e-01 -7.52559491e-02 2.31808076e+02] [-7.39657538e-01 6.67410626e-01 8.64279007e-02 1.78176539e+02] [ 1.14588447e-01 -1.65157260e-03 9.93411677e-01 8.09372177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:178.13, Z:80.95 [[ 6.64386470e-01 7.43593195e-01 -7.52315012e-02 2.31849194e+02] [-7.38553240e-01 6.68629682e-01 8.64491763e-02 1.78130583e+02] [ 1.14585034e-01 -1.87319401e-03 9.93411678e-01 8.09452864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.89, Y:178.09, Z:80.95 [[ 6.64117793e-01 7.43835297e-01 -7.52104296e-02 2.31892412e+02] [-7.38794814e-01 6.68360377e-01 8.64675046e-02 1.78085305e+02] [ 1.14585253e-01 -1.85953296e-03 9.93411678e-01 8.09509780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:178.04, Z:80.95 [[ 6.60432537e-01 7.47111741e-01 -7.51858447e-02 2.31935237e+02] [-7.42089876e-01 6.64697142e-01 8.64888767e-02 1.78040504e+02] [ 1.14592671e-01 -1.32541410e-03 9.93411679e-01 8.09506816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:178.00, Z:80.94 [[ 6.57706164e-01 7.49514939e-01 -7.51662034e-02 2.31981193e+02] [-7.44506707e-01 6.61986771e-01 8.65059433e-02 1.77997090e+02] [ 1.14596529e-01 -9.33749549e-04 9.93411679e-01 8.09424211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:177.95, Z:80.96 [[ 6.50830870e-01 7.55494930e-01 -7.51437901e-02 2.32016655e+02] [-7.50523784e-01 6.55154489e-01 8.65254084e-02 1.77950690e+02] [ 1.14600299e-01 8.37948301e-05 9.93411679e-01 8.09633895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.06, Y:177.91, Z:80.98 [[ 6.50139817e-01 7.56089858e-01 -7.51421659e-02 2.32056544e+02] [-7.51122505e-01 6.54467793e-01 8.65268189e-02 1.77905305e+02] [ 1.14600178e-01 1.86441647e-04 9.93411679e-01 8.09756898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.10, Y:177.86, Z:80.99 [[ 6.51891229e-01 7.54582275e-01 -7.51226751e-02 2.32097536e+02] [-7.49602963e-01 6.56205440e-01 8.65437376e-02 1.77859403e+02] [ 1.14600278e-01 -1.04923636e-04 9.93411680e-01 8.09855016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:232.13, Y:177.81, Z:81.00 [[ 6.49032820e-01 7.57043134e-01 -7.51138610e-02 2.32133699e+02] [-7.52079294e-01 6.53364824e-01 8.65513870e-02 1.77810912e+02] [ 1.14599888e-01 3.16888828e-04 9.93411680e-01 8.09973804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.76, Y:178.41, Z:81.59 [[ 7.09076925e-01 7.01121840e-01 -7.50871531e-02 2.32762301e+02] [-6.95816241e-01 7.12982893e-01 8.65745511e-02 1.78408798e+02] [ 1.14235164e-01 -9.14115581e-03 9.93411680e-01 8.15902392e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:178.37, Z:81.59 [[ 7.05090001e-01 7.04401400e-01 -8.16502234e-02 2.32807001e+02] [-6.99858830e-01 7.09801370e-01 7.98726013e-02 1.78367118e+02] [ 1.14217813e-01 8.26257395e-04 9.93455388e-01 8.15912194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:178.32, Z:81.59 [[ 7.04201995e-01 7.05291617e-01 -8.16289496e-02 2.32850733e+02] [-7.00752484e-01 7.08916674e-01 7.98943370e-02 1.78322734e+02] [ 1.14216930e-01 9.39937742e-04 9.93455389e-01 8.15939412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:178.28, Z:81.59 [[ 7.06428972e-01 7.03063385e-01 -8.16087277e-02 2.32895253e+02] [-6.98506994e-01 7.11126975e-01 7.99149876e-02 1.78279111e+02] [ 1.14219469e-01 5.50004492e-04 9.93455389e-01 8.15916640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:178.23, Z:81.61 [[ 7.05811372e-01 7.03685805e-01 -8.15879638e-02 2.32931993e+02] [-6.99131106e-01 7.10511015e-01 7.99361806e-02 1.78231871e+02] [ 1.14219103e-01 6.20818133e-04 9.93455390e-01 8.16123526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:178.19, Z:81.63 [[ 7.07351324e-01 7.02140016e-01 -8.15690066e-02 2.32973812e+02] [-6.97572817e-01 7.12038819e-01 7.99555205e-02 1.78186342e+02] [ 1.14220270e-01 3.43678382e-04 9.93455390e-01 8.16269524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.01, Y:178.14, Z:81.63 [[ 7.05825432e-01 7.03676543e-01 -8.15462004e-02 2.33014880e+02] [-6.99116861e-01 7.10520239e-01 7.99787737e-02 1.78138152e+02] [ 1.14219413e-01 5.59271113e-04 9.93455391e-01 8.16300316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.06, Y:178.09, Z:81.63 [[ 7.02459058e-01 7.07039772e-01 -8.15232066e-02 2.33057885e+02] [-7.02499847e-01 7.07172972e-01 8.00022047e-02 1.78092813e+02] [ 1.14215749e-01 1.07176683e-03 9.93455391e-01 8.16343138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:178.05, Z:81.63 [[ 7.01189875e-01 7.08301140e-01 -8.15000338e-02 2.33101471e+02] [-7.03766951e-01 7.05909306e-01 8.00258045e-02 1.78049718e+02] [ 1.14214001e-01 1.24374655e-03 9.93455392e-01 8.16340085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.14, Y:178.00, Z:81.64 [[ 7.02203266e-01 7.07298618e-01 -8.14815207e-02 2.33142375e+02] [-7.02755505e-01 7.06914106e-01 8.00446500e-02 1.78002890e+02] [ 1.14215907e-01 1.05397260e-03 9.93455392e-01 8.16412320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.18, Y:177.95, Z:81.66 [[ 7.09052447e-01 7.00434603e-01 -8.14616069e-02 2.33179240e+02] [-6.95843553e-01 7.13716582e-01 8.00649113e-02 1.77954589e+02] [ 1.14220734e-01 -8.56873318e-05 9.93455392e-01 8.16556588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:177.91, Z:81.67 [[ 7.13926046e-01 6.95468600e-01 -8.14434043e-02 2.33218326e+02] [-6.90842996e-01 7.18555913e-01 8.00834230e-02 1.77907569e+02] [ 1.14217146e-01 -9.09036125e-04 9.93455393e-01 8.16724003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.26, Y:177.86, Z:81.68 [[ 7.17512866e-01 6.91769919e-01 -8.14227615e-02 2.33259803e+02] [-6.87118070e-01 7.22116363e-01 8.01044056e-02 1.77863450e+02] [ 1.14210527e-01 -1.52889088e-03 9.93455393e-01 8.16786781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:177.81, Z:81.68 [[ 7.22024132e-01 6.87062233e-01 -8.14041839e-02 2.33300179e+02] [-6.82378248e-01 7.26594926e-01 8.01232803e-02 1.77814473e+02] [ 1.14197547e-01 -2.30249753e-03 9.93455393e-01 8.16760550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.93, Y:178.51, Z:82.28 [[ 7.39762784e-01 6.67926426e-01 -8.13960239e-02 2.33931174e+02] [-6.63123489e-01 7.44208418e-01 8.01315691e-02 1.78514307e+02] [ 1.14097599e-01 -5.30273721e-03 9.93455394e-01 8.22784552e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.98, Y:178.48, Z:82.29 [[ 7.43904355e-01 6.63165425e-01 -8.25707577e-02 2.33979822e+02] [-6.58469052e-01 7.48460359e-01 7.89024590e-02 1.78479214e+02] [ 1.14126322e-01 -4.32559430e-03 9.93456829e-01 8.22931673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:178.44, Z:82.30 [[ 7.45651243e-01 6.61203117e-01 -8.25509678e-02 2.34030681e+02] [-6.56492472e-01 7.50192488e-01 7.89231587e-02 1.78442808e+02] [ 1.14113354e-01 -4.65506242e-03 9.93456830e-01 8.22987623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters Centerline goodness : 0.993800 with order 1 Centerline is valid? [True, True] Translation: X:234.09, Y:178.41, Z:82.30 [[ 7.43501706e-01 6.63621751e-01 -8.25311187e-02 2.34087966e+02] [-6.58923585e-01 7.48055859e-01 7.89439098e-02 1.78411065e+02] [ 1.14126782e-01 -4.31323094e-03 9.93456830e-01 8.22984155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters Centerline goodness : 0.985787 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:178.38, Z:82.30 [[ 7.37433810e-01 6.70359378e-01 -8.25207910e-02 2.34144153e+02] [-6.65701639e-01 7.42029300e-01 7.89547039e-02 1.78381190e+02] [ 1.14160871e-01 -3.28964222e-03 9.93456830e-01 8.23037394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters Centerline goodness : 0.977702 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:178.35, Z:82.31 [[ 7.38133525e-01 6.69591759e-01 -8.24971232e-02 2.34197046e+02] [-6.64926483e-01 7.42721363e-01 7.89794260e-02 1.78347646e+02] [ 1.14156349e-01 -3.44284012e-03 9.93456831e-01 8.23113697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters Centerline goodness : 0.154590 with order 1 Centerline is valid? [True, False] Translation: X:234.22, Y:178.35, Z:82.31 [[ 7.52688990e-01 6.53936471e-01 -7.63306987e-02 2.34219224e+02] [-6.49951041e-01 7.56534449e-01 7.22445267e-02 1.78351770e+02] [ 1.04990134e-01 -4.76644279e-03 9.94461841e-01 8.23089874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters Centerline goodness : 0.148351 with order 1 Centerline is valid? [False, False] Translation: X:234.26, Y:178.36, Z:82.31 [[ 7.69999091e-01 6.32399900e-01 -8.46862787e-02 2.34255984e+02] [-6.29214443e-01 7.74629835e-01 6.35437141e-02 1.78358319e+02] [ 1.05785557e-01 4.35722766e-03 9.94379420e-01 8.23069982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters Centerline goodness : 0.147921 with order 1 Centerline is valid? [False, False] Translation: X:234.27, Y:178.37, Z:82.30 [[ 7.75541241e-01 6.25057001e-01 -8.85411155e-02 2.34268369e+02] [-6.22513251e-01 7.80506395e-01 5.73325412e-02 1.78367405e+02] [ 1.04943013e-01 1.06542675e-02 9.94421164e-01 8.23033013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters Centerline goodness : 0.135725 with order 1 Centerline is valid? [False, False] Translation: X:234.32, Y:178.38, Z:82.30 [[ 7.78417947e-01 6.21127519e-01 -9.09181214e-02 2.34322213e+02] [-6.18552311e-01 7.83626983e-01 5.76349812e-02 1.78375001e+02] [ 1.07044566e-01 1.13735103e-02 9.94189169e-01 8.23038187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters Centerline goodness : 0.138959 with order 1 Centerline is valid? [False, False] Translation: X:234.36, Y:178.39, Z:82.30 [[ 7.78310649e-01 6.20493230e-01 -9.60244023e-02 2.34355917e+02] [-6.18258967e-01 7.84038965e-01 5.51248624e-02 1.78394969e+02] [ 1.09491477e-01 1.64636804e-02 9.93851379e-01 8.23024905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters Centerline goodness : 0.129236 with order 1 Centerline is valid? [False, False] Translation: X:234.39, Y:178.43, Z:82.30 [[ 7.68536458e-01 6.33225682e-01 -9.15256709e-02 2.34389872e+02] [-6.30675266e-01 7.73858599e-01 5.82372501e-02 1.78432057e+02] [ 1.07705250e-01 1.29655269e-02 9.94098322e-01 8.22981694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters Centerline goodness : 0.136307 with order 1 Centerline is valid? [False, False] Translation: X:234.39, Y:178.49, Z:82.28 [[ 7.69879656e-01 6.30025228e-01 -1.01752288e-01 2.34391904e+02] [-6.29801574e-01 7.75806735e-01 3.83912338e-02 1.78490599e+02] [ 1.03127556e-01 3.45271212e-02 9.94068702e-01 8.22824037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters Centerline goodness : 0.134719 with order 1 Centerline is valid? [False, False] Translation: X:234.42, Y:178.54, Z:82.27 [[ 7.73855363e-01 6.23352859e-01 -1.12156541e-01 2.34420616e+02] [-6.25987596e-01 7.79701638e-01 1.43138077e-02 1.78538643e+02] [ 9.63711917e-02 5.91317866e-02 9.93587452e-01 8.22746451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters SLAMing on 488.956875 meters Centerline goodness : 0.123126 with order 1 Centerline is valid? [False, False] Translation: X:234.47, Y:178.60, Z:82.27 [[ 7.72722719e-01 6.23253707e-01 -1.20226517e-01 2.34474033e+02] [-6.28046361e-01 7.78171727e-01 -2.55582583e-03 1.78600673e+02] [ 9.19639485e-02 7.74827713e-02 9.92743196e-01 8.22667060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters SLAMing on 489.07687500000003 meters Centerline goodness : 0.137411 with order 1 Centerline is valid? [False, False] Translation: X:234.53, Y:178.64, Z:82.26 [[ 7.69937227e-01 6.26141647e-01 -1.23058136e-01 2.34525726e+02] [-6.32540803e-01 7.74324429e-01 -1.77147100e-02 1.78644514e+02] [ 8.41950031e-02 9.14785068e-02 9.92241344e-01 8.22593689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters Centerline goodness : 0.151666 with order 1 Centerline is valid? [False, False] Translation: X:234.50, Y:178.70, Z:82.25 [[ 7.78304322e-01 6.15693220e-01 -1.23143177e-01 2.34502489e+02] [-6.23014927e-01 7.81652057e-01 -2.95374804e-02 1.78698457e+02] [ 7.80690914e-02 9.97091863e-02 9.91949240e-01 8.22453482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters Centerline goodness : 0.139234 with order 1 Centerline is valid? [False, False] Translation: X:234.52, Y:178.73, Z:82.24 [[ 7.93863102e-01 5.95272122e-01 -1.24227515e-01 2.34516774e+02] [-6.04047807e-01 7.95481603e-01 -4.83245930e-02 1.78731580e+02] [ 7.00544202e-02 1.13402470e-01 9.91076313e-01 8.22394217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters Centerline goodness : 0.052687 with order 1 Centerline is valid? [False, False] Translation: X:234.50, Y:178.77, Z:82.23 [[ 8.02403172e-01 5.84511529e-01 -1.20396934e-01 2.34501304e+02] [-5.93610461e-01 8.02499815e-01 -6.01719844e-02 1.78772366e+02] [ 6.14472982e-02 1.19751070e-01 9.90900555e-01 8.22289921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters Centerline goodness : 0.143679 with order 1 Centerline is valid? [False, False] Translation: X:234.51, Y:178.81, Z:82.22 [[ 8.07405875e-01 5.77661557e-01 -1.20011994e-01 2.34508937e+02] [-5.87013280e-01 8.06957899e-01 -6.50719507e-02 1.78813003e+02] [ 5.92550618e-02 1.22988109e-01 9.90637554e-01 8.22198677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters Centerline goodness : 0.140729 with order 1 Centerline is valid? [False, False] Translation: X:234.50, Y:178.85, Z:82.21 [[ 8.12040674e-01 5.70586235e-01 -1.22561381e-01 2.34502316e+02] [-5.80923906e-01 8.10381660e-01 -7.62166724e-02 1.78849442e+02] [ 5.58333113e-02 1.33089874e-01 9.89530053e-01 8.22111780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters Centerline goodness : 0.142889 with order 1 Centerline is valid? [False, False] Translation: X:234.49, Y:178.88, Z:82.20 [[ 8.14212606e-01 5.67455330e-01 -1.22687737e-01 2.34491739e+02] [-5.78412557e-01 8.11059427e-01 -8.73013161e-02 1.78883903e+02] [ 4.99674481e-02 1.42045960e-01 9.88598098e-01 8.22039997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters Centerline goodness : 0.129669 with order 1 Centerline is valid? [False, False] Translation: X:234.49, Y:178.92, Z:82.20 [[ 8.11118482e-01 5.74964362e-01 -1.07251062e-01 2.34493978e+02] [-5.83827223e-01 8.06934108e-01 -8.94601545e-02 1.78924732e+02] [ 3.51081398e-02 1.35178875e-01 9.90199016e-01 8.21993730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters Centerline goodness : 0.139059 with order 1 Centerline is valid? [False, False] Translation: X:234.51, Y:178.95, Z:82.19 [[ 8.03765402e-01 5.85344129e-01 -1.06458576e-01 2.34505721e+02] [-5.94339633e-01 7.98065608e-01 -9.92556551e-02 1.78950659e+02] [ 2.68622133e-02 1.43050813e-01 9.89350740e-01 8.21920833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters Centerline goodness : 0.102688 with order 1 Centerline is valid? [False, False] Translation: X:234.48, Y:178.99, Z:82.18 [[ 8.06148908e-01 5.83140715e-01 -1.00353597e-01 2.34482409e+02] [-5.91526541e-01 7.98474554e-01 -1.11958647e-01 1.78993175e+02] [ 1.48421482e-02 1.49617157e-01 9.88632600e-01 8.21780145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters Centerline goodness : 0.141811 with order 1 Centerline is valid? [False, False] Translation: X:234.48, Y:179.02, Z:82.17 [[ 8.18580517e-01 5.68153103e-01 -8.44274146e-02 2.34476204e+02] [-5.74381747e-01 8.08805918e-01 -1.26168919e-01 1.79015935e+02] [-3.39787002e-03 1.51772985e-01 9.88409538e-01 8.21716667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters Centerline goodness : 0.096198 with order 1 Centerline is valid? [False, False] Translation: X:234.47, Y:179.05, Z:82.16 [[ 8.29988261e-01 5.52471420e-01 -7.67777181e-02 2.34465148e+02] [-5.57751970e-01 8.20644195e-01 -1.24321542e-01 1.79045828e+02] [-5.67691012e-03 1.46008344e-01 9.89267070e-01 8.21636114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters Centerline goodness : 0.160451 with order 1 Centerline is valid? [False, False] Translation: X:234.47, Y:179.06, Z:82.15 [[ 8.49757096e-01 5.22694856e-01 -6.85781702e-02 2.34469446e+02] [-5.27035737e-01 8.39331012e-01 -1.33254580e-01 1.79063351e+02] [-1.20916983e-02 1.49377171e-01 9.88706353e-01 8.21525883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters Centerline goodness : 0.148790 with order 3 Centerline is valid? [False, False] Translation: X:234.49, Y:179.07, Z:82.15 [[ 8.82327786e-01 4.67819140e-01 -5.14094479e-02 2.34485671e+02] [-4.69229499e-01 8.65991110e-01 -1.72867217e-01 1.79073913e+02] [-3.63504680e-02 1.76648378e-01 9.83602559e-01 8.21461280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters Centerline goodness : 0.221958 with order 1 Centerline is valid? [False, False] Translation: X:234.53, Y:179.09, Z:82.15 [[ 8.94423014e-01 4.44601478e-01 -4.83425112e-02 2.34525364e+02] [-4.46993664e-01 8.85274936e-01 -1.28393739e-01 1.79087680e+02] [-1.42876328e-02 1.36447112e-01 9.90544320e-01 8.21463917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters Centerline goodness : 0.279101 with order 1 Centerline is valid? [False, False] Translation: X:234.60, Y:179.10, Z:82.15 [[ 8.93556053e-01 4.45525117e-01 -5.53619956e-02 2.34603663e+02] [-4.48943973e-01 8.86000058e-01 -1.15987961e-01 1.79100405e+02] [-2.62481864e-03 1.28496179e-01 9.91706530e-01 8.21519081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters Centerline goodness : 0.334545 with order 1 Centerline is valid? [False, False] Translation: X:234.66, Y:179.12, Z:82.16 [[ 8.94834165e-01 4.43325402e-01 -5.22915372e-02 2.34663468e+02] [-4.45576821e-01 8.79932187e-01 -1.64865530e-01 1.79116748e+02] [-2.70760707e-02 1.70827206e-01 9.84928907e-01 8.21601024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters Centerline goodness : 0.403380 with order 1 Centerline is valid? [False, False] Translation: X:234.71, Y:179.14, Z:82.17 [[ 8.92743234e-01 4.48107457e-01 -4.70023839e-02 2.34710403e+02] [-4.50036625e-01 8.81775357e-01 -1.41206433e-01 1.79139511e+02] [-2.18301116e-02 1.47213882e-01 9.88863752e-01 8.21687389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters Centerline goodness : 0.436243 with order 1 Centerline is valid? [False, False] Translation: X:234.79, Y:179.17, Z:82.17 [[ 8.79113687e-01 4.74267892e-01 -4.72132678e-02 2.34785776e+02] [-4.76457040e-01 8.71978127e-01 -1.12440360e-01 1.79171987e+02] [-1.21579158e-02 1.21342954e-01 9.92536182e-01 8.21725370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters Centerline goodness : 0.450884 with order 1 Centerline is valid? [False, False] Translation: X:234.82, Y:179.19, Z:82.18 [[ 8.77577935e-01 4.76763729e-01 -5.05303327e-02 2.34820388e+02] [-4.78810778e-01 8.66183442e-01 -1.43061115e-01 1.79192033e+02] [-2.44378132e-02 1.49741746e-01 9.88423089e-01 8.21772961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters Centerline goodness : 0.473511 with order 1 Centerline is valid? [False, False] Translation: X:234.86, Y:179.21, Z:82.18 [[ 8.73590767e-01 4.84742635e-01 -4.31711675e-02 2.34858083e+02] [-4.85529910e-01 8.62078668e-01 -1.45193241e-01 1.79206662e+02] [-3.31644116e-02 1.47800368e-01 9.88461012e-01 8.21757483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters Centerline goodness : 0.541302 with order 1 Centerline is valid? [False, False] Translation: X:234.93, Y:179.22, Z:82.18 [[ 8.68620917e-01 4.94022057e-01 -3.79461394e-02 2.34934156e+02] [-4.94990862e-01 8.61827061e-01 -1.10626234e-01 1.79222470e+02] [-2.19487897e-02 1.14875253e-01 9.93137416e-01 8.21774511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters Centerline goodness : 0.561431 with order 1 Centerline is valid? [False, False] Translation: X:234.98, Y:179.23, Z:82.17 [[ 8.63323213e-01 5.02267904e-01 -4.89896094e-02 2.34977316e+02] [-5.03606844e-01 8.51224510e-01 -1.47638007e-01 1.79228513e+02] [-3.24526760e-02 1.52130821e-01 9.87827433e-01 8.21729445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters Centerline goodness : 0.572392 with order 1 Centerline is valid? [False, False] Translation: X:234.98, Y:179.24, Z:82.17 [[ 8.62682699e-01 5.03594567e-01 -4.65947736e-02 2.34981456e+02] [-5.04478986e-01 8.50346144e-01 -1.49707678e-01 1.79235864e+02] [-3.57702870e-02 1.52656308e-01 9.87631783e-01 8.21678162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters Centerline goodness : 0.579760 with order 1 Centerline is valid? [False, False] Translation: X:234.99, Y:179.24, Z:82.17 [[ 8.65804097e-01 4.98926039e-01 -3.81585264e-02 2.34991671e+02] [-4.98540721e-01 8.53566362e-01 -1.51266704e-01 1.79235707e+02] [-4.29000627e-02 1.49990911e-01 9.87756200e-01 8.21707822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters Centerline goodness : 0.598008 with order 1 Centerline is valid? [False, False] Translation: X:235.02, Y:179.22, Z:82.16 [[ 8.67739714e-01 4.96520403e-01 -2.22548383e-02 2.35018491e+02] [-4.94562296e-01 8.58138312e-01 -1.37865055e-01 1.79216772e+02] [-4.93550832e-02 1.30637387e-01 9.90200964e-01 8.21636621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters Centerline goodness : 0.615043 with order 1 Centerline is valid? [False, False] Translation: X:235.04, Y:179.20, Z:82.16 [[ 8.69454145e-01 4.93635785e-01 -1.93184063e-02 2.35041196e+02] [-4.91535719e-01 8.60519520e-01 -1.33786367e-01 1.79201596e+02] [-4.94178726e-02 1.25816798e-01 9.90821885e-01 8.21617046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters Centerline goodness : 0.634050 with order 1 Centerline is valid? [False, False] Translation: X:235.08, Y:179.18, Z:82.16 [[ 8.70202112e-01 4.91887059e-01 -2.82029249e-02 2.35076472e+02] [-4.90186222e-01 8.58582482e-01 -1.50178524e-01 1.79180863e+02] [-4.96563353e-02 1.44510354e-01 9.88256549e-01 8.21551962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters Centerline goodness : 0.379386 with order 1 Centerline is valid? [False, False] Translation: X:235.09, Y:179.17, Z:82.15 [[ 8.71420263e-01 4.88369477e-01 -4.60649376e-02 2.35094309e+02] [-4.88700945e-01 8.56204107e-01 -1.67588525e-01 1.79165486e+02] [-4.24041317e-02 1.68552016e-01 9.84780233e-01 8.21451395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters Centerline goodness : 0.636753 with order 1 Centerline is valid? [False, False] Translation: X:235.11, Y:179.14, Z:82.14 [[ 8.72457100e-01 4.87161783e-01 -3.86264959e-02 2.35112637e+02] [-4.86621033e-01 8.58777346e-01 -1.60316687e-01 1.79141814e+02] [-4.49286034e-02 1.58665897e-01 9.86309563e-01 8.21360356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters Centerline goodness : 0.681298 with order 1 Centerline is valid? [False, False] Translation: X:235.13, Y:179.11, Z:82.13 [[ 8.80520365e-01 4.72346686e-01 -3.96547083e-02 2.35129813e+02] [-4.71690825e-01 8.64881356e-01 -1.71720721e-01 1.79108551e+02] [-4.68150956e-02 1.69908354e-01 9.84347245e-01 8.21310284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters Centerline goodness : 0.788731 with order 1 Centerline is valid? [False, False] Translation: X:235.15, Y:179.08, Z:82.12 [[ 8.90910264e-01 4.52240855e-01 -4.19179008e-02 2.35149532e+02] [-4.52820374e-01 8.77318896e-01 -1.58950505e-01 1.79078595e+02] [-3.51085457e-02 1.60591916e-01 9.86396283e-01 8.21216289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters Centerline goodness : 0.969688 with order 1 Centerline is valid? [False, True] Translation: X:235.17, Y:179.04, Z:82.08 [[ 8.91992299e-01 4.51802406e-01 -1.49774597e-02 2.35171490e+02] [-4.50137811e-01 8.84685612e-01 -1.21273736e-01 1.79042663e+02] [-4.15414225e-02 1.14917159e-01 9.92506099e-01 8.20768081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters Centerline goodness : 0.814052 with order 1 Centerline is valid? [True, False] Translation: X:235.22, Y:178.90, Z:81.99 [[ 8.92322984e-01 4.35920712e-01 1.17187137e-01 2.35217982e+02] [-4.34395080e-01 8.99850682e-01 -3.96189905e-02 1.78901668e+02] [-1.22721664e-01 -1.55525801e-02 9.92319258e-01 8.19877506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters Centerline goodness : 0.888808 with order 1 Centerline is valid? [False, False] Translation: X:235.21, Y:178.92, Z:82.00 [[ 9.00147223e-01 4.11489476e-01 1.42868432e-01 2.35208417e+02] [-4.13200370e-01 9.10444429e-01 -1.88784515e-02 1.78918361e+02] [-1.37842053e-01 -4.20399036e-02 9.89561628e-01 8.19998385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters Centerline goodness : 0.869438 with order 1 Centerline is valid? [False, False] Translation: X:235.23, Y:178.90, Z:82.00 [[ 9.07215409e-01 3.93511124e-01 1.48691617e-01 2.35226700e+02] [-3.97305351e-01 9.17675279e-01 -4.53215346e-03 1.78902368e+02] [-1.38234074e-01 -5.49643357e-02 9.88873229e-01 8.20011101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters Centerline goodness : 0.902915 with order 1 Centerline is valid? [False, False] Translation: X:235.24, Y:178.91, Z:81.99 [[ 9.10386813e-01 3.88079779e-01 1.43491937e-01 2.35238527e+02] [-3.89722619e-01 9.20763318e-01 -1.76406550e-02 1.78914063e+02] [-1.38968094e-01 -3.98622340e-02 9.89494250e-01 8.19948244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters Centerline goodness : 0.879309 with order 1 Centerline is valid? [False, False] Translation: X:235.28, Y:178.98, Z:81.93 [[ 8.99276655e-01 4.14746139e-01 1.38878141e-01 2.35278068e+02] [-4.18597243e-01 9.08170530e-01 -1.62367048e-03 1.78982467e+02] [-1.26798446e-01 -5.66738780e-02 9.90308147e-01 8.19336800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters Centerline goodness : 0.901470 with order 1 Centerline is valid? [False, False] Translation: X:235.30, Y:178.96, Z:81.93 [[ 9.02670463e-01 4.04982176e-01 1.45517948e-01 2.35302468e+02] [-4.09531469e-01 9.12294863e-01 1.43488897e-03 1.78957842e+02] [-1.32174172e-01 -6.08894110e-02 9.89354571e-01 8.19300390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters Centerline goodness : 0.906632 with order 1 Centerline is valid? [False, False] Translation: X:235.31, Y:178.95, Z:81.93 [[ 9.07590511e-01 3.95952144e-01 1.39647282e-01 2.35306304e+02] [-3.98762001e-01 9.17015415e-01 -8.46140414e-03 1.78950883e+02] [-1.31409021e-01 -4.80065394e-02 9.90165159e-01 8.19256020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters Centerline goodness : 0.900673 with order 2 Centerline is valid? [False, False] Translation: X:235.33, Y:178.94, Z:81.93 [[ 9.14881561e-01 3.77806495e-01 1.42316482e-01 2.35327371e+02] [-3.82723294e-01 9.23829642e-01 7.85324081e-03 1.78939504e+02] [-1.28509179e-01 -6.16526179e-02 9.89790051e-01 8.19287145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters Centerline goodness : 0.903145 with order 2 Centerline is valid? [False, False] Translation: X:235.33, Y:178.94, Z:81.94 [[ 9.16472747e-01 3.72153148e-01 1.46900436e-01 2.35330456e+02] [-3.78758240e-01 9.25303978e-01 1.88346445e-02 1.78942803e+02] [-1.28918185e-01 -7.29011889e-02 9.88971950e-01 8.19367808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters Centerline goodness : 0.932556 with order 1 Centerline is valid? [False, False] Translation: X:235.34, Y:178.94, Z:81.93 [[ 9.19203333e-01 3.67287309e-01 1.42004454e-01 2.35339772e+02] [-3.72539873e-01 9.27946325e-01 1.13868560e-02 1.78941016e+02] [-1.27590264e-01 -6.33691574e-02 9.89800523e-01 8.19281418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters Centerline goodness : 0.923624 with order 2 Centerline is valid? [False, False] Translation: X:235.35, Y:178.96, Z:81.92 [[ 9.16521277e-01 3.75548959e-01 1.37665277e-01 2.35347658e+02] [-3.79287816e-01 9.25278200e-01 1.00307233e-03 1.78961897e+02] [-1.27001977e-01 -5.31340993e-02 9.90478301e-01 8.19227106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters Centerline goodness : 0.939169 with order 1 Centerline is valid? [False, False] Translation: X:235.33, Y:178.97, Z:81.93 [[ 9.13633324e-01 3.84204945e-01 1.32893604e-01 2.35325113e+02] [-3.86196356e-01 9.22344966e-01 -1.14951875e-02 1.78971663e+02] [-1.26990254e-01 -4.08206391e-02 9.91063646e-01 8.19303480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters Centerline goodness : 0.915469 with order 3 Centerline is valid? [False, False] Translation: X:235.32, Y:178.97, Z:81.93 [[ 9.14255387e-01 3.83244722e-01 1.31379486e-01 2.35324970e+02] [-3.84479991e-01 9.22979480e-01 -1.68527918e-02 1.78971317e+02] [-1.27719313e-01 -3.51050280e-02 9.91188889e-01 8.19266413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters Centerline goodness : 0.944938 with order 3 Centerline is valid? [False, False] Translation: X:235.32, Y:179.00, Z:81.94 [[ 9.10847676e-01 3.87315420e-01 1.42629857e-01 2.35323789e+02] [-3.89178594e-01 9.21027736e-01 -1.57458398e-02 1.78996600e+02] [-1.37464660e-01 -4.11664254e-02 9.89650844e-01 8.19390844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters Centerline goodness : 0.947432 with order 3 Centerline is valid? [False, False] Translation: X:235.32, Y:179.00, Z:81.94 [[ 9.12472937e-01 3.84300601e-01 1.40378724e-01 2.35321680e+02] [-3.84906504e-01 9.22645792e-01 -2.39107770e-02 1.78996547e+02] [-1.38708765e-01 -3.22147468e-02 9.89809117e-01 8.19369396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters Centerline goodness : 0.950227 with order 2 Centerline is valid? [False, True] Translation: X:235.33, Y:179.01, Z:81.93 [[ 9.13233257e-01 3.84704027e-01 1.34193253e-01 2.35328719e+02] [-3.83609873e-01 9.22833029e-01 -3.49666506e-02 1.79005707e+02] [-1.37289778e-01 -1.95451486e-02 9.90338076e-01 8.19281091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters Centerline goodness : 0.962470 with order 1 Centerline is valid? [True, True] Translation: X:235.41, Y:179.00, Z:81.91 [[ 9.13007444e-01 3.86097104e-01 1.31705857e-01 2.35409989e+02] [-3.84055280e-01 9.22372158e-01 -4.16070267e-02 1.79004390e+02] [-1.37546168e-01 -1.25948047e-02 9.90415278e-01 8.19101025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters Centerline goodness : 0.954505 with order 2 Centerline is valid? [True, True] Translation: X:235.39, Y:178.96, Z:81.87 [[ 8.97452828e-01 4.21830313e-01 1.28986850e-01 2.35389037e+02] [-4.19123150e-01 9.06616727e-01 -4.88046791e-02 1.78959824e+02] [-1.37528929e-01 -1.02614776e-02 9.90444595e-01 8.18677109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters Centerline goodness : 0.960436 with order 2 Centerline is valid? [True, True] Translation: X:235.44, Y:178.89, Z:81.87 [[ 8.86307101e-01 4.43174126e-01 1.34374170e-01 2.35443551e+02] [-4.42802927e-01 8.95962894e-01 -3.42937481e-02 1.78894329e+02] [-1.35592372e-01 -2.91064831e-02 9.90337075e-01 8.18736358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters Centerline goodness : 0.969728 with order 1 Centerline is valid? [True, True] Translation: X:235.56, Y:178.83, Z:81.86 [[ 8.87882799e-01 4.40371569e-01 1.33180390e-01 2.35557522e+02] [-4.39565870e-01 8.97447985e-01 -3.69994613e-02 1.78830630e+02] [-1.35815984e-01 -2.56903689e-02 9.90400941e-01 8.18571077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters Centerline goodness : 0.969681 with order 3 Centerline is valid? [True, True] Translation: X:235.46, Y:178.89, Z:81.88 [[ 8.84301630e-01 4.49995026e-01 1.24559635e-01 2.35456897e+02] [-4.46513144e-01 8.93011351e-01 -5.61848582e-02 1.78885564e+02] [-1.36516074e-01 -5.93315240e-03 9.90620088e-01 8.18828840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters Centerline goodness : 0.966742 with order 1 Centerline is valid? [True, True] Translation: X:235.64, Y:178.77, Z:81.82 [[ 8.84571376e-01 4.45326062e-01 1.38629650e-01 2.35640904e+02] [-4.46521167e-01 8.94448384e-01 -2.41025882e-02 1.78769743e+02] [-1.34730577e-01 -4.05806135e-02 9.90050951e-01 8.18244053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters Centerline goodness : 0.971429 with order 2 Centerline is valid? [True, True] Translation: X:235.61, Y:178.75, Z:81.85 [[ 8.76338596e-01 4.65455977e-01 1.24021767e-01 2.35613942e+02] [-4.62090782e-01 8.85036078e-01 -5.64202960e-02 1.78748998e+02] [-1.36024902e-01 -7.86603205e-03 9.90674190e-01 8.18501763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters Centerline goodness : 0.979713 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:178.74, Z:81.83 [[ 8.87359509e-01 4.41543908e-01 1.32785836e-01 2.35741703e+02] [-4.40779480e-01 8.96864279e-01 -3.67139693e-02 1.78742736e+02] [-1.35301703e-01 -2.59507820e-02 9.90464541e-01 8.18298608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters Centerline goodness : 0.980424 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:178.72, Z:81.82 [[ 8.89069415e-01 4.40691153e-01 1.23882535e-01 2.35795499e+02] [-4.37090984e-01 8.97649702e-01 -5.63602989e-02 1.78719154e+02] [-1.36040606e-01 -4.03972098e-03 9.90695026e-01 8.18195265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters Centerline goodness : 0.773317 with order 2 Centerline is valid? [True, False] Translation: X:235.80, Y:178.73, Z:81.82 [[ 8.97075868e-01 4.24111227e-01 1.24034488e-01 2.35801657e+02] [-4.17532881e-01 9.05457897e-01 -7.62383757e-02 1.78726629e+02] [-1.44641558e-01 1.66031299e-02 9.89344811e-01 8.18206242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters Centerline goodness : 0.976452 with order 2 Centerline is valid? [False, True] Translation: X:235.81, Y:178.75, Z:81.82 [[ 8.98713069e-01 4.18275246e-01 1.31759772e-01 2.35810258e+02] [-4.10601999e-01 9.08105938e-01 -8.21559700e-02 1.78746660e+02] [-1.54015640e-01 1.97338183e-02 9.87871327e-01 8.18249207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters Centerline goodness : 0.984375 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:178.72, Z:81.83 [[ 9.13362010e-01 3.79669772e-01 1.47039799e-01 2.35922540e+02] [-3.76883851e-01 9.25043447e-01 -4.74677166e-02 1.78717107e+02] [-1.54040260e-01 -1.20617166e-02 9.87990948e-01 8.18250193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters Centerline goodness : 0.159960 with order 1 Centerline is valid? [True, False] Translation: X:235.93, Y:178.73, Z:81.82 [[ 9.13190903e-01 3.81122163e-01 1.44320034e-01 2.35928126e+02] [-3.77509868e-01 9.24503020e-01 -5.27301251e-02 1.78725654e+02] [-1.53520926e-01 -6.32956639e-03 9.88125125e-01 8.18205004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters Centerline goodness : 0.145188 with order 1 Centerline is valid? [False, False] Translation: X:235.94, Y:178.75, Z:81.82 [[ 9.09949416e-01 3.86225365e-01 1.51069612e-01 2.35944647e+02] [-3.82903905e-01 9.22341073e-01 -5.16869868e-02 1.78751726e+02] [-1.59300533e-01 -1.08126008e-02 9.87170921e-01 8.18212349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters Centerline goodness : 0.482446 with order 1 Centerline is valid? [False, False] Translation: X:235.95, Y:178.76, Z:81.83 [[ 9.09119508e-01 3.88722122e-01 1.49655713e-01 2.35949142e+02] [-3.85199919e-01 9.21306923e-01 -5.30525731e-02 1.78763713e+02] [-1.58501554e-01 -9.41623955e-03 9.87313826e-01 8.18254338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters Centerline goodness : 0.882269 with order 3 Centerline is valid? [False, False] Translation: X:235.97, Y:178.77, Z:81.82 [[ 9.11787680e-01 3.87413539e-01 1.36212980e-01 2.35968860e+02] [-3.82665093e-01 9.21900884e-01 -6.05490481e-02 1.78774668e+02] [-1.49032388e-01 3.08392351e-03 9.88827506e-01 8.18154031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters Centerline goodness : 0.139417 with order 1 Centerline is valid? [False, False] Translation: X:235.97, Y:178.78, Z:81.81 [[ 9.17896791e-01 3.71624881e-01 1.39141758e-01 2.35967880e+02] [-3.62940873e-01 9.27994930e-01 -8.42575432e-02 1.78775275e+02] [-1.60435045e-01 2.68394976e-02 9.86681427e-01 8.18140160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters Centerline goodness : 0.991657 with order 1 Centerline is valid? [False, True] Translation: X:235.97, Y:178.78, Z:81.81 [[ 9.17962815e-01 3.71875361e-01 1.38032553e-01 2.35971979e+02] [-3.63403604e-01 9.27913811e-01 -8.31491406e-02 1.78778085e+02] [-1.59003429e-01 2.61662917e-02 9.86931221e-01 8.18132210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters Centerline goodness : 0.142806 with order 1 Centerline is valid? [True, False] Translation: X:235.97, Y:178.78, Z:81.81 [[ 9.15409484e-01 3.77085181e-01 1.40826999e-01 2.35969533e+02] [-3.68910137e-01 9.25907102e-01 -8.12486844e-02 1.78782014e+02] [-1.61030394e-01 2.24233086e-02 9.86694688e-01 8.18135440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters Centerline goodness : 0.988673 with order 1 Centerline is valid? [False, True] Translation: X:235.97, Y:178.78, Z:81.81 [[ 9.17086333e-01 3.73277930e-01 1.40058008e-01 2.35967891e+02] [-3.64532053e-01 9.27340265e-01 -8.45955993e-02 1.78780504e+02] [-1.61459100e-01 2.65258348e-02 9.86522853e-01 8.18141250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters Centerline goodness : 0.137346 with order 1 Centerline is valid? [True, False] Translation: X:235.93, Y:178.79, Z:81.81 [[ 9.16648384e-01 3.68338789e-01 1.55184650e-01 2.35929865e+02] [-3.63482420e-01 9.29690012e-01 -5.96406925e-02 1.78785635e+02] [-1.66241599e-01 -1.73734768e-03 9.86083522e-01 8.18107540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters Centerline goodness : 0.990855 with order 1 Centerline is valid? [False, True] Translation: X:235.87, Y:178.80, Z:81.81 [[ 9.17300460e-01 3.63211372e-01 1.63209578e-01 2.35873519e+02] [-3.63347723e-01 9.31167442e-01 -3.00936388e-02 1.78799479e+02] [-1.62905797e-01 -3.16969200e-02 9.86132347e-01 8.18072271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters Centerline goodness : 0.989592 with order 1 Centerline is valid? [True, True] Translation: X:235.93, Y:178.79, Z:81.81 [[ 9.18949440e-01 3.65166571e-01 1.48947314e-01 2.35933636e+02] [-3.59600261e-01 9.30928845e-01 -6.37113614e-02 1.78788124e+02] [-1.61924611e-01 4.98602675e-03 9.86790535e-01 8.18118983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:235.99, Y:178.77, Z:81.80 [[ 9.18284022e-01 3.66829621e-01 1.48964707e-01 2.35985899e+02] [-3.61291602e-01 9.30276531e-01 -6.36706704e-02 1.78766719e+02] [-1.61934659e-01 4.64806184e-03 9.86790536e-01 8.17975289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters Centerline goodness : 0.991767 with order 1 Centerline is valid? [True, True] Translation: X:236.04, Y:178.74, Z:81.78 [[ 9.19002912e-01 3.65022703e-01 1.48970042e-01 2.36035717e+02] [-3.59463127e-01 9.30985443e-01 -6.36581861e-02 1.78738096e+02] [-1.61925623e-01 4.95282144e-03 9.86790536e-01 8.17821745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters Centerline goodness : 0.992281 with order 1 Centerline is valid? [True, True] Translation: X:236.09, Y:178.72, Z:81.78 [[ 9.17016743e-01 3.69978211e-01 1.48984621e-01 2.36091359e+02] [-3.64488940e-01 9.29031643e-01 -6.36240458e-02 1.78717750e+02] [-1.61950938e-01 4.04106854e-03 9.86790537e-01 8.17775730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:236.14, Y:178.69, Z:81.76 [[ 9.13755364e-01 3.77955601e-01 1.48998990e-01 2.36141695e+02] [-3.72576731e-01 9.25820092e-01 -6.35903799e-02 1.78692019e+02] [-1.61980599e-01 2.59249422e-03 9.86790537e-01 8.17607742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters Centerline goodness : 0.994080 with order 1 Centerline is valid? [True, True] Translation: X:236.20, Y:178.68, Z:81.76 [[ 9.14335070e-01 3.76545007e-01 1.49014222e-01 2.36198776e+02] [-3.71153343e-01 9.26394085e-01 -6.35546663e-02 1.78675484e+02] [-1.61977086e-01 2.80313368e-03 9.86790538e-01 8.17629485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters Centerline goodness : 0.995574 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:178.65, Z:81.75 [[ 9.15630947e-01 3.73380825e-01 1.49019220e-01 2.36251241e+02] [-3.67949398e-01 9.27672105e-01 -6.35429435e-02 1.78652962e+02] [-1.61966690e-01 3.35035311e-03 9.86790538e-01 8.17543765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters Centerline goodness : 0.994692 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:178.63, Z:81.74 [[ 9.16194711e-01 3.71988961e-01 1.49035115e-01 2.36301482e+02] [-3.66545306e-01 9.28230344e-01 -6.35056421e-02 1.78625945e+02] [-1.61962314e-01 3.55541152e-03 9.86790539e-01 8.17400981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters Centerline goodness : 0.995229 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:178.59, Z:81.73 [[ 9.15298265e-01 3.74183774e-01 1.49048949e-01 2.36348445e+02] [-3.68774268e-01 9.27349285e-01 -6.34731572e-02 1.78592601e+02] [-1.61971062e-01 3.13145349e-03 9.86790540e-01 8.17252297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters Centerline goodness : 0.995841 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:178.58, Z:81.73 [[ 9.16538608e-01 3.71133319e-01 1.49053813e-01 2.36405072e+02] [-3.65685564e-01 9.28572386e-01 -6.34617340e-02 1.78575372e+02] [-1.61960018e-01 3.65830173e-03 9.86790540e-01 8.17261481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters Centerline goodness : 0.996352 with order 1 Centerline is valid? [True, True] Translation: X:236.46, Y:178.56, Z:81.72 [[ 9.14129669e-01 3.77025865e-01 1.49058528e-01 2.36460212e+02] [-3.71657496e-01 9.26199071e-01 -6.34506560e-02 1.78558791e+02] [-1.61980409e-01 2.60340777e-03 9.86790540e-01 8.17190286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters Centerline goodness : 0.997079 with order 1 Centerline is valid? [True, True] Translation: X:236.51, Y:178.54, Z:81.71 [[ 9.08504188e-01 3.90384809e-01 1.49063212e-01 2.36514434e+02] [-3.85195738e-01 9.20651755e-01 -6.34396517e-02 1.78539293e+02] [-1.62001184e-01 2.16675563e-04 9.86790540e-01 8.17119319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters Centerline goodness : 0.996944 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:178.51, Z:81.70 [[ 9.09228781e-01 3.88692415e-01 1.49067872e-01 2.36564802e+02] [-3.83482529e-01 9.21367435e-01 -6.34286996e-02 1.78511770e+02] [-1.62000537e-01 5.06274836e-04 9.86790540e-01 8.16984603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:178.49, Z:81.69 [[ 9.08811733e-01 3.89661475e-01 1.49081084e-01 2.36616234e+02] [-3.84469628e-01 9.20958113e-01 -6.33976299e-02 1.78487434e+02] [-1.62001048e-01 2.99360701e-04 9.86790540e-01 8.16855524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters Centerline goodness : 0.996509 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:178.47, Z:81.68 [[ 9.09482964e-01 3.88090433e-01 1.49085726e-01 2.36672120e+02] [-3.82879394e-01 9.21621123e-01 -6.33867127e-02 1.78468583e+02] [-1.62000331e-01 5.67282881e-04 9.86790541e-01 8.16779744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters Centerline goodness : 0.996205 with order 1 Centerline is valid? [True, True] Translation: X:236.73, Y:178.45, Z:81.68 [[ 9.06359066e-01 3.95326629e-01 1.49097617e-01 2.36725654e+02] [-3.90217099e-01 9.18540302e-01 -6.33587308e-02 1.78446600e+02] [-1.61999564e-01 -7.54679474e-04 9.86790541e-01 8.16757595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters Centerline goodness : 0.997194 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:178.43, Z:81.66 [[ 8.97928151e-01 4.14117852e-01 1.49102115e-01 2.36777815e+02] [-4.09264889e-01 9.10213856e-01 -6.33481442e-02 1.78426740e+02] [-1.61948408e-01 -4.14017852e-03 9.86790541e-01 8.16643444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters Centerline goodness : 0.995876 with order 1 Centerline is valid? [True, True] Translation: X:236.83, Y:178.40, Z:81.65 [[ 8.95238302e-01 4.19898931e-01 1.49108251e-01 2.36826169e+02] [-4.15127687e-01 9.07555974e-01 -6.33336979e-02 1.78398867e+02] [-1.61917836e-01 -5.20021123e-03 9.86790541e-01 8.16472428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters Centerline goodness : 0.996761 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:178.37, Z:81.63 [[ 8.96256868e-01 4.17713836e-01 1.49126719e-01 2.36875432e+02] [-4.12919791e-01 9.08565682e-01 -6.32901828e-02 1.78373973e+02] [-1.61928604e-01 -4.85311280e-03 9.86790542e-01 8.16256859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters Centerline goodness : 0.996922 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:178.35, Z:81.62 [[ 8.96543624e-01 4.17095999e-01 1.49132352e-01 2.36929093e+02] [-4.12295678e-01 9.08849992e-01 -6.32769080e-02 1.78349204e+02] [-1.61931482e-01 -4.75611558e-03 9.86790542e-01 8.16191310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters Centerline goodness : 0.990449 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:178.32, Z:81.62 [[ 8.96537693e-01 4.17106513e-01 1.49138599e-01 2.36982695e+02] [-4.12308783e-01 9.08845071e-01 -6.32621791e-02 1.78320140e+02] [-1.61930948e-01 -4.77422636e-03 9.86790543e-01 8.16194307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:178.30, Z:81.62 [[ 8.95635516e-01 4.19036775e-01 1.49148261e-01 2.37033865e+02] [-4.14269359e-01 9.07954667e-01 -6.32393920e-02 1.78295802e+02] [-1.61919491e-01 -5.14810912e-03 9.86790543e-01 8.16159379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters Centerline goodness : 0.996935 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:178.27, Z:81.60 [[ 8.93389668e-01 4.23800282e-01 1.49158382e-01 2.37085831e+02] [-4.19102515e-01 9.05735547e-01 -6.32155126e-02 1.78271593e+02] [-1.61888801e-01 -6.03656719e-03 9.86790543e-01 8.15995856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters Centerline goodness : 0.990992 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:178.25, Z:81.59 [[ 8.97114799e-01 4.15851756e-01 1.49172232e-01 2.37139436e+02] [-4.11049995e-01 9.09420603e-01 -6.31828134e-02 1.78251500e+02] [-1.61934985e-01 -4.63500827e-03 9.86790544e-01 8.15855174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:178.23, Z:81.58 [[ 9.03514474e-01 4.01750481e-01 1.49191642e-01 2.37194430e+02] [-3.96764152e-01 9.15746654e-01 -6.31369473e-02 1.78233278e+02] [-1.61987046e-01 -2.14874976e-03 9.86790545e-01 8.15784427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters Centerline goodness : 0.995480 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:178.21, Z:81.56 [[ 9.06885347e-01 3.94073379e-01 1.49215076e-01 2.37244560e+02] [-3.88992608e-01 9.19078600e-01 -6.30815173e-02 1.78209461e+02] [-1.61999130e-01 -8.35857803e-04 9.86790547e-01 8.15614340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:178.18, Z:81.55 [[ 9.07359240e-01 3.92978910e-01 1.49220597e-01 2.37293714e+02] [-3.87885579e-01 9.19547251e-01 -6.30684559e-02 1.78182053e+02] [-1.61999962e-01 -6.54771242e-04 9.86790547e-01 8.15463458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters Centerline goodness : 0.993052 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:178.17, Z:81.54 [[ 9.06700659e-01 3.94489168e-01 1.49238772e-01 2.37350101e+02] [-3.89423220e-01 9.18900077e-01 -6.30254190e-02 1.78165686e+02] [-1.61998364e-01 -9.71854171e-04 9.86790548e-01 8.15429537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:237.41, Y:178.15, Z:81.54 [[ 9.06633211e-01 3.94642060e-01 1.49244317e-01 2.37405856e+02] [-3.89580331e-01 9.18834380e-01 -6.30122862e-02 1.78150179e+02] [-1.61998107e-01 -1.01361899e-03 9.86790548e-01 8.15382808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters Centerline goodness : 0.993593 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:178.13, Z:81.53 [[ 9.07152451e-01 3.93440335e-01 1.49261964e-01 2.37462328e+02] [-3.88369325e-01 9.19349764e-01 -6.29704569e-02 1.78132308e+02] [-1.61999069e-01 -8.44963723e-04 9.86790549e-01 8.15332280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters Centerline goodness : 0.993294 with order 1 Centerline is valid? [True, True] Translation: X:237.51, Y:178.10, Z:81.51 [[ 9.08849974e-01 3.89497131e-01 1.49277293e-01 2.37510516e+02] [-3.84379172e-01 9.21027661e-01 -6.29340959e-02 1.78104861e+02] [-1.62001166e-01 -1.81430939e-04 9.86790550e-01 8.15135231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters Centerline goodness : 0.995485 with order 1 Centerline is valid? [True, True] Translation: X:237.56, Y:178.08, Z:81.50 [[ 9.14251716e-01 3.76641059e-01 1.49282661e-01 2.37562377e+02] [-3.71353949e-01 9.26356922e-01 -6.29213600e-02 1.78083062e+02] [-1.61987794e-01 2.08925562e-03 9.86790550e-01 8.14985376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters Centerline goodness : 0.994559 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:178.07, Z:81.50 [[ 9.13501747e-01 3.78449615e-01 1.49299856e-01 2.37620210e+02] [-3.73193141e-01 9.25620288e-01 -6.28805346e-02 1.78066160e+02] [-1.61992090e-01 1.72379598e-03 9.86790551e-01 8.15041111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters Centerline goodness : 0.992650 with order 1 Centerline is valid? [True, True] Translation: X:237.68, Y:178.05, Z:81.50 [[ 9.10382224e-01 3.85890311e-01 1.49307983e-01 2.37677476e+02] [-3.80736053e-01 9.22544591e-01 -6.28612310e-02 1.78052171e+02] [-1.62000812e-01 3.80815011e-04 9.86790551e-01 8.15009207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters Centerline goodness : 0.993357 with order 1 Centerline is valid? [True, True] Translation: X:237.72, Y:178.02, Z:81.48 [[ 9.08932243e-01 3.89286237e-01 1.49326501e-01 2.37722882e+02] [-3.84184652e-01 9.21116796e-01 -6.28172117e-02 1.78019195e+02] [-1.62001024e-01 -2.72360653e-04 9.86790552e-01 8.14797911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters Centerline goodness : 0.992595 with order 1 Centerline is valid? [True, True] Translation: X:237.77, Y:177.99, Z:81.46 [[ 9.08039688e-01 3.91360654e-01 1.49334402e-01 2.37770952e+02] [-3.86289994e-01 9.20237143e-01 -6.27984228e-02 1.77988462e+02] [-1.61999895e-01 -6.62925068e-04 9.86790552e-01 8.14624201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters Centerline goodness : 0.994491 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:177.98, Z:81.47 [[ 9.07811913e-01 3.91881557e-01 1.49353188e-01 2.37832336e+02] [-3.86825251e-01 9.20015324e-01 -6.27537125e-02 1.77984518e+02] [-1.61999244e-01 -8.05016643e-04 9.86790554e-01 8.14676618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters Centerline goodness : 0.995672 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:177.96, Z:81.46 [[ 9.05751052e-01 3.96617955e-01 1.49362747e-01 2.37882842e+02] [-3.91629212e-01 9.17982237e-01 -6.27309535e-02 1.77956904e+02] [-1.61992571e-01 -1.67618776e-03 9.86790554e-01 8.14569781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters Centerline goodness : 0.995520 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:177.92, Z:81.44 [[ 9.04648958e-01 3.99118452e-01 1.49381136e-01 2.37927765e+02] [-3.94170748e-01 9.16896801e-01 -6.26871329e-02 1.77918768e+02] [-1.61986677e-01 -2.17182471e-03 9.86790555e-01 8.14445309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters Centerline goodness : 0.994966 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:177.89, Z:81.44 [[ 9.05592950e-01 3.96969880e-01 1.49386493e-01 2.37979489e+02] [-3.91995222e-01 9.17829870e-01 -6.26743655e-02 1.77892860e+02] [-1.61991220e-01 -1.80132783e-03 9.86790555e-01 8.14365668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters Centerline goodness : 0.994064 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:177.86, Z:81.42 [[ 9.07066782e-01 3.93583774e-01 1.49404371e-01 2.38028724e+02] [-3.88570457e-01 9.19287913e-01 -6.26317183e-02 1.77864968e+02] [-1.61996461e-01 -1.24297353e-03 9.86790556e-01 8.14228395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:177.84, Z:81.42 [[ 9.09147727e-01 3.88750696e-01 1.49409862e-01 2.38080697e+02] [-3.83674561e-01 9.21342900e-01 -6.26186177e-02 1.77840848e+02] [-1.62000746e-01 -3.95189045e-04 9.86790556e-01 8.14173543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters Centerline goodness : 0.991502 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:177.81, Z:81.42 [[ 9.09855452e-01 3.87089325e-01 1.49415233e-01 2.38131426e+02] [-3.81993026e-01 9.22042213e-01 -6.26057983e-02 1.77808395e+02] [-1.62001188e-01 -1.13350124e-04 9.86790556e-01 8.14183858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters Centerline goodness : 0.995198 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:177.79, Z:81.39 [[ 9.14197600e-01 3.76713852e-01 1.49430325e-01 2.38183095e+02] [-3.71485139e-01 9.26328137e-01 -6.25697544e-02 1.77789009e+02] [-1.61992408e-01 1.68997412e-03 9.86790557e-01 8.13936730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:238.24, Y:177.77, Z:81.40 [[ 9.14130410e-01 3.76870968e-01 1.49445200e-01 2.38240808e+02] [-3.71650150e-01 9.26264346e-01 -6.25342072e-02 1.77769838e+02] [-1.61993088e-01 1.62308947e-03 9.86790558e-01 8.13986136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters Centerline goodness : 0.989401 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:177.75, Z:81.39 [[ 9.10750443e-01 3.84961384e-01 1.49460243e-01 2.38293535e+02] [-3.79854261e-01 9.22932669e-01 -6.24982341e-02 1.77746282e+02] [-1.62001147e-01 1.47184281e-04 9.86790559e-01 8.13923742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters Centerline goodness : 0.989340 with order 1 Centerline is valid? [True, True] Translation: X:238.35, Y:177.73, Z:81.38 [[ 9.10145890e-01 3.86381329e-01 1.49478851e-01 2.38345530e+02] [-3.81300526e-01 9.22339116e-01 -6.24536977e-02 1.77725325e+02] [-1.62001134e-01 -1.54388118e-04 9.86790560e-01 8.13784752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters Centerline goodness : 0.996837 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:177.70, Z:81.37 [[ 9.11053102e-01 3.84235140e-01 1.49484457e-01 2.38399741e+02] [-3.79127815e-01 9.23235242e-01 -6.24402766e-02 1.77703803e+02] [-1.62001067e-01 2.12692282e-04 9.86790560e-01 8.13683045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters Centerline goodness : 0.995769 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:177.69, Z:81.37 [[ 9.11336194e-01 3.83557820e-01 1.49498295e-01 2.38457996e+02] [-3.78446878e-01 9.23516817e-01 -6.24071267e-02 1.77689017e+02] [-1.62000931e-01 2.96710214e-04 9.86790561e-01 8.13670360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:177.67, Z:81.34 [[ 9.11675224e-01 3.82745470e-01 1.49513182e-01 2.38508298e+02] [-3.77629527e-01 9.23853746e-01 -6.23714413e-02 1.77671148e+02] [-1.62000700e-01 4.01905563e-04 9.86790561e-01 8.13368479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:238.56, Y:177.65, Z:81.34 [[ 9.09146931e-01 3.88709827e-01 1.49520994e-01 2.38563216e+02] [-3.83676859e-01 9.21359977e-01 -6.23527080e-02 1.77646052e+02] [-1.61999770e-01 -6.79972187e-04 9.86790561e-01 8.13437328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:238.62, Y:177.64, Z:81.33 [[ 9.08510831e-01 3.90188530e-01 1.49535887e-01 2.38621779e+02] [-3.85181321e-01 9.20734460e-01 -6.23169712e-02 1.77636317e+02] [-1.61998211e-01 -9.82787041e-04 9.86790562e-01 8.13300625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters Centerline goodness : 0.995662 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:177.62, Z:81.31 [[ 9.08847106e-01 3.89403673e-01 1.49538347e-01 2.38677991e+02] [-3.84386879e-01 9.21066804e-01 -6.23110679e-02 1.77621559e+02] [-1.61998966e-01 -8.49344652e-04 9.86790562e-01 8.13145101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters Centerline goodness : 0.994293 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:177.60, Z:81.31 [[ 9.08519157e-01 3.90167400e-01 1.49540435e-01 2.38729453e+02] [-3.85161703e-01 9.20743405e-01 -6.23060551e-02 1.77595359e+02] [-1.61998161e-01 -9.91004067e-04 9.86790562e-01 8.13063375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters Centerline goodness : 0.994577 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:177.58, Z:81.29 [[ 9.14800805e-01 3.75200723e-01 1.49545658e-01 2.38782720e+02] [-3.69997079e-01 9.26942112e-01 -6.22935165e-02 1.77575888e+02] [-1.61992741e-01 1.65470228e-03 9.86790562e-01 8.12931843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters Centerline goodness : 0.993617 with order 1 Centerline is valid? [True, True] Translation: X:238.84, Y:177.55, Z:81.29 [[ 9.17478572e-01 3.68602292e-01 1.49550727e-01 2.38837378e+02] [-3.63313320e-01 9.29582952e-01 -6.22813467e-02 1.77551990e+02] [-1.61976853e-01 2.80802997e-03 9.86790562e-01 8.12920423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters Centerline goodness : 0.992227 with order 1 Centerline is valid? [True, True] Translation: X:238.89, Y:177.53, Z:81.28 [[ 9.17941702e-01 3.67445725e-01 1.49554910e-01 2.38889574e+02] [-3.62143139e-01 9.30040124e-01 -6.22712984e-02 1.77529821e+02] [-1.61973390e-01 3.00113682e-03 9.86790562e-01 8.12791386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters Centerline goodness : 0.992851 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:177.51, Z:81.27 [[ 9.20170836e-01 3.61820418e-01 1.49571445e-01 2.38945048e+02] [-3.56450336e-01 9.32239450e-01 -6.22315575e-02 1.77513252e+02] [-1.61953050e-01 3.94887243e-03 9.86790563e-01 8.12743837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:177.49, Z:81.26 [[ 9.20720436e-01 3.60412679e-01 1.49588032e-01 2.38995020e+02] [-3.55030621e-01 9.32783713e-01 -6.21916625e-02 1.77488831e+02] [-1.61947944e-01 4.15280274e-03 9.86790564e-01 8.12581427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters Centerline goodness : 0.994227 with order 1 Centerline is valid? [True, True] Translation: X:239.05, Y:177.47, Z:81.25 [[ 9.17876740e-01 3.67592409e-01 1.49593155e-01 2.39049026e+02] [-3.62306736e-01 9.29982559e-01 -6.21793380e-02 1.77469726e+02] [-1.61975677e-01 2.87436044e-03 9.86790564e-01 8.12467349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:177.45, Z:81.24 [[ 9.17493021e-01 3.68542215e-01 1.49610133e-01 2.39103884e+02] [-3.63275738e-01 9.29607202e-01 -6.21384610e-02 1.77453709e+02] [-1.61979303e-01 2.66187303e-03 9.86790565e-01 8.12432548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters Centerline goodness : 0.995120 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:177.42, Z:81.22 [[ 9.17254832e-01 3.69131695e-01 1.49617394e-01 2.39150532e+02] [-3.63875855e-01 9.29373632e-01 -6.21209727e-02 1.77423465e+02] [-1.61981281e-01 2.53860533e-03 9.86790566e-01 8.12214005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:177.40, Z:81.22 [[ 9.19437853e-01 3.63652953e-01 1.49634768e-01 2.39205567e+02] [-3.58331719e-01 9.31528081e-01 -6.20790943e-02 1.77404881e+02] [-1.61964234e-01 3.45898558e-03 9.86790567e-01 8.12155877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters Centerline goodness : 0.995643 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:177.39, Z:81.22 [[ 9.15592526e-01 3.73221924e-01 1.49652000e-01 2.39262602e+02] [-3.68033860e-01 9.27740493e-01 -6.20375256e-02 1.77385682e+02] [-1.61991985e-01 1.72409142e-03 9.86790568e-01 8.12188494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters Centerline goodness : 0.993594 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:177.35, Z:81.19 [[ 9.09297410e-01 3.88300686e-01 1.49668963e-01 2.39306490e+02] [-3.83320809e-01 9.21532192e-01 -6.19965749e-02 1.77351650e+02] [-1.61998080e-01 -9.97903172e-04 9.86790569e-01 8.11885165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters Centerline goodness : 0.994699 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:177.34, Z:81.19 [[ 9.11739649e-01 3.82528697e-01 1.49675011e-01 2.39367615e+02] [-3.77473760e-01 9.23943611e-01 -6.19819703e-02 1.77342457e+02] [-1.62001153e-01 1.30305885e-05 9.86790569e-01 8.11897352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters Centerline goodness : 0.994804 with order 1 Centerline is valid? [True, True] Translation: X:239.42, Y:177.32, Z:81.18 [[ 9.12843469e-01 3.79881141e-01 1.49690078e-01 2.39419870e+02] [-3.74796779e-01 9.25035201e-01 -6.19455618e-02 1.77318132e+02] [-1.62000542e-01 4.43242432e-04 9.86790569e-01 8.11819431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:239.47, Y:177.29, Z:81.17 [[ 9.11913026e-01 3.82101926e-01 1.49708886e-01 2.39469690e+02] [-3.77054721e-01 9.24120186e-01 -6.19000745e-02 1.77289146e+02] [-1.62001141e-01 -9.57996162e-07 9.86790571e-01 8.11658936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:177.27, Z:81.17 [[ 9.13697255e-01 3.77810006e-01 1.49722831e-01 2.39528696e+02] [-3.72710990e-01 9.25882863e-01 -6.18663272e-02 1.77273626e+02] [-1.61999521e-01 7.23748790e-04 9.86790571e-01 8.11701366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:177.26, Z:81.17 [[ 9.11533433e-01 3.82999435e-01 1.49727194e-01 2.39586371e+02] [-3.77971527e-01 9.23748553e-01 -6.18557651e-02 1.77257191e+02] [-1.62001002e-01 -2.09018350e-04 9.86790571e-01 8.11725466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters Centerline goodness : 0.994271 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:177.23, Z:81.15 [[ 9.15341446e-01 3.73805461e-01 1.49731478e-01 2.39632686e+02] [-3.68656559e-01 9.27506059e-01 -6.18453936e-02 1.77225143e+02] [-1.61994999e-01 1.41016056e-03 9.86790571e-01 8.11509778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters Centerline goodness : 0.996838 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:177.21, Z:81.15 [[ 9.18379707e-01 3.66269531e-01 1.49750944e-01 2.39689405e+02] [-3.61028509e-01 9.30504914e-01 -6.17982234e-02 1.77210487e+02] [-1.61978796e-01 2.68987418e-03 9.86790573e-01 8.11491912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters Centerline goodness : 0.994853 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:177.18, Z:81.14 [[ 9.15620607e-01 3.73105491e-01 1.49770482e-01 2.39739405e+02] [-3.67962753e-01 9.27787824e-01 -6.17508359e-02 1.77182528e+02] [-1.61994806e-01 1.43037890e-03 9.86790574e-01 8.11408292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters Centerline goodness : 0.995587 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:177.16, Z:81.12 [[ 9.18021287e-01 3.67150947e-01 1.49790182e-01 2.39789638e+02] [-3.61937095e-01 9.30158200e-01 -6.17030145e-02 1.77156957e+02] [-1.61982886e-01 2.43005761e-03 9.86790575e-01 8.11211835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters Centerline goodness : 0.994148 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:177.13, Z:81.10 [[ 9.14846563e-01 3.74989878e-01 1.49794387e-01 2.39838266e+02] [-3.69881702e-01 9.27028330e-01 -6.16928048e-02 1.77127215e+02] [-1.61997817e-01 1.03324768e-03 9.86790575e-01 8.11016973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:177.11, Z:81.10 [[ 9.13626782e-01 3.77946045e-01 1.49809514e-01 2.39892501e+02] [-3.72883312e-01 9.25827504e-01 -6.16560488e-02 1.77106748e+02] [-1.62000428e-01 4.69149632e-04 9.86790576e-01 8.10957936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters Centerline goodness : 0.994108 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:177.09, Z:81.10 [[ 9.10936991e-01 3.84381773e-01 1.49814722e-01 2.39949718e+02] [-3.79407317e-01 9.23173970e-01 -6.16433928e-02 1.77090999e+02] [-1.61999648e-01 -6.87554928e-04 9.86790576e-01 8.10957948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:240.00, Y:177.07, Z:81.08 [[ 9.10811989e-01 3.84675902e-01 1.49819795e-01 2.40004501e+02] [-3.79707427e-01 9.23051398e-01 -6.16310602e-02 1.77072634e+02] [-1.61999355e-01 -7.53380245e-04 9.86790576e-01 8.10849612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters Centerline goodness : 0.993674 with order 1 Centerline is valid? [True, True] Translation: X:240.06, Y:177.06, Z:81.08 [[ 9.14319223e-01 3.76258176e-01 1.49833721e-01 2.40062763e+02] [-3.71182566e-01 9.26514592e-01 -6.15971852e-02 1.77058655e+02] [-1.61999574e-01 7.03825357e-04 9.86790577e-01 8.10836049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:177.03, Z:81.07 [[ 9.14812556e-01 3.75050495e-01 1.49850303e-01 2.40111892e+02] [-3.69965397e-01 9.27003972e-01 -6.15568194e-02 1.77027951e+02] [-1.61998742e-01 8.73524458e-04 9.86790578e-01 8.10724556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters Centerline goodness : 0.993165 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:176.99, Z:81.05 [[ 9.15593821e-01 3.73130902e-01 1.49870894e-01 2.40156248e+02] [-3.68028456e-01 9.27777984e-01 -6.15066463e-02 1.76991205e+02] [-1.61996947e-01 1.15835146e-03 9.86790579e-01 8.10467772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters Centerline goodness : 0.993856 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:176.97, Z:81.04 [[ 9.16593348e-01 3.70662648e-01 1.49886073e-01 2.40210955e+02] [-3.65533444e-01 9.28766271e-01 -6.14696351e-02 1.76970642e+02] [-1.61993627e-01 1.55428626e-03 9.86790580e-01 8.10396084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters Centerline goodness : 0.994414 with order 1 Centerline is valid? [True, True] Translation: X:240.26, Y:176.95, Z:81.04 [[ 9.18443778e-01 3.66047291e-01 1.49901324e-01 2.40264302e+02] [-3.60862991e-01 9.30593337e-01 -6.14324222e-02 1.76947404e+02] [-1.61984345e-01 2.32838602e-03 9.86790581e-01 8.10353436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters Centerline goodness : 0.993808 with order 1 Centerline is valid? [True, True] Translation: X:240.31, Y:176.92, Z:81.02 [[ 9.20424941e-01 3.61034513e-01 1.49906667e-01 2.40314457e+02] [-3.55786173e-01 9.32546974e-01 -6.14193815e-02 1.76920677e+02] [-1.61969525e-01 3.19721130e-03 9.86790581e-01 8.10195111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:240.37, Y:176.91, Z:81.02 [[ 9.24306956e-01 3.50974370e-01 1.49912118e-01 2.40370848e+02] [-3.45596289e-01 9.36371988e-01 -6.14060731e-02 1.76906629e+02] [-1.61925466e-01 4.94898883e-03 9.86790581e-01 8.10156648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:240.42, Y:176.89, Z:81.00 [[ 9.23111332e-01 3.54104803e-01 1.49917499e-01 2.40423544e+02] [-3.48769773e-01 9.35195462e-01 -6.13929334e-02 1.76885635e+02] [-1.61941697e-01 4.38582034e-03 9.86790581e-01 8.10030357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:176.87, Z:80.99 [[ 9.20480901e-01 3.60884125e-01 1.49925182e-01 2.40477975e+02] [-3.55641166e-01 9.32605261e-01 -6.13741659e-02 1.76866526e+02] [-1.61969975e-01 3.17418103e-03 9.86790581e-01 8.09919450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:176.86, Z:81.00 [[ 9.17525186e-01 3.68327864e-01 1.49940382e-01 2.40540476e+02] [-3.63189351e-01 9.29694179e-01 -6.13370097e-02 1.76857564e+02] [-1.61990830e-01 1.82150132e-03 9.86790582e-01 8.10003657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:176.83, Z:80.98 [[ 9.15940328e-01 3.72250201e-01 1.49943667e-01 2.40590990e+02] [-3.67165116e-01 9.28131744e-01 -6.13289761e-02 1.76834557e+02] [-1.61997201e-01 1.11959848e-03 9.86790582e-01 8.09818385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:176.81, Z:80.97 [[ 9.12409644e-01 3.80815198e-01 1.49961413e-01 2.40641607e+02] [-3.75851692e-01 9.24651062e-01 -6.12855538e-02 1.76809799e+02] [-1.62000450e-01 -4.45720678e-04 9.86790583e-01 8.09718203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters Centerline goodness : 0.993857 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:176.79, Z:80.98 [[ 9.11581405e-01 3.82790603e-01 1.49968985e-01 2.40699675e+02] [-3.77856673e-01 9.23834772e-01 -6.12670211e-02 1.76793739e+02] [-1.61999003e-01 -8.16904405e-04 9.86790584e-01 8.09786627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters Centerline goodness : 0.991366 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:176.77, Z:80.97 [[ 9.12637226e-01 3.80260252e-01 1.49984783e-01 2.40753049e+02] [-3.75298707e-01 9.24879437e-01 -6.12283203e-02 1.76773170e+02] [-1.62000539e-01 -4.09850946e-04 9.86790584e-01 8.09703213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:176.74, Z:80.95 [[ 9.13338587e-01 3.78565274e-01 1.50003195e-01 2.40800302e+02] [-3.73588423e-01 9.25574583e-01 -6.11831806e-02 1.76740062e+02] [-1.62000972e-01 -1.58497470e-04 9.86790586e-01 8.09544547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:240.85, Y:176.72, Z:80.94 [[ 9.16742155e-01 3.70238907e-01 1.50023245e-01 2.40853121e+02] [-3.65158975e-01 9.28935713e-01 -6.11339796e-02 1.76718394e+02] [-1.61996128e-01 1.26176201e-03 9.86790587e-01 8.09363572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters Centerline goodness : 0.992906 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:176.70, Z:80.93 [[ 9.13287178e-01 3.78678336e-01 1.50030826e-01 2.40908463e+02] [-3.73714139e-01 9.25528311e-01 -6.11153688e-02 1.76701807e+02] [-1.62000843e-01 -2.52758347e-04 9.86790587e-01 8.09322199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:176.68, Z:80.92 [[ 9.13221436e-01 3.78834781e-01 1.50036052e-01 2.40961380e+02] [-3.73874790e-01 9.25464274e-01 -6.11025356e-02 1.76678491e+02] [-1.62000772e-01 -2.94552130e-04 9.86790587e-01 8.09211783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:241.01, Y:176.65, Z:80.91 [[ 9.13565364e-01 3.78002988e-01 1.50040217e-01 2.41012807e+02] [-3.73033529e-01 9.25804362e-01 -6.10923082e-02 1.76649408e+02] [-1.62000962e-01 -1.58214794e-04 9.86790587e-01 8.09082075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters Centerline goodness : 0.992153 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:176.63, Z:80.90 [[ 9.13888850e-01 3.77219409e-01 1.50042285e-01 2.41065026e+02] [-3.72240290e-01 9.26123921e-01 -6.10872277e-02 1.76625685e+02] [-1.62001037e-01 -2.48474459e-05 9.86790587e-01 8.09011937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters Centerline goodness : 0.990996 with order 1 Centerline is valid? [True, True] Translation: X:241.12, Y:176.60, Z:80.90 [[ 9.13768388e-01 3.77504489e-01 1.50058970e-01 2.41118688e+02] [-3.72535922e-01 9.26007747e-01 -6.10462140e-02 1.76601872e+02] [-1.62000989e-01 -1.20256235e-04 9.86790588e-01 8.08974806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters Centerline goodness : 0.990217 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:176.57, Z:80.89 [[ 9.15868193e-01 3.72375375e-01 1.50073427e-01 2.41168076e+02] [-3.67344091e-01 9.28081903e-01 -6.10106540e-02 1.76571156e+02] [-1.61999297e-01 7.49130800e-04 9.86790589e-01 8.08873123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters Centerline goodness : 0.991851 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:176.54, Z:80.87 [[ 9.17155409e-01 3.69186845e-01 1.50090070e-01 2.41215566e+02] [-3.64119804e-01 9.29354328e-01 -6.09696846e-02 1.76538586e+02] [-1.61996061e-01 1.26790937e-03 9.86790590e-01 8.08735890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters Centerline goodness : 0.993255 with order 1 Centerline is valid? [True, True] Translation: X:241.27, Y:176.52, Z:80.87 [[ 9.18628332e-01 3.65499590e-01 1.50106752e-01 2.41268388e+02] [-3.60390300e-01 9.30809615e-01 -6.09285856e-02 1.76516475e+02] [-1.61990181e-01 1.87370747e-03 9.86790591e-01 8.08658768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters Centerline goodness : 0.992454 with order 1 Centerline is valid? [True, True] Translation: X:241.32, Y:176.49, Z:80.86 [[ 9.19086542e-01 3.64343737e-01 1.50111860e-01 2.41319964e+02] [-3.59221183e-01 9.31262252e-01 -6.09159994e-02 1.76490549e+02] [-1.61987871e-01 2.06371548e-03 9.86790591e-01 8.08590512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters Centerline goodness : 0.992223 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:176.47, Z:80.85 [[ 9.21900882e-01 3.57155936e-01 1.50127950e-01 2.41373494e+02] [-3.51944923e-01 9.34038995e-01 -6.08763186e-02 1.76467862e+02] [-1.61967698e-01 3.28516188e-03 9.86790592e-01 8.08540296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters Centerline goodness : 0.996304 with order 1 Centerline is valid? [True, True] Translation: X:241.42, Y:176.44, Z:80.84 [[ 9.22000627e-01 3.56890919e-01 1.50145646e-01 2.41423022e+02] [-3.51683526e-01 9.34140293e-01 -6.08326437e-02 1.76441257e+02] [-1.61967715e-01 3.28398565e-03 9.86790593e-01 8.08395499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters Centerline goodness : 0.994569 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:176.41, Z:80.84 [[ 9.14810279e-01 3.74935556e-01 1.50151533e-01 2.41475507e+02] [-3.69970047e-01 9.27050873e-01 -6.08181076e-02 1.76414149e+02] [-1.62000981e-01 8.54601128e-05 9.86790593e-01 8.08365219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:176.40, Z:80.83 [[ 9.09904511e-01 3.86683183e-01 1.50166233e-01 2.41531282e+02] [-3.81881683e-01 9.22210363e-01 -6.07817919e-02 1.76395502e+02] [-1.61988153e-01 -2.04010704e-03 9.86790594e-01 8.08300950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters Centerline goodness : 0.993551 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:176.36, Z:80.82 [[ 9.02233743e-01 4.04252190e-01 1.50181356e-01 2.41579287e+02] [-3.99696401e-01 9.14632661e-01 -6.07444013e-02 1.76361189e+02] [-1.61916831e-01 -5.22129915e-03 9.86790595e-01 8.08162420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters Centerline goodness : 0.990238 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:176.34, Z:80.81 [[ 9.03692456e-01 4.00979865e-01 1.50183532e-01 2.41632177e+02] [-3.96380066e-01 9.16075114e-01 -6.07390208e-02 1.76336275e+02] [-1.61934521e-01 -4.64036352e-03 9.86790595e-01 8.08071076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters Centerline goodness : 0.993750 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:176.31, Z:80.80 [[ 9.02164467e-01 4.04404759e-01 1.50186765e-01 2.41682935e+02] [-3.99853291e-01 9.14564972e-01 -6.07310266e-02 1.76306881e+02] [-1.61915471e-01 -5.26329786e-03 9.86790595e-01 8.07957698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:241.73, Y:176.28, Z:80.78 [[ 9.01583804e-01 4.05690933e-01 1.50204901e-01 2.41733279e+02] [-4.01164621e-01 9.13993512e-01 -6.06861375e-02 1.76282332e+02] [-1.61906121e-01 -5.54325369e-03 9.86790596e-01 8.07814908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:241.79, Y:176.25, Z:80.78 [[ 8.99870958e-01 4.09473011e-01 1.50213555e-01 2.41785249e+02] [-4.05002417e-01 9.12300847e-01 -6.06647104e-02 1.76253651e+02] [-1.61880515e-01 -6.24644172e-03 9.86790596e-01 8.07754474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters Centerline goodness : 0.995856 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:176.21, Z:80.77 [[ 8.98772174e-01 4.11874022e-01 1.50227728e-01 2.41832497e+02] [-4.07442487e-01 9.11216041e-01 -6.06295919e-02 1.76214237e+02] [-1.61861670e-01 -6.71696916e-03 9.86790597e-01 8.07685225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters Centerline goodness : 0.996897 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:176.18, Z:80.76 [[ 8.99885105e-01 4.09431450e-01 1.50242089e-01 2.41881887e+02] [-4.04972069e-01 9.12319019e-01 -6.05939844e-02 1.76181174e+02] [-1.61877798e-01 -6.31622572e-03 9.86790598e-01 8.07621711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters Centerline goodness : 0.997098 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:176.14, Z:80.75 [[ 8.98265978e-01 4.12966339e-01 1.50256565e-01 2.41927551e+02] [-4.08561872e-01 9.10719450e-01 -6.05580678e-02 1.76141823e+02] [-1.61850020e-01 -6.99185156e-03 9.86790598e-01 8.07498687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters Centerline goodness : 0.997474 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:176.10, Z:80.74 [[ 8.96884549e-01 4.15952805e-01 1.50270986e-01 2.41973144e+02] [-4.11595782e-01 9.09354699e-01 -6.05222631e-02 1.76103682e+02] [-1.61824032e-01 -7.56942123e-03 9.86790599e-01 8.07352099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters Centerline goodness : 0.996682 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:176.07, Z:80.72 [[ 8.95445999e-01 4.19035463e-01 1.50285538e-01 2.42020220e+02] [-4.14727411e-01 9.07933150e-01 -6.04861068e-02 1.76069209e+02] [-1.61795045e-01 -8.16548964e-03 9.86790600e-01 8.07195932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:242.07, Y:176.04, Z:80.71 [[ 8.98566556e-01 4.12295974e-01 1.50300278e-01 2.42070084e+02] [-4.07900342e-01 9.11023147e-01 -6.04494565e-02 1.76036204e+02] [-1.61850100e-01 -6.98967501e-03 9.86790601e-01 8.07103933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:176.01, Z:80.70 [[ 9.07045133e-01 3.93287450e-01 1.50313367e-01 2.42120386e+02] [-3.88635942e-01 9.19408453e-01 -6.04168925e-02 1.76006053e+02] [-1.61960586e-01 -3.61632868e-03 9.86790601e-01 8.07002417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters Centerline goodness : 0.991624 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:175.98, Z:80.69 [[ 9.11474505e-01 3.82903372e-01 1.50330416e-01 2.42168480e+02] [-3.78117978e-01 9.23786621e-01 -6.03744417e-02 1.75977149e+02] [-1.61990804e-01 -1.81286867e-03 9.86790602e-01 8.06858721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters Centerline goodness : 0.990029 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:175.95, Z:80.69 [[ 9.16116651e-01 3.71656146e-01 1.50339587e-01 2.42221619e+02] [-3.66723328e-01 9.28370446e-01 -6.03515972e-02 1.75947510e+02] [-1.62000871e-01 1.56069467e-04 9.86790603e-01 8.06906026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters Centerline goodness : 0.990288 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:175.92, Z:80.68 [[ 9.18143075e-01 3.66613971e-01 1.50357874e-01 2.42274272e+02] [-3.61621326e-01 9.30372615e-01 -6.03060019e-02 1.75924025e+02] [-1.61997872e-01 9.96924092e-04 9.86790604e-01 8.06800949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters Centerline goodness : 0.993959 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:175.90, Z:80.67 [[ 9.17245304e-01 3.68850083e-01 1.50368446e-01 2.42326295e+02] [-3.63891575e-01 9.29488724e-01 -6.02796300e-02 1.75895198e+02] [-1.61999922e-01 5.73396751e-04 9.86790604e-01 8.06737823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters Centerline goodness : 0.988379 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:175.86, Z:80.68 [[ 9.15128976e-01 3.74062844e-01 1.50385989e-01 2.42377662e+02] [-3.69181274e-01 9.27403273e-01 -6.02358341e-02 1.75862774e+02] [-1.62000446e-01 -3.96133672e-04 9.86790605e-01 8.06781094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters Centerline goodness : 0.988330 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:175.84, Z:80.66 [[ 9.14249476e-01 3.76203744e-01 1.50394945e-01 2.42429713e+02] [-3.71354595e-01 9.26536618e-01 -6.02134642e-02 1.75839561e+02] [-1.61998954e-01 -7.99725785e-04 9.86790606e-01 8.06637188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters Centerline goodness : 0.990627 with order 1 Centerline is valid? [True, True] Translation: X:242.48, Y:175.81, Z:80.65 [[ 9.09735044e-01 3.86985308e-01 1.50414499e-01 2.42480120e+02] [-3.82289830e-01 9.22081726e-01 -6.01645788e-02 1.75814137e+02] [-1.61977269e-01 -2.76810760e-03 9.86790607e-01 8.06489421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters Centerline goodness : 0.992306 with order 1 Centerline is valid? [True, True] Translation: X:242.53, Y:175.79, Z:80.63 [[ 9.08036059e-01 3.90952649e-01 1.50421215e-01 2.42529803e+02] [-3.86313891e-01 9.20404162e-01 -6.01477839e-02 1.75786597e+02] [-1.61963248e-01 -3.49344803e-03 9.86790607e-01 8.06341314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters Centerline goodness : 0.989668 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:175.77, Z:80.63 [[ 9.07092372e-01 3.93130962e-01 1.50437612e-01 2.42583642e+02] [-3.88528704e-01 9.19474103e-01 -6.01067434e-02 1.75766310e+02] [-1.61953311e-01 -3.92696211e-03 9.86790608e-01 8.06313925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters Centerline goodness : 0.992776 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:175.74, Z:80.62 [[ 9.04452365e-01 3.99159415e-01 1.50458238e-01 2.42632885e+02] [-3.94648251e-01 9.16867573e-01 -6.00550695e-02 1.75737067e+02] [-1.61921826e-01 -5.06113090e-03 9.86790610e-01 8.06161891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters Centerline goodness : 0.988879 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:175.72, Z:80.61 [[ 9.04778897e-01 3.98411606e-01 1.50477045e-01 2.42686838e+02] [-3.93898014e-01 9.17193221e-01 -6.00079107e-02 1.75715779e+02] [-1.61924373e-01 -4.97871789e-03 9.86790611e-01 8.06148909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters Centerline goodness : 0.988668 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:175.68, Z:80.60 [[ 9.04971564e-01 3.97966941e-01 1.50495125e-01 2.42734150e+02] [-3.93454787e-01 9.17386410e-01 -5.99625329e-02 1.75682720e+02] [-1.61925288e-01 -4.94864018e-03 9.86790612e-01 8.06002487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters Centerline goodness : 0.990867 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:175.65, Z:80.59 [[ 9.06181204e-01 3.95202382e-01 1.50501507e-01 2.42785435e+02] [-3.90655008e-01 9.18583192e-01 -5.99465113e-02 1.75653986e+02] [-1.61939158e-01 -4.47176542e-03 9.86790612e-01 8.05914252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters Centerline goodness : 0.988882 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:175.62, Z:80.58 [[ 9.07353187e-01 3.92496671e-01 1.50520951e-01 2.42834019e+02] [-3.87920411e-01 9.19744544e-01 -5.98976479e-02 1.75622257e+02] [-1.61950451e-01 -4.04182756e-03 9.86790614e-01 8.05811258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters Centerline goodness : 0.988343 with order 1 Centerline is valid? [True, True] Translation: X:242.88, Y:175.59, Z:80.58 [[ 9.07402752e-01 3.92375008e-01 1.50539362e-01 2.42882147e+02] [-3.87804762e-01 9.19796327e-01 -5.98513421e-02 1.75586035e+02] [-1.61949723e-01 -4.07060884e-03 9.86790615e-01 8.05794002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters Centerline goodness : 0.990840 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:175.56, Z:80.56 [[ 9.08218248e-01 3.90481196e-01 1.50545839e-01 2.42933174e+02] [-3.85887805e-01 9.20603264e-01 -5.98350461e-02 1.75560608e+02] [-1.61957451e-01 -3.75052252e-03 9.86790615e-01 8.05645960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters Centerline goodness : 0.989600 with order 1 Centerline is valid? [True, True] Translation: X:242.98, Y:175.53, Z:80.56 [[ 9.05569076e-01 3.96579116e-01 1.50564451e-01 2.42984752e+02] [-3.92076889e-01 9.17987520e-01 -5.97881762e-02 1.75534392e+02] [-1.61927029e-01 -4.89051782e-03 9.86790616e-01 8.05590077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters Centerline goodness : 0.991306 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:175.50, Z:80.54 [[ 9.05022225e-01 3.97823570e-01 1.50569516e-01 2.43031012e+02] [-3.93340537e-01 9.17447612e-01 -5.97754177e-02 1.75501923e+02] [-1.61919713e-01 -5.12701258e-03 9.86790616e-01 8.05350856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters Centerline goodness : 0.989821 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:175.47, Z:80.53 [[ 9.03917789e-01 4.00320677e-01 1.50585480e-01 2.43081551e+02] [-3.95878661e-01 9.16357897e-01 -5.97351741e-02 1.75472475e+02] [-1.61903419e-01 -5.61789168e-03 9.86790617e-01 8.05321572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters Centerline goodness : 0.991057 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:175.44, Z:80.53 [[ 9.03873307e-01 4.00418829e-01 1.50591518e-01 2.43133420e+02] [-3.95980697e-01 9.16314801e-01 -5.97199493e-02 1.75444867e+02] [-1.61902229e-01 -5.65206601e-03 9.86790617e-01 8.05278615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters Centerline goodness : 0.991819 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:175.41, Z:80.52 [[ 9.01580461e-01 4.05552546e-01 1.50598157e-01 2.43180917e+02] [-4.01188031e-01 9.14047970e-01 -5.97032019e-02 1.75410577e+02] [-1.61866725e-01 -6.59093782e-03 9.86790618e-01 8.05156221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters Centerline goodness : 0.992054 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:175.38, Z:80.51 [[ 9.01463207e-01 4.05806994e-01 1.50614637e-01 2.43231574e+02] [-4.01452935e-01 9.13934371e-01 -5.96615979e-02 1.75381331e+02] [-1.61862988e-01 -6.68195284e-03 9.86790618e-01 8.05101692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:243.28, Y:175.35, Z:80.50 [[ 9.00533020e-01 4.07864254e-01 1.50622141e-01 2.43281203e+02] [-4.03541844e-01 9.13015189e-01 -5.96426489e-02 1.75351288e+02] [-1.61846407e-01 -7.07216165e-03 9.86790619e-01 8.04992754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters Centerline goodness : 0.993022 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:175.32, Z:80.49 [[ 9.00133195e-01 4.08739969e-01 1.50638207e-01 2.43331762e+02] [-4.04436481e-01 9.12621899e-01 -5.96020426e-02 1.75321963e+02] [-1.61837464e-01 -7.27380945e-03 9.86790620e-01 8.04919182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters Centerline goodness : 0.996473 with order 1 Centerline is valid? [True, True] Translation: X:243.38, Y:175.28, Z:80.47 [[ 9.02418914e-01 4.03660903e-01 1.50658484e-01 2.43377267e+02] [-3.99295653e-01 9.14886162e-01 -5.95507454e-02 1.75282686e+02] [-1.61873670e-01 -6.41755875e-03 9.86790621e-01 8.04741368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters Centerline goodness : 0.996939 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:175.25, Z:80.47 [[ 9.04067246e-01 3.99948769e-01 1.50676460e-01 2.43428790e+02] [-3.95539893e-01 9.16519133e-01 -5.95052268e-02 1.75251085e+02] [-1.61896901e-01 -5.80182452e-03 9.86790622e-01 8.04704189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters Centerline goodness : 0.997220 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:175.21, Z:80.48 [[ 9.05579741e-01 3.96511067e-01 1.50679481e-01 2.43479994e+02] [-3.92056186e-01 9.18015242e-01 -5.94975774e-02 1.75213444e+02] [-1.61917508e-01 -5.19502185e-03 9.86790622e-01 8.04820237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:175.18, Z:80.46 [[ 9.08408641e-01 3.89980143e-01 1.50695816e-01 2.43524997e+02] [-3.85442698e-01 9.20814254e-01 -5.94561759e-02 1.75175975e+02] [-1.61949583e-01 -4.07409779e-03 9.86790623e-01 8.04582870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:175.15, Z:80.45 [[ 9.10653812e-01 3.84706733e-01 1.50699582e-01 2.43575321e+02] [-3.80099017e-01 9.23033496e-01 -5.94466284e-02 1.75146884e+02] [-1.61970280e-01 -3.14546416e-03 9.86790623e-01 8.04468487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:243.63, Y:175.11, Z:80.44 [[ 9.15689861e-01 3.72559802e-01 1.50702597e-01 2.43625145e+02] [-3.67789086e-01 9.28007648e-01 -5.94389833e-02 1.75114822e+02] [-1.61997739e-01 -9.99096136e-04 9.86790623e-01 8.04385940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:175.08, Z:80.43 [[ 9.18441880e-01 3.65721420e-01 1.50706190e-01 2.43675060e+02] [-3.60860482e-01 9.30724343e-01 -5.94298714e-02 1.75082848e+02] [-1.62000697e-01 1.98974346e-04 9.86790623e-01 8.04319237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:243.73, Y:175.05, Z:80.42 [[ 9.22352449e-01 3.55740628e-01 1.50713524e-01 2.43728219e+02] [-3.50749827e-01 9.34582720e-01 -5.94112669e-02 1.75049254e+02] [-1.61989257e-01 1.93538490e-03 9.86790624e-01 8.04247907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:243.79, Y:175.02, Z:80.41 [[ 9.23714412e-01 3.52195193e-01 1.50699143e-01 2.43785250e+02] [-3.47151506e-01 9.35922967e-01 -5.94477240e-02 1.75024710e+02] [-1.61979992e-01 2.59728504e-03 9.86790624e-01 8.04118579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:175.00, Z:80.40 [[ 9.23061370e-01 3.53910109e-01 1.50682915e-01 2.43842480e+02] [-3.48882396e-01 9.35276512e-01 -5.94888285e-02 1.74999917e+02] [-1.61983889e-01 2.34122307e-03 9.86790625e-01 8.04003172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:174.97, Z:80.39 [[ 9.21026427e-01 3.59179516e-01 1.50666508e-01 2.43896090e+02] [-3.54214900e-01 9.33267347e-01 -5.95303554e-02 1.74967849e+02] [-1.61994216e-01 1.46070870e-03 9.86790626e-01 8.03921655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:174.95, Z:80.38 [[ 9.17056262e-01 3.69204215e-01 1.50652116e-01 2.43952726e+02] [-3.64367431e-01 9.29348254e-01 -5.95667538e-02 1.74949171e+02] [-1.62000578e-01 -2.66659977e-04 9.86790627e-01 8.03784889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:174.93, Z:80.37 [[ 9.13029012e-01 3.79059249e-01 1.50639003e-01 2.44010169e+02] [-3.74349660e-01 9.25370296e-01 -5.95998983e-02 1.74930292e+02] [-1.61988751e-01 -1.97522308e-03 9.86790628e-01 8.03729102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:174.90, Z:80.36 [[ 9.10427022e-01 3.85266926e-01 1.50638748e-01 2.44059859e+02] [-3.80641367e-01 9.22800046e-01 -5.96005410e-02 1.74901345e+02] [-1.61971561e-01 -3.07739599e-03 9.86790628e-01 8.03601909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:174.87, Z:80.35 [[ 9.08078641e-01 3.90770343e-01 1.50637710e-01 2.44115530e+02] [-3.86219323e-01 9.20479276e-01 -5.96031655e-02 1.74874182e+02] [-1.61950040e-01 -4.05483277e-03 9.86790628e-01 8.03477517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:174.85, Z:80.33 [[ 9.08376572e-01 3.90083539e-01 1.50621499e-01 2.44172309e+02] [-3.85516359e-01 9.20771263e-01 -5.96441050e-02 1.74850265e+02] [-1.61954131e-01 -3.88774407e-03 9.86790629e-01 8.03317942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:174.82, Z:80.32 [[ 9.09092969e-01 3.88417381e-01 1.50605154e-01 2.44226893e+02] [-3.83820654e-01 9.21476731e-01 -5.96853472e-02 1.74820983e+02] [-1.61961971e-01 -3.54583927e-03 9.86790630e-01 8.03224952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:174.79, Z:80.32 [[ 9.09449847e-01 3.87584957e-01 1.50595074e-01 2.44281035e+02] [-3.82972687e-01 9.21827828e-01 -5.97107708e-02 1.74786700e+02] [-1.61965727e-01 -3.36984870e-03 9.86790630e-01 8.03171353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:174.76, Z:80.31 [[ 9.08172679e-01 3.90574252e-01 1.50579341e-01 2.44335694e+02] [-3.85996151e-01 9.20563338e-01 -5.97504200e-02 1.74755980e+02] [-1.61954797e-01 -3.85934702e-03 9.86790631e-01 8.03110843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:174.73, Z:80.29 [[ 9.07436879e-01 3.92286171e-01 1.50565170e-01 2.44390382e+02] [-3.87725526e-01 9.19833973e-01 -5.97861086e-02 1.74729950e+02] [-1.61948222e-01 -4.12584009e-03 9.86790632e-01 8.02949111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:174.69, Z:80.28 [[ 9.07618015e-01 3.91872495e-01 1.50550613e-01 2.44440673e+02] [-3.87300127e-01 9.20010789e-01 -5.98227447e-02 1.74693112e+02] [-1.61951076e-01 -4.01207054e-03 9.86790632e-01 8.02796964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:174.66, Z:80.27 [[ 9.08555548e-01 3.89699840e-01 1.50535215e-01 2.44494143e+02] [-3.85091423e-01 9.20934960e-01 -5.98614661e-02 1.74659158e+02] [-1.61961146e-01 -3.58235294e-03 9.86790633e-01 8.02691081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters Centerline goodness : 0.998549 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:174.63, Z:80.26 [[ 9.09501574e-01 3.87493359e-01 1.50518382e-01 2.44548157e+02] [-3.82847909e-01 9.21867137e-01 -5.99037615e-02 1.74630205e+02] [-1.61970260e-01 -3.14308256e-03 9.86790634e-01 8.02601433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters Centerline goodness : 0.998047 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:174.60, Z:80.25 [[ 9.10204794e-01 3.85844678e-01 1.50502880e-01 2.44601373e+02] [-3.81170395e-01 9.22559486e-01 -5.99426846e-02 1.74595487e+02] [-1.61976425e-01 -2.80712330e-03 9.86790635e-01 8.02498994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:174.57, Z:80.25 [[ 9.09932792e-01 3.86492364e-01 1.50485769e-01 2.44656378e+02] [-3.81819777e-01 9.22288124e-01 -5.99856112e-02 1.74567597e+02] [-1.61975218e-01 -2.87556816e-03 9.86790636e-01 8.02450794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:174.54, Z:80.24 [[ 9.08285985e-01 3.90352041e-01 1.50472104e-01 2.44712907e+02] [-3.85726279e-01 9.20658923e-01 -6.00198691e-02 1.74542562e+02] [-1.61962364e-01 -3.52583913e-03 9.86790637e-01 8.02361072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:174.51, Z:80.22 [[ 9.06136496e-01 3.95321567e-01 1.50457667e-01 2.44765929e+02] [-3.90757650e-01 9.18532379e-01 -6.00560400e-02 1.74513395e+02] [-1.61941686e-01 -4.37351472e-03 9.86790638e-01 8.02162579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:244.82, Y:174.49, Z:80.21 [[ 9.03702788e-01 4.00859272e-01 1.50443063e-01 2.44821219e+02] [-3.96365218e-01 9.16124169e-01 -6.00926021e-02 1.74485484e+02] [-1.61913202e-01 -5.32454538e-03 9.86790638e-01 8.02071438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:174.45, Z:80.20 [[ 9.02053252e-01 4.04563301e-01 1.50427609e-01 2.44876034e+02] [-4.00113806e-01 9.14490664e-01 -6.01312632e-02 1.74454544e+02] [-1.61891546e-01 -5.94656134e-03 9.86790639e-01 8.02047547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:244.93, Y:174.42, Z:80.20 [[ 8.99968563e-01 4.09185112e-01 1.50413194e-01 2.44930903e+02] [-4.04793463e-01 9.12426517e-01 -6.01672993e-02 1.74424395e+02] [-1.61860550e-01 -6.73759965e-03 9.86790640e-01 8.01965134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:244.98, Y:174.39, Z:80.18 [[ 8.99019449e-01 4.11269048e-01 1.50405455e-01 2.44983690e+02] [-4.06903044e-01 9.11486413e-01 -6.01866390e-02 1.74393447e+02] [-1.61845430e-01 -7.09147828e-03 9.86790640e-01 8.01795878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:174.37, Z:80.17 [[ 8.98600254e-01 4.12189610e-01 1.50390519e-01 2.45038700e+02] [-4.07830150e-01 9.11069507e-01 -6.02239367e-02 1.74365940e+02] [-1.61839897e-01 -7.21654309e-03 9.86790641e-01 8.01685112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:174.33, Z:80.16 [[ 8.99806868e-01 4.09554687e-01 1.50374729e-01 2.45092052e+02] [-4.05152134e-01 9.12260970e-01 -6.02633388e-02 1.74331815e+02] [-1.61862129e-01 -6.69927609e-03 9.86790642e-01 8.01558468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:245.14, Y:174.30, Z:80.14 [[ 9.01793959e-01 4.05166865e-01 1.50357795e-01 2.45144001e+02] [-4.00696671e-01 9.14223943e-01 -6.03055584e-02 1.74298702e+02] [-1.61894511e-01 -5.86467988e-03 9.86790643e-01 8.01446704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:245.20, Y:174.27, Z:80.13 [[ 9.03088556e-01 4.02278089e-01 1.50344270e-01 2.45198019e+02] [-3.97762526e-01 9.15502128e-01 -6.03392601e-02 1.74265585e+02] [-1.61913661e-01 -5.30962123e-03 9.86790644e-01 8.01336533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:174.23, Z:80.13 [[ 9.05517143e-01 3.96787373e-01 1.50327921e-01 2.45251661e+02] [-3.92189769e-01 9.17900564e-01 -6.03799633e-02 1.74229637e+02] [-1.61944091e-01 -4.28198075e-03 9.86790645e-01 8.01341024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:174.20, Z:80.12 [[ 9.06126274e-01 3.95399846e-01 1.50313465e-01 2.45303631e+02] [-3.90777316e-01 9.18500411e-01 -6.04159290e-02 1.74197361e+02] [-1.61951429e-01 -3.99463189e-03 9.86790645e-01 8.01179695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:174.16, Z:80.11 [[ 9.07213886e-01 3.92903448e-01 1.50299185e-01 2.45356518e+02] [-3.88240986e-01 9.19573032e-01 -6.04514339e-02 1.74164105e+02] [-1.61962654e-01 -3.50992363e-03 9.86790646e-01 8.01061057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:245.41, Y:174.13, Z:80.10 [[ 9.08001664e-01 3.91085864e-01 1.50282483e-01 2.45408650e+02] [-3.86391796e-01 9.20348839e-01 -6.04929286e-02 1.74126622e+02] [-1.61970238e-01 -3.14023849e-03 9.86790647e-01 8.00994138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:174.10, Z:80.09 [[ 9.07261088e-01 3.92807276e-01 1.50265641e-01 2.45464942e+02] [-3.88129713e-01 9.19614524e-01 -6.05347351e-02 1.74096966e+02] [-1.61964950e-01 -3.40175053e-03 9.86790648e-01 8.00936665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:174.07, Z:80.08 [[ 9.05590786e-01 3.96649317e-01 1.50248619e-01 2.45518178e+02] [-3.92017157e-01 9.17961318e-01 -6.05769547e-02 1.74065571e+02] [-1.61950228e-01 -4.04210458e-03 9.86790649e-01 8.00822259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:174.04, Z:80.07 [[ 9.04229742e-01 3.99748241e-01 1.50232878e-01 2.45573551e+02] [-3.95151996e-01 9.16613661e-01 -6.06159690e-02 1.74040019e+02] [-1.61936635e-01 -4.55405957e-03 9.86790650e-01 8.00726051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:245.63, Y:174.01, Z:80.06 [[ 9.04341416e-01 3.99501034e-01 1.50218265e-01 2.45626546e+02] [-3.94895397e-01 9.16721845e-01 -6.06521605e-02 1.74006431e+02] [-1.61938966e-01 -4.47024085e-03 9.86790651e-01 8.00609839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:245.68, Y:173.98, Z:80.05 [[ 9.04607458e-01 3.98904522e-01 1.50201629e-01 2.45680097e+02] [-3.94283891e-01 9.16982297e-01 -6.06933312e-02 1.73978996e+02] [-1.61943079e-01 -4.31844274e-03 9.86790652e-01 8.00452880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:173.95, Z:80.03 [[ 9.01468148e-01 4.05954069e-01 1.50188122e-01 2.45734666e+02] [-4.01424623e-01 9.13876652e-01 -6.07267373e-02 1.73947694e+02] [-1.61905684e-01 -5.54599077e-03 9.86790652e-01 8.00345200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:245.79, Y:173.92, Z:80.02 [[ 8.99115078e-01 4.11145409e-01 1.50171669e-01 2.45791181e+02] [-4.06680809e-01 9.11547060e-01 -6.07673983e-02 1.73921936e+02] [-1.61872780e-01 -6.43505161e-03 9.86790653e-01 8.00233465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:245.85, Y:173.89, Z:80.02 [[ 8.96075729e-01 4.17734053e-01 1.50155081e-01 2.45846252e+02] [-4.13353981e-01 9.08537743e-01 -6.08083587e-02 1.73890551e+02] [-1.61823281e-01 -7.57830611e-03 9.86790654e-01 8.00165079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:173.86, Z:80.00 [[ 8.96328652e-01 4.17197196e-01 1.50138095e-01 2.45898974e+02] [-4.12802656e-01 9.08785570e-01 -6.08502698e-02 1.73859405e+02] [-1.61829896e-01 -7.43556403e-03 9.86790655e-01 8.00021323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:173.82, Z:79.99 [[ 8.97897595e-01 4.13815391e-01 1.50122385e-01 2.45950590e+02] [-4.09367461e-01 9.10335549e-01 -6.08890026e-02 1.73823426e+02] [-1.61858550e-01 -6.78313065e-03 9.86790656e-01 7.99900933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:173.79, Z:79.98 [[ 8.98842812e-01 4.11763640e-01 1.50107643e-01 2.46004856e+02] [-4.07281259e-01 9.11268391e-01 -6.09253245e-02 1.73791999e+02] [-1.61875184e-01 -6.37373985e-03 9.86790657e-01 7.99809462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:173.76, Z:79.98 [[ 8.98615740e-01 4.12265121e-01 1.50090713e-01 2.46058892e+02] [-4.07782726e-01 9.11041312e-01 -6.09670031e-02 1.73757467e+02] [-1.61873409e-01 -6.41849161e-03 9.86790658e-01 7.99809930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:173.73, Z:79.97 [[ 8.98342197e-01 4.12866282e-01 1.50075747e-01 2.46112525e+02] [-4.08386062e-01 9.10768553e-01 -6.10038212e-02 1.73725054e+02] [-1.61870692e-01 -6.48653682e-03 9.86790659e-01 7.99678989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters Centerline goodness : 0.997950 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:173.69, Z:79.96 [[ 8.97690182e-01 4.14288266e-01 1.50058557e-01 2.46163034e+02] [-4.09820679e-01 9.10121084e-01 -6.10460787e-02 1.73686933e+02] [-1.61862130e-01 -6.69663401e-03 9.86790660e-01 7.99555176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:246.22, Y:173.66, Z:79.94 [[ 8.97561802e-01 4.14572074e-01 1.50042686e-01 2.46217889e+02] [-4.10101912e-01 9.09991778e-01 -6.10850629e-02 1.73659844e+02] [-1.61861771e-01 -6.70517320e-03 9.86790660e-01 7.99404975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:246.27, Y:173.62, Z:79.93 [[ 8.97581633e-01 4.14535273e-01 1.50025728e-01 2.46267680e+02] [-4.10057659e-01 9.10008926e-01 -6.11266835e-02 1.73623589e+02] [-1.61863918e-01 -6.65301041e-03 9.86790661e-01 7.99297298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:246.32, Y:173.58, Z:79.93 [[ 8.97819292e-01 4.14025203e-01 1.50012167e-01 2.46319262e+02] [-4.09534981e-01 9.10242034e-01 -6.11599447e-02 1.73582237e+02] [-1.61869139e-01 -6.52465181e-03 9.86790662e-01 7.99264264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:246.37, Y:173.55, Z:79.91 [[ 8.97006006e-01 4.15790370e-01 1.49995309e-01 2.46370044e+02] [-4.11317697e-01 9.09435076e-01 -6.12012625e-02 1.73550799e+02] [-1.61857891e-01 -6.79782494e-03 9.86790663e-01 7.99098003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:173.52, Z:79.90 [[ 8.96227582e-01 4.17470452e-01 1.49981811e-01 2.46424768e+02] [-4.13015555e-01 9.08663034e-01 -6.12343242e-02 1.73522018e+02] [-1.61846448e-01 -7.06493047e-03 9.86790664e-01 7.98974174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:246.48, Y:173.48, Z:79.89 [[ 8.96534745e-01 4.16816395e-01 1.49965144e-01 2.46477077e+02] [-4.12345617e-01 9.08964495e-01 -6.12751140e-02 1.73483694e+02] [-1.61853464e-01 -6.90220132e-03 9.86790665e-01 7.98931683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:173.45, Z:79.88 [[ 8.96399425e-01 4.17113435e-01 1.49948166e-01 2.46529727e+02] [-4.12639845e-01 9.08828162e-01 -6.13166344e-02 1.73451804e+02] [-1.61853108e-01 -6.91039216e-03 9.86790666e-01 7.98780932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:173.42, Z:79.87 [[ 8.96407465e-01 4.17101405e-01 1.49933568e-01 2.46585013e+02] [-4.12621693e-01 9.08833996e-01 -6.13523098e-02 1.73423504e+02] [-1.61854858e-01 -6.86917409e-03 9.86790666e-01 7.98704599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:173.39, Z:79.87 [[ 8.99828852e-01 4.09673393e-01 1.49919137e-01 2.46638358e+02] [-4.05085196e-01 9.12215738e-01 -6.13875530e-02 1.73388167e+02] [-1.61907443e-01 -5.49173166e-03 9.86790667e-01 7.98652941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:173.36, Z:79.85 [[ 9.02310729e-01 4.04184045e-01 1.49901989e-01 2.46694090e+02] [-3.99513527e-01 9.14666809e-01 -6.14293981e-02 1.73364309e+02] [-1.61939157e-01 -4.45946739e-03 9.86790668e-01 7.98534632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:173.34, Z:79.84 [[ 9.02970267e-01 4.02713937e-01 1.49887232e-01 2.46750412e+02] [-3.98017332e-01 9.15316454e-01 -6.14653853e-02 1.73339602e+02] [-1.61947217e-01 -4.15630060e-03 9.86790669e-01 7.98413914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:246.80, Y:173.31, Z:79.83 [[ 9.05132639e-01 3.97832025e-01 1.49881904e-01 2.46804292e+02] [-3.93066669e-01 9.17452453e-01 -6.14783743e-02 1.73311002e+02] [-1.61967587e-01 -3.26749747e-03 9.86790669e-01 7.98300157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:246.86, Y:173.28, Z:79.82 [[ 9.05995717e-01 3.95868116e-01 1.49867258e-01 2.46860125e+02] [-3.91070152e-01 9.18302868e-01 -6.15140570e-02 1.73284741e+02] [-1.61974986e-01 -2.87713920e-03 9.86790670e-01 7.98229687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:246.92, Y:173.26, Z:79.81 [[ 9.05610650e-01 3.96753754e-01 1.49852622e-01 2.46918070e+02] [-3.91961932e-01 9.17920192e-01 -6.15496905e-02 1.73261957e+02] [-1.61972818e-01 -2.99646803e-03 9.86790670e-01 7.98131062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:246.97, Y:173.24, Z:79.80 [[ 9.03936738e-01 4.00559127e-01 1.49835778e-01 2.46974880e+02] [-3.95812330e-01 9.16263711e-01 -6.15906691e-02 1.73237987e+02] [-1.61959790e-01 -3.63277978e-03 9.86790671e-01 7.98044838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:247.03, Y:173.22, Z:79.79 [[ 9.03406908e-01 4.01758095e-01 1.49821195e-01 2.47031024e+02] [-3.97021782e-01 9.15737913e-01 -6.16261211e-02 1.73215819e+02] [-1.61955742e-01 -3.80881445e-03 9.86790672e-01 7.97902665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:247.09, Y:173.19, Z:79.78 [[ 9.02219331e-01 4.04423415e-01 1.49806476e-01 2.47088442e+02] [-3.99717594e-01 9.14562003e-01 -6.16618810e-02 1.73192530e+02] [-1.61944820e-01 -4.24774325e-03 9.86790673e-01 7.97833702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:247.14, Y:173.17, Z:79.77 [[ 9.00908298e-01 4.07341050e-01 1.49791550e-01 2.47144765e+02] [-4.02669176e-01 9.13263859e-01 -6.16981186e-02 1.73171004e+02] [-1.61931386e-01 -4.73209330e-03 9.86790674e-01 7.97681820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:173.15, Z:79.75 [[ 9.00245640e-01 4.08808890e-01 1.49776767e-01 2.47201213e+02] [-4.04151199e-01 9.12606554e-01 -6.17339865e-02 1.73148222e+02] [-1.61924662e-01 -4.95670776e-03 9.86790674e-01 7.97536340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:247.26, Y:173.12, Z:79.75 [[ 9.01366070e-01 4.06337986e-01 1.49761978e-01 2.47255619e+02] [-4.01640455e-01 9.13711897e-01 -6.17698433e-02 1.73117215e+02] [-1.61938735e-01 -4.47322801e-03 9.86790675e-01 7.97502903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:247.31, Y:173.09, Z:79.74 [[ 9.02600401e-01 4.03594197e-01 1.49747256e-01 2.47312024e+02] [-3.98853218e-01 9.14929609e-01 -6.18055125e-02 1.73094997e+02] [-1.61952545e-01 -3.94149457e-03 9.86790676e-01 7.97368655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:173.07, Z:79.72 [[ 9.03938225e-01 4.00594370e-01 1.49732548e-01 2.47367619e+02] [-3.95806575e-01 9.16249328e-01 -6.18411250e-02 1.73070785e+02] [-1.61965553e-01 -3.36457015e-03 9.86790677e-01 7.97238579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:247.42, Y:173.04, Z:79.72 [[ 9.04613932e-01 3.99068151e-01 1.49727234e-01 2.47423450e+02] [-3.94257456e-01 9.16916104e-01 -6.18539881e-02 1.73043872e+02] [-1.61971269e-01 -3.07709893e-03 9.86790677e-01 7.97156488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:247.48, Y:173.02, Z:79.71 [[ 9.05791775e-01 3.96393511e-01 1.49711203e-01 2.47480967e+02] [-3.91540080e-01 9.18077149e-01 -6.18927657e-02 1.73021038e+02] [-1.61980325e-01 -2.55597823e-03 9.86790678e-01 7.97089197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:247.54, Y:173.00, Z:79.70 [[ 9.06473208e-01 3.94838406e-01 1.49696211e-01 2.47537275e+02] [-3.89957915e-01 9.18747856e-01 -6.19290040e-02 1.72996185e+02] [-1.61985022e-01 -2.23823953e-03 9.86790678e-01 7.97017163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:172.97, Z:79.69 [[ 9.06906873e-01 3.93846843e-01 1.49681620e-01 2.47591348e+02] [-3.88947114e-01 9.19173854e-01 -6.19642507e-02 1.72967509e+02] [-1.61987856e-01 -2.02242940e-03 9.86790679e-01 7.96876043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:247.65, Y:172.95, Z:79.67 [[ 9.06617670e-01 3.94514021e-01 1.49676613e-01 2.47647399e+02] [-3.89621323e-01 9.18887456e-01 -6.19763434e-02 1.72947867e+02] [-1.61986499e-01 -2.12835202e-03 9.86790679e-01 7.96703586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:247.70, Y:172.92, Z:79.67 [[ 9.06371193e-01 3.95085049e-01 1.49663170e-01 2.47704590e+02] [-3.90194724e-01 9.18641926e-01 -6.20087892e-02 1.72922596e+02] [-1.61985608e-01 -2.19479914e-03 9.86790680e-01 7.96683836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:172.90, Z:79.67 [[ 9.06339676e-01 3.95162901e-01 1.49648501e-01 2.47760208e+02] [-3.90267789e-01 9.18608499e-01 -6.20441701e-02 1.72895954e+02] [-1.61985939e-01 -2.16989673e-03 9.86790680e-01 7.96662208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:247.82, Y:172.88, Z:79.65 [[ 9.06022888e-01 3.95893787e-01 1.49635010e-01 2.47817029e+02] [-3.91003203e-01 9.18293515e-01 -6.20766916e-02 1.72875027e+02] [-1.61984636e-01 -2.26486460e-03 9.86790681e-01 7.96522313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:247.87, Y:172.86, Z:79.63 [[ 9.04513045e-01 3.99336837e-01 1.49620328e-01 2.47873926e+02] [-3.94487109e-01 9.16799876e-01 -6.21120585e-02 1.72855060e+02] [-1.61975531e-01 -2.84212352e-03 9.86790682e-01 7.96343649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:247.93, Y:172.83, Z:79.63 [[ 9.03318476e-01 4.02037301e-01 1.49605280e-01 2.47928501e+02] [-3.97218305e-01 9.15617392e-01 -6.21482826e-02 1.72828063e+02] [-1.61967124e-01 -3.28626389e-03 9.86790683e-01 7.96303802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:172.81, Z:79.62 [[ 9.02623904e-01 4.03599404e-01 1.49591475e-01 2.47986512e+02] [-3.98796191e-01 9.14928992e-01 -6.21814932e-02 1.72806347e+02] [-1.61961991e-01 -3.53000837e-03 9.86790683e-01 7.96214571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:248.04, Y:172.79, Z:79.60 [[ 9.01861089e-01 4.05307336e-01 1.49574530e-01 2.48043092e+02] [-4.00520673e-01 9.14172623e-01 -6.22222289e-02 1.72788330e+02] [-1.61956066e-01 -3.79188418e-03 9.86790684e-01 7.96010848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:248.10, Y:172.76, Z:79.60 [[ 9.00765547e-01 4.07741667e-01 1.49559897e-01 2.48098614e+02] [-4.02982440e-01 9.13087713e-01 -6.22573803e-02 1.72763928e+02] [-1.61946233e-01 -4.19070924e-03 9.86790685e-01 7.95965068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:172.73, Z:79.59 [[ 9.00696448e-01 4.07897997e-01 1.49549768e-01 2.48154141e+02] [-4.03136874e-01 9.13017881e-01 -6.22817026e-02 1.72733135e+02] [-1.61946194e-01 -4.19211772e-03 9.86790685e-01 7.95936079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:248.21, Y:172.71, Z:79.59 [[ 9.01412155e-01 4.06319912e-01 1.49533460e-01 2.48210761e+02] [-4.01530730e-01 9.13722708e-01 -6.23208337e-02 1.72706328e+02] [-1.61954313e-01 -3.86552223e-03 9.86790686e-01 7.95859662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:248.27, Y:172.69, Z:79.57 [[ 9.01372334e-01 4.06414253e-01 1.49517126e-01 2.48268451e+02] [-4.01619867e-01 9.13680860e-01 -6.23599958e-02 1.72693230e+02] [-1.61954928e-01 -3.83947330e-03 9.86790687e-01 7.95658422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:248.32, Y:172.67, Z:79.56 [[ 9.01377068e-01 4.06408542e-01 1.49504105e-01 2.48324223e+02] [-4.01608906e-01 9.13683547e-01 -6.23911972e-02 1.72665825e+02] [-1.61955757e-01 -3.80418585e-03 9.86790688e-01 7.95581667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:172.64, Z:79.55 [[ 9.01337768e-01 4.06500780e-01 1.49490280e-01 2.48378827e+02] [-4.01696915e-01 9.13642596e-01 -6.24243066e-02 1.72639207e+02] [-1.61956217e-01 -3.78439903e-03 9.86790688e-01 7.95463306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:248.44, Y:172.62, Z:79.54 [[ 8.99578491e-01 4.10383919e-01 1.49477679e-01 2.48436167e+02] [-4.05628156e-01 9.11901990e-01 -6.24544651e-02 1.72617647e+02] [-1.61939301e-01 -4.44966173e-03 9.86790689e-01 7.95382027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:172.60, Z:79.53 [[ 8.99283776e-01 4.11034902e-01 1.49462365e-01 2.48492126e+02] [-4.06281977e-01 9.11608369e-01 -6.24910923e-02 1.72596334e+02] [-1.61937163e-01 -4.52663972e-03 9.86790689e-01 7.95288645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:248.55, Y:172.57, Z:79.52 [[ 8.99487505e-01 4.10591604e-01 1.49454885e-01 2.48549749e+02] [-4.05829635e-01 9.11808606e-01 -6.25089778e-02 1.72573970e+02] [-1.61939911e-01 -4.42717684e-03 9.86790690e-01 7.95203888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:248.61, Y:172.55, Z:79.51 [[ 9.00430808e-01 4.08524276e-01 1.49439871e-01 2.48606761e+02] [-4.03728067e-01 9.12738621e-01 -6.25448499e-02 1.72551436e+02] [-1.61950631e-01 -4.01576062e-03 9.86790690e-01 7.95113830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:172.52, Z:79.51 [[ 9.01985336e-01 4.05085984e-01 1.49424891e-01 2.48661759e+02] [-4.00236931e-01 9.14272424e-01 -6.25806183e-02 1.72522204e+02] [-1.61965589e-01 -3.35855984e-03 9.86790691e-01 7.95072127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:248.72, Y:172.50, Z:79.50 [[ 9.02800173e-01 4.03272371e-01 1.49409647e-01 2.48718945e+02] [-3.98392615e-01 9.15075099e-01 -6.26169925e-02 1.72498271e+02] [-1.61972750e-01 -2.99306830e-03 9.86790692e-01 7.94988551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:248.78, Y:172.48, Z:79.49 [[ 9.02961675e-01 4.02916230e-01 1.49394529e-01 2.48776081e+02] [-3.98025671e-01 9.15232299e-01 -6.26530402e-02 1.72476676e+02] [-1.61974625e-01 -2.88956373e-03 9.86790693e-01 7.94861736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:248.83, Y:172.45, Z:79.47 [[ 9.03154429e-01 4.02489651e-01 1.49379241e-01 2.48830340e+02] [-3.97587272e-01 9.15420336e-01 -6.26894706e-02 1.72453385e+02] [-1.61976658e-01 -2.77301179e-03 9.86790693e-01 7.94671590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:248.89, Y:172.43, Z:79.47 [[ 9.04430820e-01 3.99618869e-01 1.49364155e-01 2.48887472e+02] [-3.94671623e-01 9.16678698e-01 -6.27253944e-02 1.72426754e+02] [-1.61985190e-01 -2.21901352e-03 9.86790694e-01 7.94668742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:248.94, Y:172.40, Z:79.46 [[ 9.05540296e-01 3.97104131e-01 1.49348862e-01 2.48944396e+02] [-3.92116868e-01 9.17771933e-01 -6.27617857e-02 1.72404600e+02] [-1.61991158e-01 -1.72888199e-03 9.86790695e-01 7.94563054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:249.00, Y:172.38, Z:79.45 [[ 9.05408252e-01 3.97410706e-01 1.49333949e-01 2.49001843e+02] [-3.92421736e-01 9.17639192e-01 -6.27972505e-02 1.72381564e+02] [-1.61990984e-01 -1.74473861e-03 9.86790696e-01 7.94491520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:172.36, Z:79.44 [[ 9.04141385e-01 4.00290183e-01 1.49318873e-01 2.49058366e+02] [-3.95334247e-01 9.16385747e-01 -6.28330782e-02 1.72356497e+02] [-1.61985151e-01 -2.22087783e-03 9.86790696e-01 7.94437155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:249.11, Y:172.33, Z:79.44 [[ 9.03496489e-01 4.01749248e-01 1.49303837e-01 2.49114762e+02] [-3.96807185e-01 9.15746457e-01 -6.28687868e-02 1.72330960e+02] [-1.61981947e-01 -2.44310699e-03 9.86790697e-01 7.94354515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:172.31, Z:79.41 [[ 9.03108038e-01 4.02627989e-01 1.49286886e-01 2.49172099e+02] [-3.97691198e-01 9.15360130e-01 -6.29090123e-02 1.72313625e+02] [-1.61980192e-01 -2.55644583e-03 9.86790698e-01 7.94147196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:249.23, Y:172.29, Z:79.40 [[ 9.03892944e-01 4.00868473e-01 1.49271608e-01 2.49227598e+02] [-3.95901849e-01 9.16132972e-01 -6.29452423e-02 1.72288431e+02] [-1.61985405e-01 -2.20114553e-03 9.86790699e-01 7.94007642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:172.25, Z:79.40 [[ 9.05772933e-01 3.96608378e-01 1.49255446e-01 2.49282285e+02] [-3.91577870e-01 9.17986844e-01 -6.29835441e-02 1.72254929e+02] [-1.61994337e-01 -1.39634012e-03 9.86790700e-01 7.94048076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:172.23, Z:79.40 [[ 9.05765805e-01 3.96630300e-01 1.49240451e-01 2.49339764e+02] [-3.91594237e-01 9.17977425e-01 -6.30190546e-02 1.72230610e+02] [-1.61994632e-01 -1.36119589e-03 9.86790700e-01 7.93958653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:249.40, Y:172.21, Z:79.37 [[ 9.05443239e-01 3.97372545e-01 1.49223325e-01 2.49396331e+02] [-3.92339814e-01 9.17656232e-01 -6.30595812e-02 1.72212862e+02] [-1.61993861e-01 -1.44938026e-03 9.86790701e-01 7.93745515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:249.45, Y:172.18, Z:79.37 [[ 9.05802285e-01 3.96559005e-01 1.49208496e-01 2.49451543e+02] [-3.91509528e-01 9.18008363e-01 -6.30946499e-02 1.72184046e+02] [-1.61995399e-01 -1.26526995e-03 9.86790702e-01 7.93688212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:172.15, Z:79.37 [[ 9.06397159e-01 3.95203004e-01 1.49193749e-01 2.49506697e+02] [-3.90129530e-01 9.18593281e-01 -6.31295019e-02 1.72152557e+02] [-1.61997344e-01 -9.84485981e-04 9.86790703e-01 7.93663635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:172.13, Z:79.35 [[ 9.06414668e-01 3.95169356e-01 1.49176505e-01 2.49561632e+02] [-3.90088726e-01 9.18607810e-01 -6.31702242e-02 1.72133093e+02] [-1.61997639e-01 -9.33655084e-04 9.86790704e-01 7.93460993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:249.62, Y:172.11, Z:79.33 [[ 9.07408059e-01 3.92888110e-01 1.49162821e-01 2.49619237e+02] [-3.87771517e-01 9.19586153e-01 -6.32025209e-02 1.72112649e+02] [-1.61999583e-01 -4.90616381e-04 9.86790704e-01 7.93345810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:249.67, Y:172.08, Z:79.33 [[ 9.08055201e-01 3.91395906e-01 1.49147568e-01 2.49673729e+02] [-3.86253391e-01 9.20222370e-01 -6.32384934e-02 1.72083207e+02] [-1.62000216e-01 -1.84711259e-04 9.86790705e-01 7.93308524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:172.06, Z:79.33 [[ 9.08464039e-01 3.90452149e-01 1.49131517e-01 2.49730194e+02] [-3.85290784e-01 9.20623223e-01 -6.32763243e-02 1.72055723e+02] [-1.62000315e-01 2.52661240e-05 9.86790706e-01 7.93270405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:172.04, Z:79.31 [[ 9.09736042e-01 3.87485865e-01 1.49114178e-01 2.49786800e+02] [-3.82278160e-01 9.21875450e-01 -6.33171583e-02 1.72036888e+02] [-1.61999204e-01 5.98807242e-04 9.86790707e-01 7.93113350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:172.01, Z:79.30 [[ 9.10783895e-01 3.85019630e-01 1.49105936e-01 2.49843819e+02] [-3.79775878e-01 9.22907776e-01 -6.33365613e-02 1.72011041e+02] [-1.61996847e-01 1.05908223e-03 9.86790707e-01 7.93030509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:249.90, Y:171.99, Z:79.29 [[ 9.12033610e-01 3.82056499e-01 1.49088989e-01 2.49901960e+02] [-3.76766840e-01 9.24137531e-01 -6.33764298e-02 1.71988891e+02] [-1.61992107e-01 1.62964685e-03 9.86790708e-01 7.92913455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:171.97, Z:79.28 [[ 9.11749241e-01 3.82741231e-01 1.49072034e-01 2.49959097e+02] [-3.77454147e-01 9.23854286e-01 -6.34162845e-02 1.71968538e+02] [-1.61992865e-01 1.55189174e-03 9.86790709e-01 7.92780345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:171.94, Z:79.27 [[ 9.10852105e-01 3.84877178e-01 1.49057036e-01 2.50016150e+02] [-3.79612715e-01 9.22967004e-01 -6.34515182e-02 1.71940379e+02] [-1.61995767e-01 1.21100283e-03 9.86790710e-01 7.92746321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters Centerline goodness : 0.998154 with order 1 Centerline is valid? [True, True] Translation: X:250.07, Y:171.92, Z:79.26 [[ 9.09760530e-01 3.87456879e-01 1.49040079e-01 2.50074412e+02] [-3.82220248e-01 9.21887484e-01 -6.34913235e-02 1.71919640e+02] [-1.61998334e-01 7.95764101e-04 9.86790711e-01 7.92648729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:171.90, Z:79.25 [[ 9.09277806e-01 3.88594240e-01 1.49024787e-01 2.50131240e+02] [-3.83366899e-01 9.21408767e-01 -6.35271964e-02 1.71902547e+02] [-1.61999048e-01 6.32699264e-04 9.86790711e-01 7.92497112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:250.19, Y:171.87, Z:79.24 [[ 9.08957332e-01 3.89348637e-01 1.49010766e-01 2.50186604e+02] [-3.84125975e-01 9.21090307e-01 -6.35600665e-02 1.71874875e+02] [-1.61999398e-01 5.34482542e-04 9.86790712e-01 7.92385963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:250.24, Y:171.85, Z:79.23 [[ 9.08604799e-01 3.90177076e-01 1.48993852e-01 2.50241417e+02] [-3.84958979e-01 9.20739737e-01 -6.35996916e-02 1.71845211e+02] [-1.61999702e-01 4.30463724e-04 9.86790713e-01 7.92308214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:171.82, Z:79.23 [[ 9.07866688e-01 3.91897911e-01 1.48976860e-01 2.50298036e+02] [-3.86696287e-01 9.20008695e-01 -6.36394708e-02 1.71819201e+02] [-1.62000182e-01 1.67356989e-04 9.86790714e-01 7.92269507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters Centerline goodness : 0.996886 with order 1 Centerline is valid? [True, True] Translation: X:250.35, Y:171.80, Z:79.21 [[ 9.05951891e-01 3.96309958e-01 1.48961702e-01 2.50352895e+02] [-3.91161634e-01 9.18116593e-01 -6.36749303e-02 1.71795718e+02] [-1.61999220e-01 -5.81679465e-04 9.86790715e-01 7.92117628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters Centerline goodness : 0.997975 with order 1 Centerline is valid? [True, True] Translation: X:250.41, Y:171.77, Z:79.20 [[ 9.02981626e-01 4.03036888e-01 1.48947809e-01 2.50407807e+02] [-3.97973823e-01 9.15182059e-01 -6.37074126e-02 1.71770797e+02] [-1.61990800e-01 -1.75070606e-03 9.86790715e-01 7.91965810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters Centerline goodness : 0.996651 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:171.75, Z:79.18 [[ 9.00020438e-01 4.09612313e-01 1.48932748e-01 2.50461721e+02] [-4.04632549e-01 9.12255107e-01 -6.37426020e-02 1.71745704e+02] [-1.61974415e-01 -2.89339301e-03 9.86790716e-01 7.91769835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:171.72, Z:79.17 [[ 8.99900617e-01 4.09881004e-01 1.48917571e-01 2.50519246e+02] [-4.04899030e-01 9.12134386e-01 -6.37780396e-02 1.71721642e+02] [-1.61974244e-01 -2.90268306e-03 9.86790717e-01 7.91728169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters Centerline goodness : 0.996902 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:171.70, Z:79.16 [[ 8.99972571e-01 4.09727085e-01 1.48906306e-01 2.50576269e+02] [-4.04738670e-01 9.12203714e-01 -6.38043308e-02 1.71699443e+02] [-1.61975248e-01 -2.84599272e-03 9.86790717e-01 7.91637448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:250.63, Y:171.67, Z:79.16 [[ 9.00521153e-01 4.08525586e-01 1.48890892e-01 2.50632337e+02] [-4.03514909e-01 9.12743193e-01 -6.38402804e-02 1.71671445e+02] [-1.61979536e-01 -2.59017189e-03 9.86790718e-01 7.91551854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters Centerline goodness : 0.996813 with order 1 Centerline is valid? [True, True] Translation: X:250.69, Y:171.65, Z:79.14 [[ 9.02907462e-01 4.03230542e-01 1.48873250e-01 2.50688954e+02] [-3.98141404e-01 9.15097039e-01 -6.38813958e-02 1.71649872e+02] [-1.61992400e-01 -1.59361556e-03 9.86790719e-01 7.91411174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:250.74, Y:171.62, Z:79.13 [[ 9.02551059e-01 4.04033694e-01 1.48856842e-01 2.50742341e+02] [-3.98949100e-01 9.14742532e-01 -6.39196058e-02 1.71620994e+02] [-1.61991359e-01 -1.69559538e-03 9.86790720e-01 7.91314408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters Centerline goodness : 0.997599 with order 1 Centerline is valid? [True, True] Translation: X:250.80, Y:171.60, Z:79.11 [[ 9.03023922e-01 4.02979147e-01 1.48847584e-01 2.50798610e+02] [-3.97876764e-01 9.15207959e-01 -6.39411592e-02 1.71602138e+02] [-1.61993447e-01 -1.48259857e-03 9.86790720e-01 7.91129446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters Centerline goodness : 0.997428 with order 1 Centerline is valid? [True, True] Translation: X:250.86, Y:171.58, Z:79.11 [[ 9.03592705e-01 4.01705296e-01 1.48839101e-01 2.50855630e+02] [-3.96582485e-01 9.15768167e-01 -6.39608977e-02 1.71577952e+02] [-1.61995542e-01 -1.23238000e-03 9.86790720e-01 7.91075181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters Centerline goodness : 0.997490 with order 1 Centerline is valid? [True, True] Translation: X:250.91, Y:171.55, Z:79.11 [[ 9.03745890e-01 4.01366236e-01 1.48823756e-01 2.50911490e+02] [-3.96232981e-01 9.15916952e-01 -6.39965835e-02 1.71546443e+02] [-1.61996269e-01 -1.13223111e-03 9.86790721e-01 7.91057513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters Centerline goodness : 0.997161 with order 1 Centerline is valid? [True, True] Translation: X:250.97, Y:171.53, Z:79.09 [[ 9.01411767e-01 4.06587562e-01 1.48806523e-01 2.50969925e+02] [-4.01518190e-01 9.13609574e-01 -6.40366287e-02 1.71531635e+02] [-1.61987561e-01 -2.02515521e-03 9.86790722e-01 7.90868500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters Centerline goodness : 0.996232 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:171.51, Z:79.08 [[ 9.01927298e-01 4.05448282e-01 1.48791265e-01 2.51029302e+02] [-4.00357657e-01 9.14116249e-01 -6.40720627e-02 1.71512814e+02] [-1.61990421e-01 -1.78137980e-03 9.86790723e-01 7.90766320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:171.48, Z:79.07 [[ 9.02347347e-01 4.04519353e-01 1.48772844e-01 2.51081862e+02] [-3.99409132e-01 9.14528095e-01 -6.41148077e-02 1.71482119e+02] [-1.61992626e-01 -1.56740587e-03 9.86790724e-01 7.90701083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters Centerline goodness : 0.996935 with order 1 Centerline is valid? [True, True] Translation: X:251.14, Y:171.46, Z:79.06 [[ 9.03463387e-01 4.02026013e-01 1.48758168e-01 2.51138380e+02] [-3.96876572e-01 9.15627606e-01 -6.41488412e-02 1.71457298e+02] [-1.61996588e-01 -1.08250229e-03 9.86790724e-01 7.90642632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters Centerline goodness : 0.997126 with order 1 Centerline is valid? [True, True] Translation: X:251.19, Y:171.43, Z:79.05 [[ 9.03024442e-01 4.03016423e-01 1.48743467e-01 2.51194202e+02] [-3.97874712e-01 9.15191930e-01 -6.41829094e-02 1.71433702e+02] [-1.61995588e-01 -1.22252825e-03 9.86790725e-01 7.90512970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters Centerline goodness : 0.997170 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:171.41, Z:79.04 [[ 9.02117035e-01 4.05049153e-01 1.48728069e-01 2.51250268e+02] [-3.99928978e-01 9.14293600e-01 -6.42185722e-02 1.71407485e+02] [-1.61992800e-01 -1.54799663e-03 9.86790726e-01 7.90416894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters Centerline goodness : 0.995966 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:171.39, Z:79.03 [[ 9.03147857e-01 4.02751930e-01 1.48710558e-01 2.51308981e+02] [-3.97594110e-01 9.15308523e-01 -6.42590960e-02 1.71388505e+02] [-1.61996517e-01 -1.09097717e-03 9.86790727e-01 7.90281694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:171.37, Z:79.02 [[ 9.01851625e-01 4.05653097e-01 1.48691664e-01 2.51365849e+02] [-4.00527191e-01 9.14025777e-01 -6.43027871e-02 1.71365721e+02] [-1.61992638e-01 -1.56348152e-03 9.86790728e-01 7.90152258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:171.34, Z:79.01 [[ 9.01092787e-01 4.07341799e-01 1.48675647e-01 2.51420422e+02] [-4.02232602e-01 9.13273959e-01 -6.43397995e-02 1.71338163e+02] [-1.61989886e-01 -1.82606299e-03 9.86790729e-01 7.90095503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters Centerline goodness : 0.997093 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:171.31, Z:79.01 [[ 9.01447254e-01 4.06562150e-01 1.48660913e-01 2.51476419e+02] [-4.01436806e-01 9.13621640e-01 -6.43738248e-02 1.71308780e+02] [-1.61991788e-01 -1.64835474e-03 9.86790729e-01 7.90082880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters Centerline goodness : 0.997034 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:171.29, Z:78.98 [[ 9.01598081e-01 4.06234230e-01 1.48642697e-01 2.51532093e+02] [-4.01097528e-01 9.13767678e-01 -6.44158612e-02 1.71291835e+02] [-1.61992819e-01 -1.54300134e-03 9.86790730e-01 7.89845853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:251.59, Y:171.27, Z:78.97 [[ 9.00489887e-01 4.08690125e-01 1.48628212e-01 2.51589557e+02] [-4.03581099e-01 9.12671129e-01 -6.44492650e-02 1.71268813e+02] [-1.61988456e-01 -1.94762568e-03 9.86790731e-01 7.89717064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters Centerline goodness : 0.997235 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:171.24, Z:78.97 [[ 8.99324397e-01 4.11254723e-01 1.48610839e-01 2.51645565e+02] [-4.06173819e-01 9.11517394e-01 -6.44892991e-02 1.71240551e+02] [-1.61982894e-01 -2.36503218e-03 9.86790732e-01 7.89660289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters Centerline goodness : 0.997128 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:171.22, Z:78.96 [[ 8.98290387e-01 4.13514626e-01 1.48593522e-01 2.51702077e+02] [-4.08457800e-01 9.10493389e-01 -6.45291766e-02 1.71217535e+02] [-1.61977178e-01 -2.72824410e-03 9.86790733e-01 7.89602952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:171.20, Z:78.94 [[ 8.99860410e-01 4.10089841e-01 1.48585211e-01 2.51758915e+02] [-4.04983409e-01 9.12042737e-01 -6.45483087e-02 1.71198214e+02] [-1.61986668e-01 -2.09007769e-03 9.86790733e-01 7.89443322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:171.18, Z:78.93 [[ 9.01295514e-01 4.06931707e-01 1.48569788e-01 2.51815454e+02] [-4.01776738e-01 9.13457381e-01 -6.45837885e-02 1.71177110e+02] [-1.61993360e-01 -1.48280586e-03 9.86790734e-01 7.89338522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:251.87, Y:171.15, Z:78.92 [[ 9.04470700e-01 3.99829867e-01 1.48555815e-01 2.51871134e+02] [-3.94574120e-01 9.16589356e-01 -6.46159135e-02 1.71152392e+02] [-1.62000051e-01 -1.73079412e-04 9.86790734e-01 7.89240653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:251.93, Y:171.13, Z:78.92 [[ 9.06246192e-01 3.95794900e-01 1.48540356e-01 2.51928695e+02] [-3.90479374e-01 9.18338745e-01 -6.46514319e-02 1.71126357e+02] [-1.61999071e-01 5.88168984e-04 9.86790735e-01 7.89179178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:251.98, Y:171.10, Z:78.91 [[ 9.07191973e-01 3.93628964e-01 1.48522601e-01 2.51984735e+02] [-3.88277893e-01 9.19268839e-01 -6.46921950e-02 1.71103388e+02] [-1.61996920e-01 1.02019761e-03 9.86790736e-01 7.89053085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters Centerline goodness : 0.997126 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:171.08, Z:78.90 [[ 9.05729906e-01 3.96987654e-01 1.48506363e-01 2.52042225e+02] [-3.91675259e-01 9.17823834e-01 -6.47294482e-02 1.71078854e+02] [-1.61999471e-01 4.61128789e-04 9.86790737e-01 7.88958120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:252.10, Y:171.05, Z:78.89 [[ 9.05283830e-01 3.98010379e-01 1.48488804e-01 2.52097495e+02] [-3.92705043e-01 9.17380856e-01 -6.47697048e-02 1.71053704e+02] [-1.61999801e-01 3.22664349e-04 9.86790738e-01 7.88863772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters Centerline goodness : 0.996130 with order 1 Centerline is valid? [True, True] Translation: X:252.15, Y:171.03, Z:78.88 [[ 9.05526879e-01 3.97463203e-01 1.48472468e-01 2.52154626e+02] [-3.92144421e-01 9.17617997e-01 -6.48071299e-02 1.71028286e+02] [-1.61999458e-01 4.61948130e-04 9.86790739e-01 7.88760251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters Centerline goodness : 0.996465 with order 1 Centerline is valid? [True, True] Translation: X:252.21, Y:171.00, Z:78.87 [[ 9.05241663e-01 3.98118959e-01 1.48454797e-01 2.52211886e+02] [-3.92802301e-01 9.17333714e-01 -6.48475841e-02 1.71003291e+02] [-1.61999643e-01 3.89348877e-04 9.86790740e-01 7.88657745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters Centerline goodness : 0.996849 with order 1 Centerline is valid? [True, True] Translation: X:252.27, Y:170.97, Z:78.86 [[ 9.04742581e-01 3.99258363e-01 1.48437269e-01 2.52267878e+02] [-3.93950354e-01 9.16838430e-01 -6.48876825e-02 1.70974461e+02] [-1.61999942e-01 2.29734694e-04 9.86790741e-01 7.88610894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:170.95, Z:78.84 [[ 9.03367433e-01 4.02366563e-01 1.48419774e-01 2.52325668e+02] [-3.97093602e-01 9.15478601e-01 -6.49276743e-02 1.70954575e+02] [-1.61999852e-01 -2.82996126e-04 9.86790742e-01 7.88440563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:170.93, Z:78.83 [[ 9.01611744e-01 4.06291878e-01 1.48402066e-01 2.52383392e+02] [-4.01064985e-01 9.13742864e-01 -6.49681236e-02 1.70930805e+02] [-1.61997350e-01 -9.42849229e-04 9.86790743e-01 7.88340027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters Centerline goodness : 0.997201 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:170.91, Z:78.83 [[ 8.99699827e-01 4.10515167e-01 1.48383016e-01 2.52441181e+02] [-4.05338045e-01 9.11852269e-01 -6.50116036e-02 1.70910976e+02] [-1.61991639e-01 -1.65435326e-03 9.86790744e-01 7.88258083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:170.89, Z:78.81 [[ 8.99147752e-01 4.11729333e-01 1.48365347e-01 2.52497393e+02] [-4.06561972e-01 9.11304347e-01 -6.50519029e-02 1.70886443e+02] [-1.61989762e-01 -1.82843580e-03 9.86790745e-01 7.88142703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters Centerline goodness : 0.996796 with order 1 Centerline is valid? [True, True] Translation: X:252.55, Y:170.85, Z:78.81 [[ 8.98668552e-01 4.12779829e-01 1.48349743e-01 2.52550671e+02] [-4.07620808e-01 9.10828688e-01 -6.50874674e-02 1.70853878e+02] [-1.61987996e-01 -1.97838220e-03 9.86790745e-01 7.88122954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:252.61, Y:170.84, Z:78.79 [[ 8.97951671e-01 4.14342123e-01 1.48335434e-01 2.52610095e+02] [-4.09198874e-01 9.10118486e-01 -6.51200635e-02 1.70838325e+02] [-1.61984806e-01 -2.22402269e-03 9.86790746e-01 7.87945451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters Centerline goodness : 0.997296 with order 1 Centerline is valid? [True, True] Translation: X:252.67, Y:170.82, Z:78.78 [[ 8.96792170e-01 4.16852145e-01 1.48317540e-01 2.52667731e+02] [-4.11736213e-01 9.08970495e-01 -6.51607940e-02 1.70817083e+02] [-1.61978684e-01 -2.63201226e-03 9.86790747e-01 7.87807207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:170.78, Z:78.78 [[ 8.95336822e-01 4.19975237e-01 1.48299615e-01 2.52720822e+02] [-4.14895032e-01 9.07530093e-01 -6.52015627e-02 1.70781393e+02] [-1.61969405e-01 -3.15141368e-03 9.86790748e-01 7.87819269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:170.76, Z:78.78 [[ 8.95822329e-01 4.18944261e-01 1.48283719e-01 2.52777727e+02] [-4.13844044e-01 9.08007241e-01 -6.52376945e-02 1.70758240e+02] [-1.61973649e-01 -2.92495060e-03 9.86790749e-01 7.87752000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:170.74, Z:78.76 [[ 8.92948530e-01 4.25038222e-01 1.48274853e-01 2.52835171e+02] [-4.20017802e-01 9.05166537e-01 -6.52578409e-02 1.70740244e+02] [-1.61950512e-01 -4.00618464e-03 9.86790749e-01 7.87618023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:252.89, Y:170.71, Z:78.75 [[ 8.90897070e-01 4.29326783e-01 1.48259653e-01 2.52891065e+02] [-4.24359429e-01 9.03136747e-01 -6.52923556e-02 1.70714321e+02] [-1.61930497e-01 -4.74661326e-03 9.86790750e-01 7.87484903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters Centerline goodness : 0.996420 with order 1 Centerline is valid? [True, True] Translation: X:252.95, Y:170.69, Z:78.73 [[ 8.89664582e-01 4.31881194e-01 1.48241581e-01 2.52948850e+02] [-4.26942154e-01 9.01915711e-01 -6.53333597e-02 1.70693254e+02] [-1.61917661e-01 -5.16580400e-03 9.86790751e-01 7.87346719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:253.00, Y:170.67, Z:78.73 [[ 8.86281259e-01 4.38788769e-01 1.48222622e-01 2.53003934e+02] [-4.33938003e-01 8.98567606e-01 -6.53763447e-02 1.70667150e+02] [-1.61874453e-01 -6.37759972e-03 9.86790752e-01 7.87270073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters Centerline goodness : 0.997096 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:170.64, Z:78.71 [[ 8.87105388e-01 4.37125350e-01 1.48207488e-01 2.53056011e+02] [-4.32245824e-01 8.99380340e-01 -6.54106373e-02 1.70635441e+02] [-1.61887548e-01 -6.03593888e-03 9.86790752e-01 7.87145248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters Centerline goodness : 0.997096 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:170.61, Z:78.70 [[ 8.89792698e-01 4.31633952e-01 1.48192733e-01 2.53112724e+02] [-4.26673091e-01 9.02035005e-01 -6.54440492e-02 1.70613998e+02] [-1.61922906e-01 -4.99821423e-03 9.86790753e-01 7.86991541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters Centerline goodness : 0.996926 with order 1 Centerline is valid? [True, True] Translation: X:253.17, Y:170.58, Z:78.70 [[ 8.89903991e-01 4.31409933e-01 1.48176774e-01 2.53166589e+02] [-4.26439984e-01 9.02142610e-01 -6.54801628e-02 1.70583661e+02] [-1.61925374e-01 -4.91744285e-03 9.86790754e-01 7.86953494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters Centerline goodness : 0.996716 with order 1 Centerline is valid? [True, True] Translation: X:253.22, Y:170.56, Z:78.68 [[ 8.91816652e-01 4.27447467e-01 1.48161138e-01 2.53223082e+02] [-4.22417260e-01 9.04030627e-01 -6.55155224e-02 1.70559979e+02] [-1.61946651e-01 -4.15798834e-03 9.86790755e-01 7.86833644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:170.53, Z:78.68 [[ 8.91169589e-01 4.28800797e-01 1.48143984e-01 2.53277078e+02] [-4.23782699e-01 9.03388543e-01 -6.55542882e-02 1.70528986e+02] [-1.61941309e-01 -4.36086942e-03 9.86790756e-01 7.86837027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:170.50, Z:78.67 [[ 8.90681441e-01 4.29819168e-01 1.48128500e-01 2.53332225e+02] [-4.24809230e-01 9.02903742e-01 -6.55892592e-02 1.70504838e+02] [-1.61937298e-01 -4.50721800e-03 9.86790756e-01 7.86707200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:170.48, Z:78.66 [[ 8.89318394e-01 4.32637636e-01 1.48113034e-01 2.53387930e+02] [-4.27660620e-01 9.01554137e-01 -6.56241661e-02 1.70481577e+02] [-1.61923403e-01 -4.98133395e-03 9.86790757e-01 7.86559490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters Centerline goodness : 0.997896 with order 1 Centerline is valid? [True, True] Translation: X:253.45, Y:170.47, Z:78.64 [[ 8.93320976e-01 4.24316644e-01 1.48098008e-01 2.53447670e+02] [-4.19220004e-01 9.05507376e-01 -6.56580586e-02 1.70467895e+02] [-1.61963646e-01 -3.43192663e-03 9.86790758e-01 7.86373780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:170.44, Z:78.64 [[ 8.92936644e-01 4.25130810e-01 1.48080868e-01 2.53501597e+02] [-4.20038878e-01 9.05125011e-01 -6.56966925e-02 1.70435407e+02] [-1.61961386e-01 -3.53673755e-03 9.86790759e-01 7.86394231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters Centerline goodness : 0.998076 with order 1 Centerline is valid? [True, True] Translation: X:253.56, Y:170.41, Z:78.62 [[ 8.95377442e-01 4.19971279e-01 1.48065399e-01 2.53557360e+02] [-4.14803340e-01 9.07533776e-01 -6.57315384e-02 1.70412878e+02] [-1.61979709e-01 -2.56348541e-03 9.86790759e-01 7.86241992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters Centerline goodness : 0.997499 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:170.39, Z:78.61 [[ 8.96686322e-01 4.17174652e-01 1.48050499e-01 2.53613366e+02] [-4.11963260e-01 9.08824090e-01 -6.57650824e-02 1.70388604e+02] [-1.61987385e-01 -2.02071624e-03 9.86790760e-01 7.86122519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:170.36, Z:78.61 [[ 8.96502691e-01 4.17574705e-01 1.48034763e-01 2.53669400e+02] [-4.12362885e-01 9.08640274e-01 -6.58004843e-02 1.70358722e+02] [-1.61986965e-01 -2.05373057e-03 9.86790761e-01 7.86136189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:170.34, Z:78.60 [[ 8.95964681e-01 4.18733410e-01 1.48018990e-01 2.53726772e+02] [-4.13531428e-01 9.08106484e-01 -6.58359467e-02 1.70337131e+02] [-1.61984715e-01 -2.22382124e-03 9.86790761e-01 7.86020536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:170.32, Z:78.59 [[ 8.94025871e-01 4.22862633e-01 1.48003161e-01 2.53783982e+02] [-4.17710839e-01 9.06189053e-01 -6.58715123e-02 1.70316656e+02] [-1.61973445e-01 -2.93168830e-03 9.86790762e-01 7.85883863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:170.29, Z:78.58 [[ 8.93379250e-01 4.24232586e-01 1.47987262e-01 2.53839320e+02] [-4.19093531e-01 9.05547818e-01 -6.59072127e-02 1.70289701e+02] [-1.61969529e-01 -3.14036783e-03 9.86790763e-01 7.85798233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:170.26, Z:78.57 [[ 8.93129772e-01 4.24763344e-01 1.47970648e-01 2.53894357e+02] [-4.19625347e-01 9.05298786e-01 -6.59444911e-02 1.70260880e+02] [-1.61968451e-01 -3.19524638e-03 9.86790764e-01 7.85741091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters Centerline goodness : 0.998216 with order 1 Centerline is valid? [True, True] Translation: X:253.95, Y:170.24, Z:78.56 [[ 8.92715393e-01 4.25639618e-01 1.47953179e-01 2.53951695e+02] [-4.20507077e-01 9.04886708e-01 -6.59836624e-02 1.70238256e+02] [-1.61966126e-01 -3.31072772e-03 9.86790765e-01 7.85639135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:254.01, Y:170.22, Z:78.55 [[ 8.91013672e-01 4.29196432e-01 1.47936000e-01 2.54008726e+02] [-4.24106084e-01 9.03202693e-01 -6.60221555e-02 1.70216503e+02] [-1.61952667e-01 -3.91391454e-03 9.86790765e-01 7.85479372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:170.19, Z:78.54 [[ 8.91170334e-01 4.28877118e-01 1.47918401e-01 2.54064528e+02] [-4.23775866e-01 9.03354795e-01 -6.60615620e-02 1.70187424e+02] [-1.61955089e-01 -3.81214418e-03 9.86790766e-01 7.85411333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:170.16, Z:78.53 [[ 8.92842578e-01 4.25391214e-01 1.47900121e-01 2.54119576e+02] [-4.20235613e-01 9.05004140e-01 -6.61024619e-02 1.70156729e+02] [-1.61969629e-01 -3.13380562e-03 9.86790767e-01 7.85339740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:254.18, Y:170.13, Z:78.53 [[ 8.93562314e-01 4.23883663e-01 1.47881815e-01 2.54175211e+02] [-4.18700771e-01 9.05712270e-01 -6.61433906e-02 1.70130488e+02] [-1.61975477e-01 -2.81498904e-03 9.86790768e-01 7.85286777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:254.23, Y:170.11, Z:78.51 [[ 8.93846988e-01 4.23288234e-01 1.47866942e-01 2.54230900e+02] [-4.18091753e-01 9.05991137e-01 -6.61766233e-02 1.70106117e+02] [-1.61977925e-01 -2.67017364e-03 9.86790769e-01 7.85130017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:254.28, Y:170.08, Z:78.50 [[ 8.93998302e-01 4.22974137e-01 1.47850994e-01 2.54284405e+02] [-4.17767500e-01 9.06138100e-01 -6.62122369e-02 1.70079578e+02] [-1.61979482e-01 -2.57371272e-03 9.86790770e-01 7.84995335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:254.34, Y:170.05, Z:78.49 [[ 8.93815754e-01 4.23362878e-01 1.47842048e-01 2.54339797e+02] [-4.18158219e-01 9.05956400e-01 -6.62322053e-02 1.70051067e+02] [-1.61978707e-01 -2.62197908e-03 9.86790770e-01 7.84907558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:170.03, Z:78.48 [[ 8.92633005e-01 4.25857320e-01 1.47823754e-01 2.54394530e+02] [-4.20679830e-01 9.04785261e-01 -6.62730114e-02 1.70025913e+02] [-1.61971601e-01 -3.02899438e-03 9.86790771e-01 7.84817675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:254.45, Y:170.00, Z:78.47 [[ 8.92043437e-01 4.27095973e-01 1.47809119e-01 2.54449721e+02] [-4.21929954e-01 9.04200573e-01 -6.63056359e-02 1.69998792e+02] [-1.61967960e-01 -3.21758740e-03 9.86790772e-01 7.84746864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:254.50, Y:169.97, Z:78.46 [[ 8.93874098e-01 4.23257201e-01 1.47791875e-01 2.54503366e+02] [-4.18032617e-01 9.06006180e-01 -6.63440504e-02 1.69972711e+02] [-1.61980949e-01 -2.47859592e-03 9.86790773e-01 7.84607529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:254.56, Y:169.95, Z:78.46 [[ 9.02017855e-01 4.05618106e-01 1.47775986e-01 2.54558966e+02] [-4.00150436e-01 9.14042341e-01 -6.63794224e-02 1.69945371e+02] [-1.61998204e-01 7.42798824e-04 9.86790773e-01 7.84561617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:169.92, Z:78.44 [[ 9.03181213e-01 4.03026880e-01 1.47760044e-01 2.54614759e+02] [-3.97518910e-01 9.15187291e-01 -6.64148913e-02 1.69919700e+02] [-1.61995101e-01 1.24727048e-03 9.86790774e-01 7.84437794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:169.90, Z:78.43 [[ 9.02920803e-01 4.03613108e-01 1.47751420e-01 2.54671639e+02] [-3.98109795e-01 9.14929017e-01 -6.64340714e-02 1.69897439e+02] [-1.61995723e-01 1.16341770e-03 9.86790774e-01 7.84310223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:169.88, Z:78.42 [[ 9.00581688e-01 4.08811528e-01 1.47735430e-01 2.54728826e+02] [-4.03371701e-01 9.12618793e-01 -6.64696110e-02 1.69879105e+02] [-1.61999673e-01 2.69022945e-04 9.86790775e-01 7.84171821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:169.85, Z:78.41 [[ 8.98244502e-01 4.13926770e-01 1.47720826e-01 2.54783504e+02] [-4.08550154e-01 9.10309974e-01 -6.65020499e-02 1.69852798e+02] [-1.61998720e-01 -6.16265635e-04 9.86790776e-01 7.84122199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters Centerline goodness : 0.997891 with order 1 Centerline is valid? [True, True] Translation: X:254.84, Y:169.83, Z:78.40 [[ 8.95400989e-01 4.20047414e-01 1.47706599e-01 2.54840195e+02] [-4.14748056e-01 9.07500592e-01 -6.65336348e-02 1.69829745e+02] [-1.61991108e-01 -1.68674257e-03 9.86790776e-01 7.84031968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:169.81, Z:78.39 [[ 8.92491437e-01 4.26200390e-01 1.47689752e-01 2.54897627e+02] [-4.20978255e-01 9.04624568e-01 -6.65710114e-02 1.69809392e+02] [-1.61976369e-01 -2.76011641e-03 9.86790777e-01 7.83909155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:169.79, Z:78.38 [[ 8.89776945e-01 4.31844816e-01 1.47672081e-01 2.54954217e+02] [-4.26693138e-01 9.01940158e-01 -6.66101877e-02 1.69786894e+02] [-1.61956644e-01 -3.74245426e-03 9.86790778e-01 7.83845054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:255.01, Y:169.76, Z:78.37 [[ 8.90211917e-01 4.30952540e-01 1.47657209e-01 2.55009587e+02] [-4.25783207e-01 9.02367637e-01 -6.66431387e-02 1.69761373e+02] [-1.61961117e-01 -3.54344379e-03 9.86790779e-01 7.83741638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters Centerline goodness : 0.998078 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:169.74, Z:78.36 [[ 8.90800314e-01 4.29740852e-01 1.47640109e-01 2.55067193e+02] [-4.24548711e-01 9.02946308e-01 -6.66810016e-02 1.69736836e+02] [-1.61966641e-01 -3.28096065e-03 9.86790779e-01 7.83645539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:255.12, Y:169.71, Z:78.36 [[ 8.92823488e-01 4.25528398e-01 1.47620463e-01 2.55124622e+02] [-4.20271760e-01 9.04941707e-01 -6.67244652e-02 1.69713547e+02] [-1.61981069e-01 -2.46754204e-03 9.86790781e-01 7.83559929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters Centerline goodness : 0.998471 with order 1 Centerline is valid? [True, True] Translation: X:255.18, Y:169.69, Z:78.35 [[ 8.97053669e-01 4.16542360e-01 1.47604799e-01 2.55181155e+02] [-4.11158612e-01 9.09115954e-01 -6.67590984e-02 1.69685694e+02] [-1.61997870e-01 -8.02490229e-04 9.86790781e-01 7.83485142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:255.24, Y:169.66, Z:78.34 [[ 8.99229291e-01 4.11831203e-01 1.47586388e-01 2.55237507e+02] [-4.06377580e-01 9.11260145e-01 -6.67997764e-02 1.69660613e+02] [-1.61999826e-01 9.25163474e-05 9.86790782e-01 7.83386881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters Centerline goodness : 0.998334 with order 1 Centerline is valid? [True, True] Translation: X:255.29, Y:169.64, Z:78.33 [[ 9.00465632e-01 4.09127445e-01 1.47568217e-01 2.55292898e+02] [-4.03631124e-01 9.12477038e-01 -6.68398954e-02 1.69638783e+02] [-1.61998645e-01 6.23903590e-04 9.86790783e-01 7.83252903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters Centerline goodness : 0.997961 with order 1 Centerline is valid? [True, True] Translation: X:255.35, Y:169.61, Z:78.32 [[ 9.00209907e-01 4.09695087e-01 1.47553578e-01 2.55348348e+02] [-4.04201045e-01 9.12222355e-01 -6.68721962e-02 1.69610559e+02] [-1.61998882e-01 5.57703241e-04 9.86790784e-01 7.83180540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:169.59, Z:78.31 [[ 8.98801099e-01 4.12782885e-01 1.47536009e-01 2.55405611e+02] [-4.07323752e-01 9.10829451e-01 -6.69109351e-02 1.69585964e+02] [-1.61999831e-01 4.47013469e-05 9.86790785e-01 7.83072244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:169.57, Z:78.30 [[ 8.94658283e-01 4.21692810e-01 1.47518575e-01 2.55462791e+02] [-4.16347124e-01 9.06737479e-01 -6.69493494e-02 1.69565874e+02] [-1.61992680e-01 -1.52214462e-03 9.86790786e-01 7.82977725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters Centerline goodness : 0.998499 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:169.54, Z:78.29 [[ 8.90813354e-01 4.29760343e-01 1.47504631e-01 2.55518394e+02] [-4.24518948e-01 9.02938167e-01 -6.69800592e-02 1.69539974e+02] [-1.61972934e-01 -2.95177949e-03 9.86790786e-01 7.82878432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:169.52, Z:78.27 [[ 8.85796297e-01 4.40013738e-01 1.47488408e-01 2.55573006e+02] [-4.34906701e-01 8.97978312e-01 -6.70157630e-02 1.69515322e+02] [-1.61929248e-01 -4.78138207e-03 9.86790787e-01 7.82743402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:255.63, Y:169.49, Z:78.26 [[ 8.85337712e-01 4.40940664e-01 1.47473612e-01 2.55628676e+02] [-4.35840966e-01 8.97522800e-01 -6.70483069e-02 1.69494336e+02] [-1.61925254e-01 -4.91464672e-03 9.86790788e-01 7.82561900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:255.68, Y:169.47, Z:78.25 [[ 8.82337965e-01 4.46918320e-01 1.47457558e-01 2.55683650e+02] [-4.41895261e-01 8.94554845e-01 -6.70835952e-02 1.69468949e+02] [-1.61889760e-01 -5.97039319e-03 9.86790788e-01 7.82459795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:169.44, Z:78.24 [[ 8.83401039e-01 4.44819404e-01 1.47439145e-01 2.55737932e+02] [-4.39760574e-01 8.95603149e-01 -6.71240390e-02 1.69438602e+02] [-1.61905038e-01 -5.54047733e-03 9.86790789e-01 7.82410160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:255.79, Y:169.41, Z:78.24 [[ 8.85145616e-01 4.41343450e-01 1.47421838e-01 2.55792082e+02] [-4.36230373e-01 8.97325093e-01 -6.71620295e-02 1.69407784e+02] [-1.61926836e-01 -4.86170754e-03 9.86790790e-01 7.82399151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:255.85, Y:169.38, Z:78.22 [[ 8.86535886e-01 4.38549414e-01 1.47406017e-01 2.55847276e+02] [-4.33392182e-01 8.98696731e-01 -6.71967348e-02 1.69384982e+02] [-1.61942395e-01 -4.31229868e-03 9.86790791e-01 7.82205357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:169.36, Z:78.21 [[ 8.84895582e-01 4.41855630e-01 1.47388639e-01 2.55901767e+02] [-4.36737489e-01 8.97072931e-01 -6.72348312e-02 1.69357901e+02] [-1.61926447e-01 -4.87433902e-03 9.86790792e-01 7.82145138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:255.96, Y:169.33, Z:78.20 [[ 8.85139278e-01 4.41372523e-01 1.47372841e-01 2.55956697e+02] [-4.36241979e-01 8.97311405e-01 -6.72694416e-02 1.69331136e+02] [-1.61930214e-01 -4.74739477e-03 9.86790792e-01 7.82047153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:256.01, Y:169.30, Z:78.20 [[ 8.86397395e-01 4.38845887e-01 1.47356523e-01 2.56011685e+02] [-4.33674708e-01 8.98552314e-01 -6.73051677e-02 1.69301383e+02] [-1.61944141e-01 -4.24567176e-03 9.86790793e-01 7.81967318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:256.07, Y:169.28, Z:78.18 [[ 8.88007270e-01 4.35585456e-01 1.47337703e-01 2.56067310e+02] [-4.30362815e-01 9.00140165e-01 -6.73463413e-02 1.69280199e+02] [-1.61959671e-01 -3.60462809e-03 9.86790794e-01 7.81776788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters Centerline goodness : 0.998104 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:169.25, Z:78.17 [[ 8.86315648e-01 4.39022590e-01 1.47321886e-01 2.56121762e+02] [-4.33841251e-01 8.98466237e-01 -6.73809251e-02 1.69250642e+02] [-1.61945489e-01 -4.19354292e-03 9.86790795e-01 7.81747348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters Centerline goodness : 0.998205 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:169.22, Z:78.17 [[ 8.85950708e-01 4.39764168e-01 1.47305196e-01 2.56175485e+02] [-4.34586940e-01 8.98103049e-01 -6.74173927e-02 1.69222723e+02] [-1.61942999e-01 -4.28842751e-03 9.86790796e-01 7.81661343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:169.20, Z:78.16 [[ 8.86623806e-01 4.38408603e-01 1.47296038e-01 2.56231205e+02] [-4.33209475e-01 8.98766793e-01 -6.74373955e-02 1.69197488e+02] [-1.61949922e-01 -4.01843889e-03 9.86790796e-01 7.81567006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:169.17, Z:78.15 [[ 8.86693222e-01 4.38273943e-01 1.47278923e-01 2.56287261e+02] [-4.33066769e-01 8.98832760e-01 -6.74747531e-02 1.69173128e+02] [-1.61951547e-01 -3.95220103e-03 9.86790797e-01 7.81456266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:256.34, Y:169.15, Z:78.14 [[ 8.92911868e-01 4.25467162e-01 1.47261976e-01 2.56344318e+02] [-4.20079718e-01 9.04972485e-01 -6.75117191e-02 1.69147288e+02] [-1.61992056e-01 -1.57975415e-03 9.86790798e-01 7.81441228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:256.40, Y:169.13, Z:78.13 [[ 8.94656390e-01 4.21792856e-01 1.47243777e-01 2.56400180e+02] [-4.16349348e-01 9.06691806e-01 -6.75513889e-02 1.69125611e+02] [-1.61997419e-01 -8.69568677e-04 9.86790799e-01 7.81279633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters Centerline goodness : 0.998268 with order 1 Centerline is valid? [True, True] Translation: X:256.46, Y:169.11, Z:78.11 [[ 8.96868533e-01 4.17074212e-01 1.47227497e-01 2.56458214e+02] [-4.11561559e-01 9.08872434e-01 -6.75868522e-02 1.69107721e+02] [-1.61999747e-01 2.33429082e-05 9.86790799e-01 7.81115051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:256.52, Y:169.08, Z:78.10 [[ 8.98084917e-01 4.14454147e-01 1.47211557e-01 2.56515376e+02] [-4.08900784e-01 9.10070038e-01 -6.76215540e-02 1.69081731e+02] [-1.61998861e-01 5.34976624e-04 9.86790800e-01 7.81042587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:256.57, Y:169.06, Z:78.10 [[ 8.98209636e-01 4.14190358e-01 1.47193059e-01 2.56571540e+02] [-4.08626881e-01 9.10190065e-01 -6.76617961e-02 1.69056632e+02] [-1.61998523e-01 6.27436866e-04 9.86790801e-01 7.80971408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:256.63, Y:169.04, Z:78.08 [[ 8.96035280e-01 4.18879249e-01 1.47176599e-01 2.56630220e+02] [-4.13372586e-01 9.08041928e-01 -6.76975798e-02 1.69040594e+02] [-1.61999634e-01 -1.79351473e-04 9.86790802e-01 7.80828608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:256.69, Y:169.02, Z:78.08 [[ 8.93459228e-01 4.24351368e-01 1.47161559e-01 2.56687838e+02] [-4.18912856e-01 9.05496898e-01 -6.77302575e-02 1.69017242e+02] [-1.61995763e-01 -1.13364549e-03 9.86790802e-01 7.80772750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:256.74, Y:168.99, Z:78.07 [[ 8.91299615e-01 4.28874425e-01 1.47145251e-01 2.56743502e+02] [-4.23491150e-01 9.03362087e-01 -6.77656704e-02 1.68990622e+02] [-1.61988404e-01 -1.91519547e-03 9.86790803e-01 7.80710183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:256.80, Y:168.97, Z:78.06 [[ 8.88196486e-01 4.35270430e-01 1.47128021e-01 2.56801037e+02] [-4.29967814e-01 9.00294632e-01 -6.78030574e-02 1.68968039e+02] [-1.61971234e-01 -3.03787632e-03 9.86790804e-01 7.80600829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:256.86, Y:168.95, Z:78.04 [[ 8.85240617e-01 4.41257147e-01 1.47109415e-01 2.56858015e+02] [-4.36029633e-01 8.97371401e-01 -6.78434039e-02 1.68947890e+02] [-1.61948168e-01 -4.08632723e-03 9.86790805e-01 7.80423904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:168.92, Z:78.03 [[ 8.83982451e-01 4.43777844e-01 1.47092662e-01 2.56913288e+02] [-4.38578882e-01 8.96125499e-01 -6.78797058e-02 1.68921923e+02] [-1.61936995e-01 -4.50726657e-03 9.86790806e-01 7.80307303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:168.89, Z:78.02 [[ 8.83222562e-01 4.45290367e-01 1.47086354e-01 2.56969017e+02] [-4.40109925e-01 8.95373522e-01 -6.78933721e-02 1.68893042e+02] [-1.61929491e-01 -4.76920626e-03 9.86790806e-01 7.80226574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters Centerline goodness : 0.998549 with order 1 Centerline is valid? [True, True] Translation: X:257.03, Y:168.87, Z:78.01 [[ 8.82411143e-01 4.46902957e-01 1.47065705e-01 2.57025104e+02] [-4.41737278e-01 8.94568385e-01 -6.79380707e-02 1.68868530e+02] [-1.61922055e-01 -5.01509375e-03 9.86790807e-01 7.80125871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:168.84, Z:78.01 [[ 8.82201841e-01 4.47321446e-01 1.47049092e-01 2.57079417e+02] [-4.42155549e-01 8.94358990e-01 -6.79740117e-02 1.68839528e+02] [-1.61920910e-01 -5.05177369e-03 9.86790808e-01 7.80056215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:257.13, Y:168.81, Z:78.00 [[ 8.83732482e-01 4.44295322e-01 1.47032535e-01 2.57134489e+02] [-4.39081841e-01 8.95869300e-01 -6.80098072e-02 1.68810739e+02] [-1.61938373e-01 -4.45684021e-03 9.86790809e-01 7.79961589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:257.19, Y:168.79, Z:77.98 [[ 8.85481413e-01 4.40805711e-01 1.47013577e-01 2.57189053e+02] [-4.35537597e-01 8.97594616e-01 -6.80507626e-02 1.68786006e+02] [-1.61955760e-01 -3.77225464e-03 9.86790810e-01 7.79797975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:257.24, Y:168.76, Z:77.97 [[ 8.85749147e-01 4.40273375e-01 1.46995933e-01 2.57244288e+02] [-4.34991663e-01 8.97856425e-01 -6.80888547e-02 1.68756873e+02] [-1.61958953e-01 -3.63236037e-03 9.86790810e-01 7.79717352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters Centerline goodness : 0.996991 with order 1 Centerline is valid? [True, True] Translation: X:257.30, Y:168.73, Z:77.96 [[ 8.87776826e-01 4.36177300e-01 1.46975067e-01 2.57299226e+02] [-4.30832270e-01 8.99856284e-01 -6.81338653e-02 1.68730351e+02] [-1.61974883e-01 -2.83393527e-03 9.86790812e-01 7.79594886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters Centerline goodness : 0.997559 with order 1 Centerline is valid? [True, True] Translation: X:257.35, Y:168.70, Z:77.95 [[ 8.89459937e-01 4.32740332e-01 1.46958587e-01 2.57353983e+02] [-4.27342752e-01 9.01516004e-01 -6.81693945e-02 1.68703679e+02] [-1.61985164e-01 -2.16774145e-03 9.86790812e-01 7.79475078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:257.41, Y:168.68, Z:77.94 [[ 8.90324808e-01 4.30964055e-01 1.46941214e-01 2.57409852e+02] [-4.25536245e-01 9.02367294e-01 -6.82068213e-02 1.68676111e+02] [-1.61989634e-01 -1.80258744e-03 9.86790813e-01 7.79396142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters Centerline goodness : 0.998026 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:168.65, Z:77.93 [[ 8.90918671e-01 4.29741504e-01 1.46922297e-01 2.57465545e+02] [-4.24290453e-01 9.02950654e-01 -6.82475472e-02 1.68649171e+02] [-1.61992387e-01 -1.53471371e-03 9.86790814e-01 7.79306760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:257.52, Y:168.63, Z:77.91 [[ 8.93149422e-01 4.25088086e-01 1.46915725e-01 2.57521241e+02] [-4.19572015e-01 9.05151736e-01 -6.82616908e-02 1.68626621e+02] [-1.61998255e-01 -6.73837218e-04 9.86790814e-01 7.79146207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:168.60, Z:77.91 [[ 8.91649696e-01 4.28231699e-01 1.46895987e-01 2.57576247e+02] [-4.22750950e-01 9.03668180e-01 -6.83041408e-02 1.68597134e+02] [-1.61995227e-01 -1.19705145e-03 9.86790815e-01 7.79089162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters Centerline goodness : 0.998320 with order 1 Centerline is valid? [True, True] Translation: X:257.63, Y:168.57, Z:77.90 [[ 8.89810959e-01 4.32043513e-01 1.46883832e-01 2.57631568e+02] [-4.26609933e-01 9.01850841e-01 -6.83302680e-02 1.68571993e+02] [-1.61988957e-01 -1.86108060e-03 9.86790816e-01 7.78954716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:257.69, Y:168.54, Z:77.88 [[ 8.87485543e-01 4.36806205e-01 1.46866437e-01 2.57687431e+02] [-4.31431048e-01 8.99551620e-01 -6.83676362e-02 1.68544288e+02] [-1.61977349e-01 -2.68745226e-03 9.86790817e-01 7.78845991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:168.52, Z:77.88 [[ 8.83627697e-01 4.44564800e-01 1.46847647e-01 2.57743790e+02] [-4.39288863e-01 8.95737486e-01 -6.84079726e-02 1.68516361e+02] [-1.61948719e-01 -4.06135657e-03 9.86790818e-01 7.78790561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:257.80, Y:168.50, Z:77.86 [[ 8.81446494e-01 4.48880224e-01 1.46828549e-01 2.57799046e+02] [-4.43656747e-01 8.93579003e-01 -6.84489401e-02 1.68496007e+02] [-1.61928284e-01 -4.80739799e-03 9.86790819e-01 7.78590998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:168.47, Z:77.85 [[ 8.84604903e-01 4.42629072e-01 1.46811684e-01 2.57854033e+02] [-4.37313841e-01 8.96697495e-01 -6.84850928e-02 1.68470390e+02] [-1.61959163e-01 -3.62053274e-03 9.86790819e-01 7.78456885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:257.91, Y:168.43, Z:77.85 [[ 8.86517784e-01 4.38791574e-01 1.46792960e-01 2.57906033e+02] [-4.33417352e-01 8.98584273e-01 -6.85252033e-02 1.68432845e+02] [-1.61974127e-01 -2.87380476e-03 9.86790820e-01 7.78501352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:168.41, Z:77.84 [[ 8.87380379e-01 4.37050845e-01 1.46774053e-01 2.57962943e+02] [-4.31646258e-01 8.99433297e-01 -6.85656782e-02 1.68407714e+02] [-1.61980158e-01 -2.51063309e-03 9.86790821e-01 7.78399857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:168.38, Z:77.82 [[ 8.85928913e-01 4.39991956e-01 1.46755036e-01 2.58018584e+02] [-4.34620643e-01 8.97996695e-01 -6.86063577e-02 1.68382853e+02] [-1.61971782e-01 -3.00241212e-03 9.86790822e-01 7.78232608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:258.07, Y:168.35, Z:77.81 [[ 8.84844084e-01 4.42175768e-01 1.46736286e-01 2.58071739e+02] [-4.36827594e-01 8.96922137e-01 -6.86464371e-02 1.68351659e+02] [-1.61964814e-01 -3.35706495e-03 9.86790823e-01 7.78114982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:258.13, Y:168.33, Z:77.80 [[ 8.84465428e-01 4.42938174e-01 1.46719735e-01 2.58127806e+02] [-4.37594548e-01 8.96545494e-01 -6.86817933e-02 1.68326649e+02] [-1.61962706e-01 -3.45708439e-03 9.86790824e-01 7.77994101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:258.18, Y:168.30, Z:77.79 [[ 8.85676497e-01 4.40517913e-01 1.46700751e-01 2.58182669e+02] [-4.35134564e-01 8.97738912e-01 -6.87223185e-02 1.68299941e+02] [-1.61972385e-01 -2.96882506e-03 9.86790825e-01 7.77873662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:258.24, Y:168.27, Z:77.78 [[ 8.89252398e-01 4.33259633e-01 1.46684232e-01 2.58235904e+02] [-4.27771998e-01 9.01267727e-01 -6.87575596e-02 1.68266868e+02] [-1.61991640e-01 -1.60458239e-03 9.86790826e-01 7.77813137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:168.24, Z:77.78 [[ 8.91522440e-01 4.28575169e-01 1.46666506e-01 2.58291048e+02] [-4.23018178e-01 9.03505850e-01 -6.87953517e-02 1.68237547e+02] [-1.61998025e-01 -7.09998197e-04 9.86790827e-01 7.77772215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:168.21, Z:77.77 [[ 8.93318797e-01 4.24823843e-01 1.46650022e-01 2.58346914e+02] [-4.19210764e-01 9.05276036e-01 -6.88304709e-02 1.68209515e+02] [-1.61999576e-01 1.02855669e-05 9.86790827e-01 7.77697235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters Centerline goodness : 0.997715 with order 1 Centerline is valid? [True, True] Translation: X:258.40, Y:168.18, Z:77.76 [[ 8.94396297e-01 4.22557170e-01 1.46631178e-01 2.58402394e+02] [-4.16907209e-01 9.06336152e-01 -6.88705921e-02 1.68183084e+02] [-1.61998900e-01 4.66007225e-04 9.86790828e-01 7.77579358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters Centerline goodness : 0.998008 with order 1 Centerline is valid? [True, True] Translation: X:258.46, Y:168.16, Z:77.75 [[ 8.94408679e-01 4.22537495e-01 1.46612347e-01 2.58458412e+02] [-4.16880704e-01 9.06345299e-01 -6.89106565e-02 1.68157319e+02] [-1.61998748e-01 5.14430655e-04 9.86790829e-01 7.77461247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:168.13, Z:77.74 [[ 8.93355475e-01 4.24764216e-01 1.46599304e-01 2.58514388e+02] [-4.19132624e-01 9.05304005e-01 -6.89383938e-02 1.68131717e+02] [-1.61999500e-01 1.41940581e-04 9.86790830e-01 7.77353804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:168.11, Z:77.73 [[ 8.92260095e-01 4.27066990e-01 1.46580042e-01 2.58571152e+02] [-4.21459511e-01 9.04219958e-01 -6.89793261e-02 1.68106691e+02] [-1.61999392e-01 -2.30052746e-04 9.86790831e-01 7.77269845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters Centerline goodness : 0.997990 with order 1 Centerline is valid? [True, True] Translation: X:258.63, Y:168.08, Z:77.72 [[ 8.89419780e-01 4.32957682e-01 1.46560915e-01 2.58628591e+02] [-4.27422717e-01 9.01413373e-01 -6.90199421e-02 1.68083876e+02] [-1.61994683e-01 -1.25576263e-03 9.86790832e-01 7.77159516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters Centerline goodness : 0.997268 with order 1 Centerline is valid? [True, True] Translation: X:258.68, Y:168.06, Z:77.70 [[ 8.87622086e-01 4.36634140e-01 1.46552586e-01 2.58683977e+02] [-4.31145930e-01 8.99637146e-01 -6.90376213e-02 1.68058531e+02] [-1.61988333e-01 -1.90623372e-03 9.86790832e-01 7.77033126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:258.75, Y:168.06, Z:77.67 [[ 8.95035750e-01 4.21234575e-01 1.46534773e-01 2.58745621e+02] [-4.15533426e-01 9.06951244e-01 -6.90754114e-02 1.68055243e+02] [-1.61996846e-01 9.34866469e-04 9.86790833e-01 7.76702419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters Centerline goodness : 0.995336 with order 1 Centerline is valid? [True, True] Translation: X:258.80, Y:168.03, Z:77.66 [[ 8.93461055e-01 4.24567190e-01 1.46526598e-01 2.58802173e+02] [-4.18907644e-01 9.05396365e-01 -6.90927472e-02 1.68033450e+02] [-1.61999163e-01 3.50566837e-04 9.86790833e-01 7.76634620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters Centerline goodness : 0.996433 with order 1 Centerline is valid? [True, True] Translation: X:258.85, Y:167.99, Z:77.68 [[ 8.84997150e-01 4.41944116e-01 1.46510898e-01 2.58850647e+02] [-4.36513355e-01 8.97038284e-01 -6.91260236e-02 1.67985980e+02] [-1.61975724e-01 -2.77762987e-03 9.86790834e-01 7.76756594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters Centerline goodness : 0.995124 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:167.98, Z:77.64 [[ 8.90976915e-01 4.29763251e-01 1.46504895e-01 2.58910077e+02] [-4.24165745e-01 9.02941446e-01 -6.91387450e-02 1.67976997e+02] [-1.61998633e-01 -5.41331909e-04 9.86790834e-01 7.76422731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters Centerline goodness : 0.993955 with order 1 Centerline is valid? [True, True] Translation: X:258.97, Y:167.95, Z:77.63 [[ 8.89310286e-01 4.33204109e-01 1.46497151e-01 2.58965174e+02] [-4.27650192e-01 9.01295112e-01 -6.91551479e-02 1.67952555e+02] [-1.61995461e-01 -1.14915050e-03 9.86790834e-01 7.76284890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters Centerline goodness : 0.996015 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:167.91, Z:77.63 [[ 8.81839103e-01 4.48221246e-01 1.46483824e-01 2.59012051e+02] [-4.42866661e-01 8.93914304e-01 -6.91833661e-02 1.67906576e+02] [-1.61953440e-01 -3.86420469e-03 9.86790835e-01 7.76301974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters Centerline goodness : 0.990309 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:167.91, Z:77.59 [[ 8.92151740e-01 4.27331682e-01 1.46468109e-01 2.59075810e+02] [-4.21688778e-01 9.04094925e-01 -6.92166214e-02 1.67912319e+02] [-1.61999529e-01 -1.22286921e-05 9.86790835e-01 7.75862370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters Centerline goodness : 0.996717 with order 1 Centerline is valid? [True, True] Translation: X:259.12, Y:167.85, Z:77.60 [[ 8.82155293e-01 4.47606914e-01 1.46458491e-01 2.59118525e+02] [-4.42235025e-01 8.94222805e-01 -6.92369656e-02 1.67851136e+02] [-1.61957467e-01 -3.69131888e-03 9.86790835e-01 7.76049525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters Centerline goodness : 0.989181 with order 1 Centerline is valid? [True, True] Translation: X:259.18, Y:167.85, Z:77.58 [[ 8.89177838e-01 4.33491546e-01 1.46450854e-01 2.59181427e+02] [-4.27925365e-01 9.01156972e-01 -6.92531162e-02 1.67845552e+02] [-1.61995849e-01 -1.09169919e-03 9.86790836e-01 7.75842562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:259.23, Y:167.80, Z:77.59 [[ 8.83900525e-01 4.44158441e-01 1.46434770e-01 2.59226956e+02] [-4.38731162e-01 8.95943226e-01 -6.92871102e-02 1.67795473e+02] [-1.61971695e-01 -3.00258369e-03 9.86790836e-01 7.75902870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters Centerline goodness : 0.994165 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:167.77, Z:77.57 [[ 8.85538440e-01 4.40888719e-01 1.46419976e-01 2.59279054e+02] [-4.35411805e-01 8.97558647e-01 -6.93183589e-02 1.67767794e+02] [-1.61982198e-01 -2.36891463e-03 9.86790837e-01 7.75673031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters Centerline goodness : 0.985961 with order 1 Centerline is valid? [True, True] Translation: X:259.34, Y:167.76, Z:77.54 [[ 8.92393228e-01 4.26849025e-01 1.46404358e-01 2.59342563e+02] [-4.21177557e-01 9.04322873e-01 -6.93513288e-02 1.67763588e+02] [-1.61999357e-01 2.26426221e-04 9.86790838e-01 7.75447303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters Centerline goodness : 0.986224 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:167.71, Z:77.55 [[ 8.87702229e-01 4.36523229e-01 1.46397483e-01 2.59388828e+02] [-4.30979367e-01 8.99691706e-01 -6.93658398e-02 1.67714136e+02] [-1.61992401e-01 -1.51808385e-03 9.86790838e-01 7.75451890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters Centerline goodness : 0.986429 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:167.71, Z:77.52 [[ 8.95570642e-01 4.20150374e-01 1.46379265e-01 2.59452478e+02] [-4.14381025e-01 9.07453258e-01 -6.94042620e-02 1.67713122e+02] [-1.61992568e-01 1.49962943e-03 9.86790839e-01 7.75233438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters Centerline goodness : 0.985563 with order 1 Centerline is valid? [True, True] Translation: X:259.50, Y:167.67, Z:77.52 [[ 8.89717196e-01 4.32413962e-01 1.46360774e-01 2.59500153e+02] [-4.26801988e-01 9.01674942e-01 -6.94432356e-02 1.67668002e+02] [-1.61998067e-01 -6.82228371e-04 9.86790839e-01 7.75181022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters Centerline goodness : 0.986921 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:167.65, Z:77.50 [[ 8.93678710e-01 4.24168803e-01 1.46352964e-01 2.59555517e+02] [-4.18443808e-01 9.05582758e-01 -6.94596924e-02 1.67646418e+02] [-1.61997355e-01 8.34156941e-04 9.86790840e-01 7.74990524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters Centerline goodness : 0.992039 with order 1 Centerline is valid? [True, True] Translation: X:259.61, Y:167.63, Z:77.48 [[ 8.99074292e-01 4.12616225e-01 1.46332733e-01 2.59612667e+02] [-4.06731361e-01 9.10900122e-01 -6.95022872e-02 1.67630451e+02] [-1.61972276e-01 2.96960813e-03 9.86790841e-01 7.74811753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters Centerline goodness : 0.988608 with order 1 Centerline is valid? [True, True] Translation: X:259.67, Y:167.61, Z:77.48 [[ 9.05044012e-01 3.99358246e-01 1.46315849e-01 2.59672400e+02] [-3.93294481e-01 9.16779114e-01 -6.95378131e-02 1.67606625e+02] [-1.61909814e-01 5.38956538e-03 9.86790841e-01 7.74816315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters Centerline goodness : 0.989784 with order 1 Centerline is valid? [True, True] Translation: X:259.73, Y:167.58, Z:77.48 [[ 9.04561185e-01 4.00457336e-01 1.46297589e-01 2.59730262e+02] [-3.94401628e-01 9.16300446e-01 -6.95762094e-02 1.67582815e+02] [-1.61914849e-01 5.23593137e-03 9.86790842e-01 7.74753119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters Centerline goodness : 0.990092 with order 1 Centerline is valid? [True, True] Translation: X:259.79, Y:167.56, Z:77.47 [[ 9.01623112e-01 4.07031235e-01 1.46291960e-01 2.59786195e+02] [-4.01059221e-01 9.13405170e-01 -6.95880417e-02 1.67556408e+02] [-1.61948340e-01 4.07044699e-03 9.86790842e-01 7.74663236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters Centerline goodness : 0.991573 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:167.53, Z:77.45 [[ 8.97868515e-01 4.15253376e-01 1.46276329e-01 2.59843150e+02] [-4.09383929e-01 9.09702002e-01 -6.96208833e-02 1.67534034e+02] [-1.61978176e-01 2.62722070e-03 9.86790843e-01 7.74523746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters Centerline goodness : 0.990168 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:167.51, Z:77.44 [[ 8.95998968e-01 4.19277527e-01 1.46260744e-01 2.59900522e+02] [-4.13455889e-01 9.07856047e-01 -6.96536093e-02 1.67512077e+02] [-1.61987894e-01 1.93719585e-03 9.86790844e-01 7.74418730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters Centerline goodness : 0.990260 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:167.49, Z:77.43 [[ 8.93396321e-01 4.24800385e-01 1.46245162e-01 2.59955011e+02] [-4.19046696e-01 9.05286521e-01 -6.96863120e-02 1.67486784e+02] [-1.61996546e-01 9.73942984e-04 9.86790844e-01 7.74300514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters Centerline goodness : 0.990182 with order 1 Centerline is valid? [True, True] Translation: X:260.01, Y:167.46, Z:77.42 [[ 8.88860126e-01 4.34216762e-01 1.46230911e-01 2.60009385e+02] [-4.28584115e-01 9.00808141e-01 -6.97162040e-02 1.67460199e+02] [-1.61997939e-01 -7.04291460e-04 9.86790845e-01 7.74181223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters Centerline goodness : 0.988589 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:167.43, Z:77.41 [[ 8.85652445e-01 4.40727477e-01 1.46215722e-01 2.60065007e+02] [-4.35177399e-01 8.97639038e-01 -6.97480439e-02 1.67433234e+02] [-1.61988820e-01 -1.85725210e-03 9.86790846e-01 7.74089874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters Centerline goodness : 0.989829 with order 1 Centerline is valid? [True, True] Translation: X:260.12, Y:167.41, Z:77.40 [[ 8.83631551e-01 4.44770342e-01 1.46200633e-01 2.60121013e+02] [-4.39269872e-01 8.95640988e-01 -6.97796581e-02 1.67406481e+02] [-1.61979202e-01 -2.56202614e-03 9.86790846e-01 7.74011187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters Centerline goodness : 0.989732 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:167.38, Z:77.39 [[ 8.82196144e-01 4.47615600e-01 1.46185631e-01 2.60174833e+02] [-4.42148656e-01 8.94220879e-01 -6.98110740e-02 1.67376251e+02] [-1.61970769e-01 -3.04872000e-03 9.86790847e-01 7.73910043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters Centerline goodness : 0.989583 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:167.34, Z:77.38 [[ 8.83668049e-01 4.44705417e-01 1.46177533e-01 2.60228684e+02] [-4.39196065e-01 8.95673413e-01 -6.98280265e-02 1.67344720e+02] [-1.61980231e-01 -2.49580114e-03 9.86790847e-01 7.73797355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters Centerline goodness : 0.990165 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:167.32, Z:77.37 [[ 8.85449369e-01 4.41154666e-01 1.46157366e-01 2.60282903e+02] [-4.35590205e-01 8.97429288e-01 -6.98702136e-02 1.67315381e+02] [-1.61989471e-01 -1.79818018e-03 9.86790848e-01 7.73708866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters Centerline goodness : 0.989180 with order 1 Centerline is valid? [True, True] Translation: X:260.34, Y:167.29, Z:77.36 [[ 8.87876471e-01 4.36255073e-01 1.46139943e-01 2.60337907e+02] [-4.30618502e-01 8.99822632e-01 -6.99066355e-02 1.67288838e+02] [-1.61997153e-01 -8.62106421e-04 9.86790849e-01 7.73615358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters Centerline goodness : 0.989145 with order 1 Centerline is valid? [True, True] Translation: X:260.39, Y:167.26, Z:77.35 [[ 8.87878146e-01 4.36257829e-01 1.46121539e-01 2.60390341e+02] [-4.30614968e-01 8.99821335e-01 -6.99450840e-02 1.67255915e+02] [-1.61997369e-01 -8.19410223e-04 9.86790850e-01 7.73503426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters Centerline goodness : 0.990412 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:167.23, Z:77.34 [[ 8.87793575e-01 4.36436444e-01 1.46102012e-01 2.60445141e+02] [-4.30789276e-01 8.99734728e-01 -6.99858488e-02 1.67229585e+02] [-1.61997429e-01 -8.06193040e-04 9.86790851e-01 7.73409619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters Centerline goodness : 0.990164 with order 1 Centerline is valid? [True, True] Translation: X:260.50, Y:167.21, Z:77.33 [[ 8.88830913e-01 4.34326019e-01 1.46083941e-01 2.60502235e+02] [-4.28644302e-01 9.00755664e-01 -7.00235482e-02 1.67205644e+02] [-1.61998986e-01 -3.78954742e-04 9.86790852e-01 7.73312604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters Centerline goodness : 0.990250 with order 1 Centerline is valid? [True, True] Translation: X:260.56, Y:167.18, Z:77.32 [[ 8.86550998e-01 4.38966893e-01 1.46066407e-01 2.60557293e+02] [-4.33341572e-01 8.98502456e-01 -7.00601042e-02 1.67176843e+02] [-1.61995092e-01 -1.18479138e-03 9.86790852e-01 7.73212473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters Centerline goodness : 0.989473 with order 1 Centerline is valid? [True, True] Translation: X:260.61, Y:167.15, Z:77.31 [[ 8.86980739e-01 4.38104458e-01 1.46046745e-01 2.60612106e+02] [-4.32460772e-01 8.98923535e-01 -7.01010690e-02 1.67150128e+02] [-1.61996447e-01 -9.81190094e-04 9.86790853e-01 7.73134233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters Centerline goodness : 0.986155 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:167.13, Z:77.30 [[ 8.88711686e-01 4.34586537e-01 1.46034517e-01 2.60670340e+02] [-4.28891390e-01 9.00630027e-01 -7.01265328e-02 1.67131558e+02] [-1.61999118e-01 -3.10677735e-04 9.86790854e-01 7.73006901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters Centerline goodness : 0.988601 with order 1 Centerline is valid? [True, True] Translation: X:260.72, Y:167.10, Z:77.29 [[ 8.86852702e-01 4.38373129e-01 1.46018097e-01 2.60723455e+02] [-4.32723240e-01 8.98792564e-01 -7.01607074e-02 1.67099821e+02] [-1.61996548e-01 -9.63210973e-04 9.86790855e-01 7.72930447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters Centerline goodness : 0.988670 with order 1 Centerline is valid? [True, True] Translation: X:260.78, Y:167.07, Z:77.28 [[ 8.87596414e-01 4.36868358e-01 1.46009050e-01 2.60778539e+02] [-4.31195131e-01 8.99525204e-01 -7.01795299e-02 1.67073881e+02] [-1.61998036e-01 -6.67292254e-04 9.86790855e-01 7.72830343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters Centerline goodness : 0.985712 with order 1 Centerline is valid? [True, True] Translation: X:260.84, Y:167.05, Z:77.27 [[ 8.90072386e-01 4.31805576e-01 1.45996888e-01 2.60836253e+02] [-4.26060347e-01 9.01966664e-01 -7.02048210e-02 1.67051818e+02] [-1.61999159e-01 2.83887729e-04 9.86790855e-01 7.72709562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters Centerline goodness : 0.988857 with order 1 Centerline is valid? [True, True] Translation: X:260.89, Y:167.02, Z:77.27 [[ 8.90105029e-01 4.31744946e-01 1.45977185e-01 2.60889311e+02] [-4.25992192e-01 9.01995668e-01 -7.02457662e-02 1.67020392e+02] [-1.61999043e-01 3.40968829e-04 9.86790856e-01 7.72658875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters Centerline goodness : 0.987142 with order 1 Centerline is valid? [True, True] Translation: X:260.95, Y:167.00, Z:77.26 [[ 8.89139090e-01 4.33734746e-01 1.45965231e-01 2.60946238e+02] [-4.28004524e-01 9.01040604e-01 -7.02705978e-02 1.66995211e+02] [-1.61999399e-01 6.55631864e-06 9.86790857e-01 7.72555655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters Centerline goodness : 0.992694 with order 1 Centerline is valid? [True, True] Translation: X:261.00, Y:166.96, Z:77.24 [[ 8.82237353e-01 4.47612671e-01 1.45945706e-01 2.60996782e+02] [-4.42062925e-01 8.94224086e-01 -7.03111253e-02 1.66960503e+02] [-1.61980316e-01 -2.48608463e-03 9.86790858e-01 7.72420328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters Centerline goodness : 0.981961 with order 1 Centerline is valid? [True, True] Translation: X:261.05, Y:166.93, Z:77.24 [[ 8.83945741e-01 4.44235757e-01 1.45926416e-01 2.61051090e+02] [-4.38633609e-01 8.95908072e-01 -7.03511380e-02 1.66933444e+02] [-1.61989145e-01 -1.82164185e-03 9.86790859e-01 7.72373831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters Centerline goodness : 0.986051 with order 1 Centerline is valid? [True, True] Translation: X:261.11, Y:166.92, Z:77.23 [[ 8.87241779e-01 4.37623159e-01 1.45904067e-01 2.61111348e+02] [-4.31924230e-01 8.99158305e-01 -7.03974579e-02 1.66917841e+02] [-1.61998412e-01 -5.59936282e-04 9.86790860e-01 7.72291934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters Centerline goodness : 0.982438 with order 1 Centerline is valid? [True, True] Translation: X:261.17, Y:166.90, Z:77.21 [[ 8.89886373e-01 4.32227376e-01 1.45882616e-01 2.61169266e+02] [-4.26448907e-01 9.01764532e-01 -7.04418832e-02 1.66902824e+02] [-1.61998679e-01 4.73789646e-04 9.86790861e-01 7.72084440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters Centerline goodness : 0.982126 with order 1 Centerline is valid? [True, True] Translation: X:261.22, Y:166.87, Z:77.20 [[ 8.88943076e-01 4.34169167e-01 1.45867553e-01 2.61222646e+02] [-4.28411528e-01 9.00831344e-01 -7.04730628e-02 1.66873393e+02] [-1.61999294e-01 1.55200191e-04 9.86790862e-01 7.71973823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters Centerline goodness : 0.982027 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:166.85, Z:77.19 [[ 8.89247978e-01 4.33549755e-01 1.45851444e-01 2.61277542e+02] [-4.27778369e-01 9.01129578e-01 -7.05063864e-02 1.66846018e+02] [-1.61999076e-01 3.05568941e-04 9.86790862e-01 7.71876961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters Centerline goodness : 0.985983 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:166.81, Z:77.19 [[ 8.85629382e-01 4.40899794e-01 1.45835422e-01 2.61330970e+02] [-4.35221557e-01 8.97555778e-01 -7.05395094e-02 1.66812469e+02] [-1.61996281e-01 -9.98857473e-04 9.86790863e-01 7.71865575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters Centerline goodness : 0.986902 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:166.78, Z:77.18 [[ 8.85495800e-01 4.41170827e-01 1.45826915e-01 2.61385263e+02] [-4.35493345e-01 8.97422556e-01 -7.05570929e-02 1.66782690e+02] [-1.61996094e-01 -1.02864144e-03 9.86790863e-01 7.71790094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters Centerline goodness : 0.988367 with order 1 Centerline is valid? [True, True] Translation: X:261.44, Y:166.75, Z:77.17 [[ 8.85328595e-01 4.41510054e-01 1.45815466e-01 2.61437995e+02] [-4.35833246e-01 8.97255671e-01 -7.05807463e-02 1.66751375e+02] [-1.61995863e-01 -1.06407477e-03 9.86790863e-01 7.71665608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters Centerline goodness : 0.988031 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:166.72, Z:77.16 [[ 8.84526795e-01 4.43119476e-01 1.45799447e-01 2.61492936e+02] [-4.37458917e-01 8.96461591e-01 -7.06138206e-02 1.66723898e+02] [-1.61993964e-01 -1.32145182e-03 9.86790864e-01 7.71571856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters Centerline goodness : 0.987628 with order 1 Centerline is valid? [True, True] Translation: X:261.55, Y:166.70, Z:77.15 [[ 8.82927586e-01 4.46302747e-01 1.45783183e-01 2.61548338e+02] [-4.40679675e-01 8.94880088e-01 -7.06473833e-02 1.66696567e+02] [-1.61988588e-01 -1.86716189e-03 9.86790865e-01 7.71477071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters Centerline goodness : 0.987777 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:166.67, Z:77.14 [[ 8.78627282e-01 4.54716153e-01 1.45764604e-01 2.61603622e+02] [-4.49201155e-01 8.90630033e-01 -7.06856958e-02 1.66669593e+02] [-1.61964262e-01 -3.37124763e-03 9.86790866e-01 7.71355207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters Centerline goodness : 0.988457 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:166.64, Z:77.13 [[ 8.76631378e-01 4.58558007e-01 1.45746292e-01 2.61659592e+02] [-4.53089334e-01 8.88655305e-01 -7.07234341e-02 1.66641957e+02] [-1.61949012e-01 -4.03770863e-03 9.86790867e-01 7.71253567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters Centerline goodness : 0.989602 with order 1 Centerline is valid? [True, True] Translation: X:261.71, Y:166.61, Z:77.12 [[ 8.75427972e-01 4.60857199e-01 1.45727515e-01 2.61713532e+02] [-4.55413671e-01 8.87463302e-01 -7.07621024e-02 1.66612487e+02] [-1.61939046e-01 -4.41917896e-03 9.86790868e-01 7.71178944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters Centerline goodness : 0.989784 with order 1 Centerline is valid? [True, True] Translation: X:261.77, Y:166.59, Z:77.10 [[ 8.76581433e-01 4.58665301e-01 1.45709070e-01 2.61769375e+02] [-4.53185371e-01 8.88600231e-01 -7.08000626e-02 1.66589078e+02] [-1.61950646e-01 -3.97119880e-03 9.86790868e-01 7.71037094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters Centerline goodness : 0.984605 with order 1 Centerline is valid? [True, True] Translation: X:261.83, Y:166.57, Z:77.09 [[ 8.80322280e-01 4.51449301e-01 1.45692182e-01 2.61827438e+02] [-4.45865082e-01 8.92292979e-01 -7.08347988e-02 1.66568296e+02] [-1.61978432e-01 -2.60160507e-03 9.86790869e-01 7.70913388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters Centerline goodness : 0.988685 with order 1 Centerline is valid? [True, True] Translation: X:261.88, Y:166.53, Z:77.09 [[ 8.79403412e-01 4.53242696e-01 1.45673253e-01 2.61880054e+02] [-4.47676445e-01 8.91382476e-01 -7.08737049e-02 1.66531848e+02] [-1.61973574e-01 -2.88790628e-03 9.86790870e-01 7.70879333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters Centerline goodness : 0.988498 with order 1 Centerline is valid? [True, True] Translation: X:261.93, Y:166.50, Z:77.08 [[ 8.79506590e-01 4.53048856e-01 1.45653327e-01 2.61932969e+02] [-4.47473189e-01 8.91481273e-01 -7.09146332e-02 1.66502234e+02] [-1.61975007e-01 -2.80607136e-03 9.86790871e-01 7.70775532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters Centerline goodness : 0.985787 with order 1 Centerline is valid? [True, True] Translation: X:261.98, Y:166.47, Z:77.06 [[ 8.76578041e-01 4.58694562e-01 1.45637346e-01 2.61982101e+02] [-4.53190559e-01 8.88585831e-01 -7.09474372e-02 1.66467810e+02] [-1.61954486e-01 -3.81050485e-03 9.86790872e-01 7.70580564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters Centerline goodness : 0.983866 with order 1 Centerline is valid? [True, True] Translation: X:262.05, Y:166.46, Z:77.04 [[ 8.84630451e-01 4.42973002e-01 1.45615536e-01 2.62046620e+02] [-4.37248152e-01 8.96534531e-01 -7.09921739e-02 1.66461581e+02] [-1.61996973e-01 -8.68285108e-04 9.86790873e-01 7.70426306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters Centerline goodness : 0.983262 with order 1 Centerline is valid? [True, True] Translation: X:262.10, Y:166.43, Z:77.03 [[ 8.83927901e-01 4.44381467e-01 1.45590441e-01 2.62099794e+02] [-4.38667113e-01 8.95837022e-01 -7.10436013e-02 1.66433012e+02] [-1.61995767e-01 -1.06831725e-03 9.86790875e-01 7.70330006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters Centerline goodness : 0.988636 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:166.39, Z:77.04 [[ 8.82523864e-01 4.47168023e-01 1.45576061e-01 2.62151093e+02] [-4.41486412e-01 8.94448640e-01 -7.10730560e-02 1.66394073e+02] [-1.61991908e-01 -1.54618490e-03 9.86790875e-01 7.70369120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters Centerline goodness : 0.988173 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:166.37, Z:77.03 [[ 8.83865455e-01 4.44512221e-01 1.45570403e-01 2.62206943e+02] [-4.38792870e-01 8.95772176e-01 -7.10846419e-02 1.66367974e+02] [-1.61995909e-01 -1.04599575e-03 9.86790875e-01 7.70312673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters Centerline goodness : 0.990977 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:166.33, Z:77.01 [[ 8.79452865e-01 4.53185433e-01 1.45552812e-01 2.62253143e+02] [-4.47577530e-01 8.91412480e-01 -7.11206436e-02 1.66327407e+02] [-1.61978433e-01 -2.59891441e-03 9.86790876e-01 7.70119755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters Centerline goodness : 0.985852 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:166.32, Z:77.01 [[ 8.87679053e-01 4.36860288e-01 1.45530023e-01 2.62319880e+02] [-4.31024749e-01 8.99529260e-01 -7.11672456e-02 1.66320341e+02] [-1.61998657e-01 4.46631479e-04 9.86790877e-01 7.70059167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters Centerline goodness : 0.986857 with order 1 Centerline is valid? [True, True] Translation: X:262.37, Y:166.29, Z:77.00 [[ 8.86497477e-01 4.39261374e-01 1.45504874e-01 2.62374874e+02] [-4.33449497e-01 8.98359305e-01 -7.12186271e-02 1.66289737e+02] [-1.61999250e-01 6.61186352e-05 9.86790879e-01 7.70037134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters Centerline goodness : 0.987415 with order 1 Centerline is valid? [True, True] Translation: X:262.43, Y:166.26, Z:76.99 [[ 8.85091005e-01 4.42094491e-01 1.45486683e-01 2.62430931e+02] [-4.36314476e-01 8.96968390e-01 -7.12557701e-02 1.66263826e+02] [-1.61998739e-01 -4.10104624e-04 9.86790880e-01 7.69889617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters Centerline goodness : 0.988399 with order 1 Centerline is valid? [True, True] Translation: X:262.49, Y:166.24, Z:76.97 [[ 8.83368657e-01 4.45532477e-01 1.45466930e-01 2.62485376e+02] [-4.39792050e-01 8.95265225e-01 -7.12960733e-02 1.66238243e+02] [-1.61996200e-01 -9.94482577e-04 9.86790881e-01 7.69723052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters Centerline goodness : 0.987698 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:166.21, Z:76.96 [[ 8.84664008e-01 4.42960560e-01 1.45449422e-01 2.62539414e+02] [-4.37179676e-01 8.96540969e-01 -7.13317721e-02 1.66211442e+02] [-1.61998528e-01 -4.82879983e-04 9.86790882e-01 7.69642289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters Centerline goodness : 0.987805 with order 1 Centerline is valid? [True, True] Translation: X:262.59, Y:166.18, Z:76.96 [[ 8.83280156e-01 4.45718833e-01 1.45433449e-01 2.62594928e+02] [-4.39969678e-01 8.95172506e-01 -7.13643241e-02 1.66184029e+02] [-1.61996448e-01 -9.51616456e-04 9.86790882e-01 7.69582830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters Centerline goodness : 0.988564 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:166.16, Z:76.94 [[ 8.81713542e-01 4.48815548e-01 1.45416071e-01 2.62650465e+02] [-4.43102321e-01 8.93623194e-01 -7.13997184e-02 1.66159206e+02] [-1.61992477e-01 -1.48009973e-03 9.86790883e-01 7.69434929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters Centerline goodness : 0.988200 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:166.13, Z:76.94 [[ 8.81174157e-01 4.49879298e-01 1.45398491e-01 2.62705264e+02] [-4.44174545e-01 8.93087870e-01 -7.14354992e-02 1.66131226e+02] [-1.61990981e-01 -1.63519290e-03 9.86790884e-01 7.69382674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters Centerline goodness : 0.988452 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:166.10, Z:76.93 [[ 8.80917153e-01 4.50387583e-01 1.45382238e-01 2.62760450e+02] [-4.44684247e-01 8.92831543e-01 -7.14685614e-02 1.66102007e+02] [-1.61990401e-01 -1.69130961e-03 9.86790884e-01 7.69291665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters Centerline goodness : 0.987635 with order 1 Centerline is valid? [True, True] Translation: X:262.81, Y:166.07, Z:76.92 [[ 8.80087288e-01 4.52013524e-01 1.45362096e-01 2.62814725e+02] [-4.46325438e-01 8.92008965e-01 -7.15095063e-02 1.66072634e+02] [-1.61987557e-01 -1.94419360e-03 9.86790885e-01 7.69197379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters Centerline goodness : 0.988416 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:166.04, Z:76.91 [[ 8.78558168e-01 4.54984387e-01 1.45343569e-01 2.62869948e+02] [-4.49330386e-01 8.90496047e-01 -7.15471441e-02 1.66044087e+02] [-1.61980707e-01 -2.44895391e-03 9.86790886e-01 7.69076638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters Centerline goodness : 0.988734 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:166.02, Z:76.89 [[ 8.77098745e-01 4.57795704e-01 1.45330262e-01 2.62926220e+02] [-4.52175489e-01 8.89052567e-01 -7.15741638e-02 1.66021779e+02] [-1.61972587e-01 -2.93717276e-03 9.86790887e-01 7.68898489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters Centerline goodness : 0.988350 with order 1 Centerline is valid? [True, True] Translation: X:262.98, Y:165.99, Z:76.88 [[ 8.77120120e-01 4.57761282e-01 1.45309680e-01 2.62980776e+02] [-4.52133682e-01 8.89070466e-01 -7.16159254e-02 1.65992057e+02] [-1.61973542e-01 -2.88363123e-03 9.86790888e-01 7.68791227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters Centerline goodness : 0.987922 with order 1 Centerline is valid? [True, True] Translation: X:263.03, Y:165.97, Z:76.86 [[ 8.75518392e-01 4.60823882e-01 1.45289007e-01 2.63034613e+02] [-4.55231128e-01 8.87485084e-01 -7.16578410e-02 1.65970031e+02] [-1.61963471e-01 -3.40232064e-03 9.86790889e-01 7.68574372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters Centerline goodness : 0.990223 with order 1 Centerline is valid? [True, True] Translation: X:263.09, Y:165.93, Z:76.87 [[ 8.76953837e-01 4.58091438e-01 1.45272852e-01 2.63089145e+02] [-4.52455973e-01 8.88900474e-01 -7.16905761e-02 1.65931979e+02] [-1.61973946e-01 -2.86024400e-03 9.86790890e-01 7.68664662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters Centerline goodness : 0.989656 with order 1 Centerline is valid? [True, True] Translation: X:263.14, Y:165.91, Z:76.85 [[ 8.77158716e-01 4.57703171e-01 1.45259747e-01 2.63144718e+02] [-4.52058023e-01 8.89100781e-01 -7.17171213e-02 1.65905423e+02] [-1.61975708e-01 -2.75853583e-03 9.86790890e-01 7.68540670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters Centerline goodness : 0.989905 with order 1 Centerline is valid? [True, True] Translation: X:263.20, Y:165.88, Z:76.84 [[ 8.80312045e-01 4.51615221e-01 1.45239101e-01 2.63200773e+02] [-4.45880580e-01 8.92211392e-01 -7.17589089e-02 1.65881615e+02] [-1.61991396e-01 -1.58906264e-03 9.86790891e-01 7.68437072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters Centerline goodness : 0.990517 with order 1 Centerline is valid? [True, True] Translation: X:263.26, Y:165.85, Z:76.84 [[ 8.80635861e-01 4.50989670e-01 1.45219827e-01 2.63255617e+02] [-4.45240148e-01 8.92528024e-01 -7.17978934e-02 1.65852008e+02] [-1.61992873e-01 -1.42989740e-03 9.86790892e-01 7.68366056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters Centerline goodness : 0.988201 with order 1 Centerline is valid? [True, True] Translation: X:263.31, Y:165.83, Z:76.83 [[ 8.82234869e-01 4.47855663e-01 1.45213435e-01 2.63313060e+02] [-4.42061767e-01 8.94105475e-01 -7.18108174e-02 1.65827645e+02] [-1.61997009e-01 -8.39300801e-04 9.86790892e-01 7.68302404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters Centerline goodness : 0.988676 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:165.80, Z:76.81 [[ 8.80808923e-01 4.50659388e-01 1.45195585e-01 2.63367790e+02] [-4.44897330e-01 8.92695015e-01 -7.18468908e-02 1.65804131e+02] [-1.61993851e-01 -1.31374578e-03 9.86790893e-01 7.68145024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters Centerline goodness : 0.989028 with order 1 Centerline is valid? [True, True] Translation: X:263.42, Y:165.78, Z:76.80 [[ 8.80405129e-01 4.51452866e-01 1.45179607e-01 2.63423298e+02] [-4.45696198e-01 8.92293833e-01 -7.18791636e-02 1.65779417e+02] [-1.61992922e-01 -1.42321469e-03 9.86790894e-01 7.68006271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters Centerline goodness : 0.988949 with order 1 Centerline is valid? [True, True] Translation: X:263.48, Y:165.75, Z:76.80 [[ 8.82198400e-01 4.47943792e-01 1.45163157e-01 2.63479079e+02] [-4.42134369e-01 8.94061413e-01 -7.19123708e-02 1.65748283e+02] [-1.61997477e-01 -7.40642283e-04 9.86790894e-01 7.67990480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters Centerline goodness : 0.995415 with order 1 Centerline is valid? [True, True] Translation: X:263.53, Y:165.70, Z:76.80 [[ 8.77288993e-01 4.57490100e-01 1.45144175e-01 2.63527435e+02] [-4.51803410e-01 8.89211325e-01 -7.19506625e-02 1.65704158e+02] [-1.61980560e-01 -2.45510894e-03 9.86790895e-01 7.67957732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters Centerline goodness : 0.985844 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:165.68, Z:76.79 [[ 8.80546195e-01 4.51191796e-01 1.45135663e-01 2.63583129e+02] [-4.45416989e-01 8.92426097e-01 -7.19678276e-02 1.65677811e+02] [-1.61994147e-01 -1.27489334e-03 9.86790895e-01 7.67870753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters Centerline goodness : 0.990368 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:165.65, Z:76.78 [[ 8.81996440e-01 4.48358609e-01 1.45109741e-01 2.63637848e+02] [-4.42537045e-01 8.93853497e-01 -7.20200573e-02 1.65649125e+02] [-1.61997663e-01 -6.95001991e-04 9.86790897e-01 7.67751648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:263.69, Y:165.62, Z:76.76 [[ 8.80937868e-01 4.50443642e-01 1.45082729e-01 2.63693710e+02] [-4.44641187e-01 8.92804285e-01 -7.20744320e-02 1.65624909e+02] [-1.61995952e-01 -1.01666045e-03 9.86790899e-01 7.67629795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters Centerline goodness : 0.985359 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:165.62, Z:76.74 [[ 8.88918094e-01 4.34490160e-01 1.45061792e-01 2.63758564e+02] [-4.28467864e-01 9.00674466e-01 -7.21165484e-02 1.65620280e+02] [-1.61987382e-01 1.95138874e-03 9.86790900e-01 7.67443061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters Centerline goodness : 0.984987 with order 1 Centerline is valid? [True, True] Translation: X:263.81, Y:165.59, Z:76.74 [[ 8.83151306e-01 4.46096816e-01 1.45056545e-01 2.63813877e+02] [-4.40227300e-01 8.94984696e-01 -7.21271008e-02 1.65593083e+02] [-1.61999057e-01 -1.58707707e-04 9.86790900e-01 7.67356761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters Centerline goodness : 0.994070 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:165.55, Z:76.73 [[ 8.74959592e-01 4.61961118e-01 1.45043572e-01 2.63861017e+02] [-4.56301776e-01 8.86894925e-01 -7.21531783e-02 1.65550660e+02] [-1.61970371e-01 -3.05252418e-03 9.86790900e-01 7.67328019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters Centerline goodness : 0.985404 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:165.54, Z:76.72 [[ 8.79729304e-01 4.52817608e-01 1.45026086e-01 2.63924586e+02] [-4.47028398e-01 8.91602187e-01 -7.21883088e-02 1.65542604e+02] [-1.61993713e-01 -1.32460811e-03 9.86790901e-01 7.67174535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters Centerline goodness : 0.986337 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:165.52, Z:76.71 [[ 8.73610290e-01 4.64518812e-01 1.45008053e-01 2.63979571e+02] [-4.58882575e-01 8.85556549e-01 -7.22245133e-02 1.65516815e+02] [-1.61962476e-01 -3.44559102e-03 9.86790902e-01 7.67060735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters Centerline goodness : 0.993425 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:165.48, Z:76.70 [[ 8.66057192e-01 4.78458316e-01 1.44991653e-01 2.64027616e+02] [-4.73008736e-01 8.78089745e-01 -7.22574231e-02 1.65475514e+02] [-1.61887848e-01 -6.00325742e-03 9.86790903e-01 7.67026069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters Centerline goodness : 0.985024 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:165.47, Z:76.69 [[ 8.73715773e-01 4.64330959e-01 1.44974164e-01 2.64090208e+02] [-4.58680879e-01 8.85655490e-01 -7.22924953e-02 1.65466091e+02] [-1.61964808e-01 -3.33378357e-03 9.86790903e-01 7.66891989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters Centerline goodness : 0.986202 with order 1 Centerline is valid? [True, True] Translation: X:264.14, Y:165.44, Z:76.67 [[ 8.71581848e-01 4.68329489e-01 1.44957137e-01 2.64143386e+02] [-4.62728505e-01 8.83544674e-01 -7.23266207e-02 1.65439688e+02] [-1.61948796e-01 -4.03722959e-03 9.86790904e-01 7.66742592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters Centerline goodness : 0.993566 with order 1 Centerline is valid? [True, True] Translation: X:264.19, Y:165.39, Z:76.67 [[ 8.64124921e-01 4.81954673e-01 1.44940725e-01 2.64189710e+02] [-4.76536679e-01 8.76171728e-01 -7.23594958e-02 1.65392841e+02] [-1.61866962e-01 -6.54192811e-03 9.86790905e-01 7.66735264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters Centerline goodness : 0.985700 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:165.38, Z:76.66 [[ 8.70293228e-01 4.70730206e-01 1.44923328e-01 2.64252100e+02] [-4.65150954e-01 8.82266202e-01 -7.23943213e-02 1.65381772e+02] [-1.61939148e-01 -4.40693698e-03 9.86790905e-01 7.66575377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters Centerline goodness : 0.985346 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:165.36, Z:76.64 [[ 8.71435207e-01 4.68615756e-01 1.44913607e-01 2.64305766e+02] [-4.63004218e-01 8.83393083e-01 -7.24137752e-02 1.65358796e+02] [-1.61949914e-01 -3.99169825e-03 9.86790906e-01 7.66382217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters Centerline goodness : 0.984144 with order 1 Centerline is valid? [True, True] Translation: X:264.36, Y:165.33, Z:76.63 [[ 8.72480675e-01 4.66669090e-01 1.44904906e-01 2.64359765e+02] [-4.61027980e-01 8.84424630e-01 -7.24311835e-02 1.65329703e+02] [-1.61958862e-01 -3.61040807e-03 9.86790906e-01 7.66261938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters Centerline goodness : 0.993535 with order 1 Centerline is valid? [True, True] Translation: X:264.40, Y:165.28, Z:76.62 [[ 8.64702884e-01 4.80932887e-01 1.44887824e-01 2.64404471e+02] [-4.75482952e-01 8.76735272e-01 -7.24653375e-02 1.65279577e+02] [-1.61879230e-01 -6.23070391e-03 9.86790907e-01 7.66238249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters Centerline goodness : 0.985449 with order 1 Centerline is valid? [True, True] Translation: X:264.47, Y:165.27, Z:76.61 [[ 8.75902632e-01 4.60221568e-01 1.44881634e-01 2.64466373e+02] [-4.54484826e-01 8.87800948e-01 -7.24777103e-02 1.65268119e+02] [-1.61981858e-01 -2.36308715e-03 9.86790907e-01 7.66114261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters Centerline goodness : 0.986219 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:165.24, Z:76.61 [[ 8.75674261e-01 4.60661767e-01 1.44863127e-01 2.64519629e+02] [-4.54924891e-01 8.87572512e-01 -7.25146822e-02 1.65235621e+02] [-1.61981271e-01 -2.40260159e-03 9.86790908e-01 7.66074575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters Centerline goodness : 0.986536 with order 1 Centerline is valid? [True, True] Translation: X:264.57, Y:165.21, Z:76.60 [[ 8.76189958e-01 4.59684084e-01 1.44850610e-01 2.64574361e+02] [-4.53929801e-01 8.88079800e-01 -7.25396768e-02 1.65205521e+02] [-1.61984236e-01 -2.19347223e-03 9.86790908e-01 7.66000860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters Centerline goodness : 0.984989 with order 1 Centerline is valid? [True, True] Translation: X:264.62, Y:165.16, Z:76.60 [[ 8.71838067e-01 4.67891377e-01 1.44831088e-01 2.64620968e+02] [-4.62242526e-01 8.83778360e-01 -7.25786342e-02 1.65158575e+02] [-1.61957498e-01 -3.67027181e-03 9.86790909e-01 7.65956085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters Centerline goodness : 0.986126 with order 1 Centerline is valid? [True, True] Translation: X:264.68, Y:165.15, Z:76.57 [[ 8.78771029e-01 4.54740327e-01 1.44819592e-01 2.64683450e+02] [-4.48908947e-01 8.90623248e-01 -7.26015653e-02 1.65150229e+02] [-1.61994555e-01 -1.21065835e-03 9.86790909e-01 7.65743971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters Centerline goodness : 0.993680 with order 1 Centerline is valid? [True, True] Translation: X:264.73, Y:165.10, Z:76.57 [[ 8.72061030e-01 4.67486390e-01 1.44796529e-01 2.64729335e+02] [-4.61820559e-01 8.83993273e-01 -7.26475337e-02 1.65104990e+02] [-1.61960891e-01 -3.51693093e-03 9.86790911e-01 7.65714259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters Centerline goodness : 0.984612 with order 1 Centerline is valid? [True, True] Translation: X:264.78, Y:165.08, Z:76.56 [[ 8.73408854e-01 4.64968681e-01 1.44779486e-01 2.64782832e+02] [-4.59262826e-01 8.85322008e-01 -7.26814826e-02 1.65076538e+02] [-1.61971079e-01 -3.01118559e-03 9.86790911e-01 7.65618997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters Centerline goodness : 0.990125 with order 1 Centerline is valid? [True, True] Translation: X:264.84, Y:165.05, Z:76.54 [[ 8.73793997e-01 4.64251350e-01 1.44757507e-01 2.64835266e+02] [-4.58528469e-01 8.85698980e-01 -7.27252320e-02 1.65047442e+02] [-1.61974363e-01 -2.82856701e-03 9.86790912e-01 7.65447961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters Centerline goodness : 0.985163 with order 1 Centerline is valid? [True, True] Translation: X:264.90, Y:165.04, Z:76.53 [[ 8.83016018e-01 4.46468974e-01 1.44734819e-01 2.64900978e+02] [-4.40498889e-01 8.94798974e-01 -7.27703577e-02 1.65044690e+02] [-1.61998274e-01 5.01864639e-04 9.86790914e-01 7.65299514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters Centerline goodness : 0.987228 with order 1 Centerline is valid? [True, True] Translation: X:264.95, Y:165.01, Z:76.53 [[ 8.84155406e-01 4.44214955e-01 1.44714520e-01 2.64953788e+02] [-4.38208228e-01 8.95919723e-01 -7.28107019e-02 1.65009543e+02] [-1.61996196e-01 9.60882037e-04 9.86790915e-01 7.65325279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters Centerline goodness : 0.987307 with order 1 Centerline is valid? [True, True] Translation: X:265.01, Y:164.98, Z:76.52 [[ 8.88281957e-01 4.35910273e-01 1.44697610e-01 2.65008413e+02] [-4.29788100e-01 8.99986610e-01 -7.28442923e-02 1.64982977e+02] [-1.61979487e-01 2.51695959e-03 9.86790915e-01 7.65200477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters Centerline goodness : 0.993151 with order 1 Centerline is valid? [True, True] Translation: X:265.06, Y:164.94, Z:76.52 [[ 8.81993651e-01 4.48503041e-01 1.44679723e-01 2.65056896e+02] [-4.42542174e-01 8.93781270e-01 -7.28798021e-02 1.64940523e+02] [-1.61998839e-01 2.52643633e-04 9.86790916e-01 7.65189078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:265.11, Y:164.91, Z:76.51 [[ 8.81522945e-01 4.49432916e-01 1.44662888e-01 2.65113220e+02] [-4.43479002e-01 8.93314077e-01 -7.29132045e-02 1.64913883e+02] [-1.61998988e-01 1.19709757e-04 9.86790917e-01 7.65107611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:265.17, Y:164.89, Z:76.50 [[ 8.81058555e-01 4.50349336e-01 1.44641965e-01 2.65169383e+02] [-4.44400875e-01 8.92852438e-01 -7.29546872e-02 1.64888197e+02] [-1.61999026e-01 -1.66436312e-06 9.86790918e-01 7.64984085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters Centerline goodness : 0.986524 with order 1 Centerline is valid? [True, True] Translation: X:265.23, Y:164.88, Z:76.48 [[ 8.87397614e-01 4.37733152e-01 1.44620751e-01 2.65232093e+02] [-4.31610182e-01 8.99101847e-01 -7.29967166e-02 1.64881715e+02] [-1.61981867e-01 2.35732363e-03 9.86790919e-01 7.64768324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters Centerline goodness : 0.987106 with order 1 Centerline is valid? [True, True] Translation: X:265.29, Y:164.85, Z:76.47 [[ 8.84244278e-01 4.44074520e-01 1.44602484e-01 2.65286240e+02] [-4.38029578e-01 8.95988999e-01 -7.30328846e-02 1.64853037e+02] [-1.61994278e-01 1.23874526e-03 9.86790920e-01 7.64685654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters Centerline goodness : 0.987735 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:164.83, Z:76.46 [[ 8.82283437e-01 4.47963391e-01 1.44584703e-01 2.65341760e+02] [-4.41964452e-01 8.94051721e-01 -7.30680689e-02 1.64825712e+02] [-1.61998023e-01 5.65447863e-04 9.86790921e-01 7.64600413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:164.80, Z:76.46 [[ 8.79343883e-01 4.53713025e-01 1.44564261e-01 2.65398051e+02] [-4.47784386e-01 8.91147738e-01 -7.31084914e-02 1.64797743e+02] [-1.61998389e-01 -4.46114170e-04 9.86790922e-01 7.64556066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters Centerline goodness : 0.987384 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:164.77, Z:76.44 [[ 8.75984533e-01 4.60171999e-01 1.44543520e-01 2.65454275e+02] [-4.54323626e-01 8.87828360e-01 -7.31494752e-02 1.64773305e+02] [-1.61991177e-01 -1.59172742e-03 9.86790923e-01 7.64415278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters Centerline goodness : 0.987219 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:164.75, Z:76.43 [[ 8.73133069e-01 4.65566095e-01 1.44522855e-01 2.65509173e+02] [-4.59784130e-01 8.85009456e-01 -7.31902822e-02 1.64746470e+02] [-1.61979007e-01 -2.54445938e-03 9.86790924e-01 7.64299619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters Centerline goodness : 0.986926 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:164.72, Z:76.42 [[ 8.70309831e-01 4.70828466e-01 1.44503818e-01 2.65564211e+02] [-4.65112066e-01 8.82217914e-01 -7.32278491e-02 1.64717512e+02] [-1.61961613e-01 -3.47955217e-03 9.86790925e-01 7.64209976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters Centerline goodness : 0.988355 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:164.69, Z:76.41 [[ 8.67781722e-01 4.75478322e-01 1.44482690e-01 2.65618423e+02] [-4.69818786e-01 8.79716935e-01 -7.32695113e-02 1.64688803e+02] [-1.61941934e-01 -4.29873955e-03 9.86790926e-01 7.64140907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters Centerline goodness : 0.988030 with order 1 Centerline is valid? [True, True] Translation: X:265.67, Y:164.66, Z:76.40 [[ 8.66637575e-01 4.77566489e-01 1.44463016e-01 2.65674747e+02] [-4.71929252e-01 8.78583335e-01 -7.33082836e-02 1.64664738e+02] [-1.61932378e-01 -4.64460988e-03 9.86790927e-01 7.64004230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters Centerline goodness : 0.987251 with order 1 Centerline is valid? [True, True] Translation: X:265.73, Y:164.63, Z:76.39 [[ 8.67416994e-01 4.76155721e-01 1.44441987e-01 2.65729265e+02] [-4.70492165e-01 8.79350297e-01 -7.33496939e-02 1.64634192e+02] [-1.61940981e-01 -4.33405217e-03 9.86790928e-01 7.63913360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters Centerline goodness : 0.988316 with order 1 Centerline is valid? [True, True] Translation: X:265.78, Y:164.61, Z:76.38 [[ 8.69120169e-01 4.73046177e-01 1.44421070e-01 2.65782696e+02] [-4.67333085e-01 8.81029835e-01 -7.33908555e-02 1.64605457e+02] [-1.61956535e-01 -3.70727136e-03 9.86790929e-01 7.63796032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters Centerline goodness : 0.987330 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:164.57, Z:76.37 [[ 8.71445513e-01 4.68754577e-01 1.44401749e-01 2.65834901e+02] [-4.62976530e-01 8.83323800e-01 -7.34288514e-02 1.64574011e+02] [-1.61973612e-01 -2.86537769e-03 9.86790930e-01 7.63723922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters Centerline goodness : 0.987355 with order 1 Centerline is valid? [True, True] Translation: X:265.89, Y:164.55, Z:76.36 [[ 8.73186359e-01 4.65508713e-01 1.44385665e-01 2.65889290e+02] [-4.59681281e-01 8.85040496e-01 -7.34604650e-02 1.64545703e+02] [-1.61983647e-01 -2.22671151e-03 9.86790930e-01 7.63604612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters Centerline goodness : 0.986840 with order 1 Centerline is valid? [True, True] Translation: X:265.94, Y:164.52, Z:76.35 [[ 8.74513976e-01 4.63016306e-01 1.44364833e-01 2.65944518e+02] [-4.57148334e-01 8.86348096e-01 -7.35013807e-02 1.64518708e+02] [-1.61989833e-01 -1.71815836e-03 9.86790931e-01 7.63467554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters Centerline goodness : 0.987391 with order 1 Centerline is valid? [True, True] Translation: X:265.99, Y:164.48, Z:76.34 [[ 8.76130763e-01 4.59956160e-01 1.44344091e-01 2.65994525e+02] [-4.54040143e-01 8.87940938e-01 -7.35420929e-02 1.64483285e+02] [-1.61995166e-01 -1.10552180e-03 9.86790932e-01 7.63405121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters Centerline goodness : 0.987521 with order 1 Centerline is valid? [True, True] Translation: X:266.05, Y:164.46, Z:76.33 [[ 8.78619080e-01 4.55190150e-01 1.44327541e-01 2.66048177e+02] [-4.49204733e-01 8.90394234e-01 -7.35745594e-02 1.64455171e+02] [-1.61998825e-01 -1.88602611e-04 9.86790933e-01 7.63314628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters Centerline goodness : 0.987454 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:164.42, Z:76.32 [[ 8.78885347e-01 4.54680597e-01 1.44312515e-01 2.66100585e+02] [-4.48683516e-01 8.90654563e-01 -7.36040190e-02 1.64424326e+02] [-1.61998920e-01 -6.11530255e-05 9.86790933e-01 7.63208603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters Centerline goodness : 0.987662 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:164.40, Z:76.31 [[ 8.79156334e-01 4.54159348e-01 1.44303246e-01 2.66155497e+02] [-4.48152306e-01 8.90920470e-01 -7.36221881e-02 1.64396262e+02] [-1.61998920e-01 5.55806419e-05 9.86790934e-01 7.63110468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters Centerline goodness : 0.989584 with order 1 Centerline is valid? [True, True] Translation: X:266.21, Y:164.37, Z:76.30 [[ 8.79858981e-01 4.52802257e-01 1.44285446e-01 2.66208003e+02] [-4.46771352e-01 8.91610900e-01 -7.36570557e-02 1.64365227e+02] [-1.61998557e-01 3.45218189e-04 9.86790934e-01 7.63026720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:164.32, Z:76.29 [[ 8.75378930e-01 4.61408815e-01 1.44269312e-01 2.66255373e+02] [-4.55488239e-01 8.87186817e-01 -7.36886438e-02 1.64324399e+02] [-1.61994421e-01 -1.20748870e-03 9.86790935e-01 7.62902411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters Centerline goodness : 0.989115 with order 1 Centerline is valid? [True, True] Translation: X:266.31, Y:164.31, Z:76.27 [[ 8.79289935e-01 4.53916764e-01 1.44252496e-01 2.66314142e+02] [-4.47890173e-01 8.91044065e-01 -7.37215482e-02 1.64307573e+02] [-1.61998777e-01 2.13339907e-04 9.86790936e-01 7.62740797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters Centerline goodness : 0.989343 with order 1 Centerline is valid? [True, True] Translation: X:266.37, Y:164.28, Z:76.27 [[ 8.81045972e-01 4.50504734e-01 1.44234114e-01 2.66367967e+02] [-4.44426738e-01 8.92773603e-01 -7.37574951e-02 1.64280515e+02] [-1.61996510e-01 8.82247283e-04 9.86790937e-01 7.62657216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:266.42, Y:164.24, Z:76.26 [[ 8.74637824e-01 4.62826231e-01 1.44223982e-01 2.66416270e+02] [-4.56910171e-01 8.86447971e-01 -7.37773018e-02 1.64239109e+02] [-1.61993127e-01 -1.36898545e-03 9.86790937e-01 7.62615201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters Centerline goodness : 0.987550 with order 1 Centerline is valid? [True, True] Translation: X:266.48, Y:164.23, Z:76.24 [[ 8.80879641e-01 4.50839389e-01 1.44204382e-01 2.66477478e+02] [-4.44756337e-01 8.92604649e-01 -7.38155923e-02 1.64227392e+02] [-1.61996478e-01 8.86839854e-04 9.86790938e-01 7.62435234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters Centerline goodness : 0.988238 with order 1 Centerline is valid? [True, True] Translation: X:266.53, Y:164.20, Z:76.24 [[ 8.76792810e-01 4.58742567e-01 1.44186083e-01 2.66530997e+02] [-4.52759324e-01 8.88569062e-01 -7.38513193e-02 1.64196892e+02] [-1.61998036e-01 -5.29287530e-04 9.86790938e-01 7.62366446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters Centerline goodness : 0.988450 with order 1 Centerline is valid? [True, True] Translation: X:266.59, Y:164.17, Z:76.23 [[ 8.74532180e-01 4.63043221e-01 1.44168103e-01 2.66585206e+02] [-4.57112103e-01 8.86334770e-01 -7.38864022e-02 1.64168062e+02] [-1.61993800e-01 -1.28494819e-03 9.86790939e-01 7.62285993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters Centerline goodness : 0.987495 with order 1 Centerline is valid? [True, True] Translation: X:266.64, Y:164.14, Z:76.22 [[ 8.73773662e-01 4.64478927e-01 1.44148928e-01 2.66640252e+02] [-4.58561034e-01 8.85582888e-01 -7.39237925e-02 1.64142459e+02] [-1.61991868e-01 -1.50841850e-03 9.86790940e-01 7.62174044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters Centerline goodness : 0.988623 with order 1 Centerline is valid? [True, True] Translation: X:266.70, Y:164.12, Z:76.20 [[ 8.73879923e-01 4.64284184e-01 1.44132148e-01 2.66695717e+02] [-4.58358266e-01 8.85685123e-01 -7.39564953e-02 1.64117627e+02] [-1.61992530e-01 -1.43506485e-03 9.86790941e-01 7.62015516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters Centerline goodness : 0.988363 with order 1 Centerline is valid? [True, True] Translation: X:266.75, Y:164.09, Z:76.19 [[ 8.73066300e-01 4.65818002e-01 1.44113927e-01 2.66748734e+02] [-4.59906965e-01 8.84878958e-01 -7.39919836e-02 1.64087563e+02] [-1.61990180e-01 -1.67909157e-03 9.86790942e-01 7.61897761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters Centerline goodness : 0.988922 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:164.05, Z:76.19 [[ 8.72323560e-01 4.67213367e-01 1.44094682e-01 2.66802290e+02] [-4.61315038e-01 8.84142566e-01 -7.40294442e-02 1.64052172e+02] [-1.61987788e-01 -1.89541530e-03 9.86790942e-01 7.61880063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters Centerline goodness : 0.990251 with order 1 Centerline is valid? [True, True] Translation: X:266.86, Y:164.03, Z:76.18 [[ 8.72480102e-01 4.66927470e-01 1.44073623e-01 2.66857085e+02] [-4.61018505e-01 8.84293793e-01 -7.40704068e-02 1.64025658e+02] [-1.61988918e-01 -1.79564994e-03 9.86790943e-01 7.61773239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters Centerline goodness : 0.987267 with order 1 Centerline is valid? [True, True] Translation: X:266.91, Y:164.01, Z:76.15 [[ 8.73978927e-01 4.64121716e-01 1.44055087e-01 2.66914103e+02] [-4.58168883e-01 8.85770574e-01 -7.41064379e-02 1.64005654e+02] [-1.61994164e-01 -1.23409334e-03 9.86790944e-01 7.61538057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:163.97, Z:76.15 [[ 8.74680696e-01 4.62804465e-01 1.44033702e-01 2.66967100e+02] [-4.56827033e-01 8.86459891e-01 -7.41479797e-02 1.63970968e+02] [-1.61996116e-01 -9.42682256e-04 9.86790945e-01 7.61492075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:267.01, Y:163.93, Z:76.14 [[ 8.71117848e-01 4.69482663e-01 1.44012930e-01 2.67014790e+02] [-4.63588859e-01 8.82939107e-01 -7.41883011e-02 1.63929480e+02] [-1.61984769e-01 -2.13603688e-03 9.86790946e-01 7.61428368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters Centerline goodness : 0.985163 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:163.93, Z:76.12 [[ 8.78652829e-01 4.55231208e-01 1.43992197e-01 2.67080776e+02] [-4.49139044e-01 8.90373094e-01 -7.42285204e-02 1.63929494e+02] [-1.61997917e-01 5.48581577e-04 9.86790947e-01 7.61160337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters Centerline goodness : 0.993164 with order 1 Centerline is valid? [True, True] Translation: X:267.13, Y:163.88, Z:76.12 [[ 8.70217200e-01 4.71162042e-01 1.43973450e-01 2.67125178e+02] [-4.65278385e-01 8.82043511e-01 -7.42648656e-02 1.63879970e+02] [-1.61981633e-01 -2.36117075e-03 9.86790948e-01 7.61199636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:163.85, Z:76.11 [[ 8.70907248e-01 4.69890835e-01 1.43955440e-01 2.67179058e+02] [-4.63984147e-01 8.82722072e-01 -7.42997597e-02 1.63851225e+02] [-1.61985421e-01 -2.08484290e-03 9.86790949e-01 7.61099686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters Centerline goodness : 0.985525 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:163.84, Z:76.10 [[ 8.79794884e-01 4.53037398e-01 1.43937756e-01 2.67241307e+02] [-4.46898749e-01 8.91490866e-01 -7.43340028e-02 1.63839673e+02] [-1.61995278e-01 1.07307221e-03 9.86790950e-01 7.60982097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters Centerline goodness : 0.993825 with order 1 Centerline is valid? [True, True] Translation: X:267.29, Y:163.79, Z:76.09 [[ 8.71620823e-01 4.68576980e-01 1.43919263e-01 2.67286427e+02] [-4.62640920e-01 8.83420915e-01 -7.43697911e-02 1.63794628e+02] [-1.61989259e-01 -1.76068157e-03 9.86790950e-01 7.60929766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters Centerline goodness : 0.983985 with order 1 Centerline is valid? [True, True] Translation: X:267.35, Y:163.79, Z:76.07 [[ 8.78838959e-01 4.54900530e-01 1.43901329e-01 2.67351285e+02] [-4.48775136e-01 8.90541886e-01 -7.44044757e-02 1.63790523e+02] [-1.61996797e-01 8.10213319e-04 9.86790951e-01 7.60724288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters Centerline goodness : 0.985683 with order 1 Centerline is valid? [True, True] Translation: X:267.39, Y:163.74, Z:76.07 [[ 8.67173366e-01 4.76764357e-01 1.43896147e-01 2.67394666e+02] [-4.70932267e-01 8.79025189e-01 -7.44144965e-02 1.63738897e+02] [-1.61966517e-01 -3.23506930e-03 9.86790951e-01 7.60702859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters Centerline goodness : 0.984782 with order 1 Centerline is valid? [True, True] Translation: X:268.07, Y:164.53, Z:76.91 [[ 9.07693492e-01 3.94194202e-01 1.43886954e-01 2.68070486e+02] [-3.87284146e-01 9.18950939e-01 -7.44322674e-02 1.64527031e+02] [-1.61565820e-01 1.18365485e-02 9.86790952e-01 7.69081614e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters Centerline goodness : 0.988189 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:164.49, Z:76.91 [[ 9.05290406e-01 3.97929011e-01 1.48666685e-01 2.68123421e+02] [-3.92876113e-01 9.17415461e-01 -6.32236627e-02 1.64488963e+02] [-1.61547645e-01 -1.17181391e-03 9.86864218e-01 7.69130148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters Centerline goodness : 0.986453 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:164.47, Z:76.90 [[ 9.06868855e-01 3.94322049e-01 1.48657329e-01 2.68181020e+02] [-3.89217317e-01 9.18972180e-01 -6.32456541e-02 1.64470090e+02] [-1.61551105e-01 -5.04492648e-04 9.86864219e-01 7.68977326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:268.23, Y:164.43, Z:76.89 [[ 8.98850790e-01 4.12277719e-01 1.48641653e-01 2.68230372e+02] [-4.07408593e-01 9.11050804e-01 -6.32824742e-02 1.64432552e+02] [-1.61510052e-01 -3.67638475e-03 9.86864219e-01 7.68887749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters Centerline goodness : 0.987510 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:164.42, Z:76.88 [[ 9.03886623e-01 4.01122001e-01 1.48627430e-01 2.68290480e+02] [-3.96096772e-01 9.16023171e-01 -6.33158619e-02 1.64419720e+02] [-1.61543555e-01 -1.64048451e-03 9.86864220e-01 7.68802252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters Centerline goodness : 0.986227 with order 1 Centerline is valid? [True, True] Translation: X:268.35, Y:164.40, Z:76.86 [[ 9.05590015e-01 3.97266072e-01 1.48614915e-01 2.68348004e+02] [-3.92184345e-01 9.17703014e-01 -6.33452242e-02 1.64401242e+02] [-1.61549263e-01 -9.19640399e-04 9.86864221e-01 7.68615439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters Centerline goodness : 0.994022 with order 1 Centerline is valid? [True, True] Translation: X:268.40, Y:164.36, Z:76.86 [[ 8.98216911e-01 4.13672233e-01 1.48599006e-01 2.68395530e+02] [-4.08805504e-01 9.10417880e-01 -6.33825231e-02 1.64357806e+02] [-1.61506781e-01 -3.81683725e-03 9.86864221e-01 7.68569544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters Centerline goodness : 0.990612 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:164.33, Z:76.85 [[ 8.96398633e-01 4.17603285e-01 1.48583264e-01 2.68450778e+02] [-4.12783947e-01 9.08618398e-01 -6.34194027e-02 1.64330592e+02] [-1.61489639e-01 -4.48372041e-03 9.86864222e-01 7.68458061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters Centerline goodness : 0.986128 with order 1 Centerline is valid? [True, True] Translation: X:268.51, Y:164.33, Z:76.83 [[ 9.04408373e-01 3.99968952e-01 1.48560870e-01 2.68514547e+02] [-3.94902627e-01 9.16527819e-01 -6.34718201e-02 1.64327728e+02] [-1.61546927e-01 -1.26263215e-03 9.86864224e-01 7.68339380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters Centerline goodness : 0.993273 with order 1 Centerline is valid? [True, True] Translation: X:268.57, Y:164.29, Z:76.82 [[ 8.97881615e-01 4.14419685e-01 1.48542690e-01 2.68566062e+02] [-4.09541316e-01 9.10077930e-01 -6.35143373e-02 1.64289486e+02] [-1.61507016e-01 -3.80601319e-03 9.86864225e-01 7.68232638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters Centerline goodness : 0.984605 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:164.28, Z:76.82 [[ 9.05643065e-01 3.97178286e-01 1.48526256e-01 2.68629079e+02] [-3.92061341e-01 9.17741223e-01 -6.35527457e-02 1.64279984e+02] [-1.61550438e-01 -6.75299744e-04 9.86864226e-01 7.68168507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters Centerline goodness : 0.986013 with order 1 Centerline is valid? [True, True] Translation: X:268.68, Y:164.25, Z:76.81 [[ 9.05264842e-01 3.98045533e-01 1.48510334e-01 2.68683148e+02] [-3.92934078e-01 9.17365320e-01 -6.35899301e-02 1.64252115e+02] [-1.61549918e-01 -7.89043197e-04 9.86864226e-01 7.68062199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters Centerline goodness : 0.985310 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:164.23, Z:76.80 [[ 9.07217635e-01 3.93579880e-01 1.48495929e-01 2.68739974e+02] [-3.88403357e-01 9.19290420e-01 -6.36235511e-02 1.64228213e+02] [-1.61551835e-01 4.40901273e-05 9.86864227e-01 7.68004001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters Centerline goodness : 0.993477 with order 1 Centerline is valid? [True, True] Translation: X:268.79, Y:164.19, Z:76.79 [[ 9.02647716e-01 4.03956308e-01 1.48480309e-01 2.68788503e+02] [-3.98912562e-01 9.14776571e-01 -6.36599830e-02 1.64189345e+02] [-1.61542160e-01 -1.76812233e-03 9.86864228e-01 7.67906649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:268.85, Y:164.16, Z:76.78 [[ 9.02716853e-01 4.03807409e-01 1.48465011e-01 2.68845045e+02] [-3.98755798e-01 9.14842434e-01 -6.36956416e-02 1.64164026e+02] [-1.61542864e-01 -1.70215479e-03 9.86864229e-01 7.67798837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters Centerline goodness : 0.985460 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:164.16, Z:76.77 [[ 9.10373673e-01 3.86241804e-01 1.48448794e-01 2.68908793e+02] [-3.80950053e-01 9.22396395e-01 -6.37334147e-02 1.64158395e+02] [-1.61545142e-01 1.46964679e-03 9.86864229e-01 7.67659692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters Centerline goodness : 0.986372 with order 1 Centerline is valid? [True, True] Translation: X:268.96, Y:164.13, Z:76.76 [[ 9.08395823e-01 3.90874015e-01 1.48440337e-01 2.68963960e+02] [-3.85640355e-01 9.20443946e-01 -6.37531069e-02 1.64133122e+02] [-1.61550442e-01 6.68471850e-04 9.86864230e-01 7.67551330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters Centerline goodness : 0.986508 with order 1 Centerline is valid? [True, True] Translation: X:269.02, Y:164.11, Z:76.75 [[ 9.08313725e-01 3.91070173e-01 1.48426064e-01 2.69021231e+02] [-3.85833688e-01 9.20360620e-01 -6.37863195e-02 1.64109941e+02] [-1.61550431e-01 6.70213980e-04 9.86864230e-01 7.67455700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters Centerline goodness : 0.993679 with order 1 Centerline is valid? [True, True] Translation: X:269.07, Y:164.07, Z:76.74 [[ 9.02011844e-01 4.05399762e-01 1.48410466e-01 2.69070257e+02] [-4.00348668e-01 9.14137638e-01 -6.38225905e-02 1.64068585e+02] [-1.61541256e-01 -1.84719976e-03 9.86864231e-01 7.67356272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters Centerline goodness : 0.985600 with order 1 Centerline is valid? [True, True] Translation: X:269.14, Y:164.06, Z:76.72 [[ 9.08770035e-01 3.90021351e-01 1.48392620e-01 2.69135384e+02] [-3.84758268e-01 9.20805331e-01 -6.38640558e-02 1.64064901e+02] [-1.61549061e-01 9.42452583e-04 9.86864232e-01 7.67200873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters Centerline goodness : 0.986975 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:164.04, Z:76.72 [[ 9.08341354e-01 3.91025619e-01 1.48374354e-01 2.69191493e+02] [-3.85768915e-01 9.20379437e-01 -6.39064653e-02 1.64037712e+02] [-1.61549770e-01 8.10671559e-04 9.86864233e-01 7.67186176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters Centerline goodness : 0.984934 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:164.02, Z:76.71 [[ 9.08311260e-01 3.91101386e-01 1.48358890e-01 2.69249023e+02] [-3.85839825e-01 9.20347220e-01 -6.39423459e-02 1.64017665e+02] [-1.61549632e-01 8.36784652e-04 9.86864234e-01 7.67058086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters Centerline goodness : 0.985403 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:164.00, Z:76.70 [[ 9.06590424e-01 3.95079562e-01 1.48344004e-01 2.69305135e+02] [-3.89865167e-01 9.18646892e-01 -6.39768625e-02 1.63995327e+02] [-1.61551709e-01 1.66650899e-04 9.86864235e-01 7.66962366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters Centerline goodness : 0.985120 with order 1 Centerline is valid? [True, True] Translation: X:269.36, Y:163.98, Z:76.68 [[ 9.06338323e-01 3.95662887e-01 1.48329780e-01 2.69362346e+02] [-3.90450858e-01 9.18395813e-01 -6.40098246e-02 1.63976845e+02] [-1.61551761e-01 9.90673333e-05 9.86864235e-01 7.66767198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters Centerline goodness : 0.986772 with order 1 Centerline is valid? [True, True] Translation: X:269.42, Y:163.95, Z:76.67 [[ 9.06246429e-01 3.95879136e-01 1.48314257e-01 2.69418821e+02] [-3.90664101e-01 9.18302619e-01 -6.40457725e-02 1.63949272e+02] [-1.61551755e-01 1.00196927e-04 9.86864236e-01 7.66689112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters Centerline goodness : 0.986557 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:163.92, Z:76.67 [[ 9.07132106e-01 3.93852155e-01 1.48296400e-01 2.69474237e+02] [-3.88603425e-01 9.19173663e-01 -6.40870921e-02 1.63917693e+02] [-1.61550985e-01 5.06969702e-04 9.86864237e-01 7.66718556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters Centerline goodness : 0.986655 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:163.89, Z:76.66 [[ 9.05031846e-01 3.98660476e-01 1.48280756e-01 2.69529985e+02] [-3.93469792e-01 9.17098538e-01 -6.41232680e-02 1.63893144e+02] [-1.61551477e-01 -3.10398859e-04 9.86864238e-01 7.66608416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters Centerline goodness : 0.987291 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:163.87, Z:76.65 [[ 9.03758565e-01 4.01544148e-01 1.48265818e-01 2.69586378e+02] [-3.96386303e-01 9.15839329e-01 -6.41577895e-02 1.63869067e+02] [-1.61549853e-01 -7.87387754e-04 9.86864238e-01 7.66485826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:269.63, Y:163.83, Z:76.64 [[ 8.97896301e-01 4.14493445e-01 1.48247821e-01 2.69634510e+02] [-4.09502924e-01 9.10047141e-01 -6.41993484e-02 1.63829090e+02] [-1.61522715e-01 -3.06355880e-03 9.86864239e-01 7.66355778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters Centerline goodness : 0.993768 with order 1 Centerline is valid? [True, True] Translation: X:269.69, Y:163.80, Z:76.63 [[ 8.99066552e-01 4.11954531e-01 1.48232249e-01 2.69690218e+02] [-4.06923771e-01 9.11200786e-01 -6.42352842e-02 1.63804550e+02] [-1.61531358e-01 -2.56743022e-03 9.86864240e-01 7.66293138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters Centerline goodness : 0.985803 with order 1 Centerline is valid? [True, True] Translation: X:269.75, Y:163.80, Z:76.62 [[ 9.06843341e-01 3.94545918e-01 1.48218332e-01 2.69754338e+02] [-3.89276925e-01 9.18876041e-01 -6.42673803e-02 1.63795633e+02] [-1.61550707e-01 5.82469259e-04 9.86864241e-01 7.66195810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters Centerline goodness : 0.986727 with order 1 Centerline is valid? [True, True] Translation: X:269.81, Y:163.77, Z:76.61 [[ 9.05800902e-01 3.96940140e-01 1.48200038e-01 2.69808242e+02] [-3.91696054e-01 9.17844477e-01 -6.43095384e-02 1.63766984e+02] [-1.61551624e-01 2.02267678e-04 9.86864242e-01 7.66128004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters Centerline goodness : 0.987463 with order 1 Centerline is valid? [True, True] Translation: X:269.87, Y:163.75, Z:76.59 [[ 9.05210400e-01 3.98290220e-01 1.48185801e-01 2.69865763e+02] [-3.93058729e-01 9.17259451e-01 -6.43423275e-02 1.63746324e+02] [-1.61551747e-01 -2.37871698e-06 9.86864243e-01 7.65938506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters Centerline goodness : 0.985080 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:163.72, Z:76.59 [[ 9.05896097e-01 3.96734836e-01 1.48167918e-01 2.69924584e+02] [-3.91475925e-01 9.17933204e-01 -6.43834835e-02 1.63723119e+02] [-1.61551423e-01 3.20573572e-04 9.86864244e-01 7.65884828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters Centerline goodness : 0.993808 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:163.68, Z:76.58 [[ 8.99086672e-01 4.11940155e-01 1.48150146e-01 2.69971742e+02] [-4.06878046e-01 9.11207857e-01 -6.44243527e-02 1.63678425e+02] [-1.61534555e-01 -2.35596508e-03 9.86864244e-01 7.65827368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters Centerline goodness : 0.986144 with order 1 Centerline is valid? [True, True] Translation: X:270.04, Y:163.67, Z:76.57 [[ 9.05570188e-01 3.97490581e-01 1.48134644e-01 2.70035270e+02] [-3.92229202e-01 9.17606214e-01 -6.44599781e-02 1.63672739e+02] [-1.61551504e-01 2.70301368e-04 9.86864245e-01 7.65677819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters Centerline goodness : 0.984542 with order 1 Centerline is valid? [True, True] Translation: X:270.09, Y:163.65, Z:76.56 [[ 9.06123932e-01 3.96232172e-01 1.48119834e-01 2.70093031e+02] [-3.90948516e-01 9.18150196e-01 -6.44939918e-02 1.63649512e+02] [-1.61550849e-01 5.32320243e-04 9.86864246e-01 7.65615726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters Centerline goodness : 0.985068 with order 1 Centerline is valid? [True, True] Translation: X:270.15, Y:163.62, Z:76.56 [[ 9.03457040e-01 4.02282103e-01 1.48102961e-01 2.70149256e+02] [-3.97072631e-01 9.15515622e-01 -6.45327154e-02 1.63622878e+02] [-1.61550931e-01 -5.05096363e-04 9.86864247e-01 7.65554076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters Centerline goodness : 0.991428 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:163.58, Z:76.55 [[ 8.96133172e-01 4.18346649e-01 1.48092605e-01 2.70199536e+02] [-4.13349355e-01 9.08281219e-01 -6.45564726e-02 1.63582262e+02] [-1.61516716e-01 -3.36278613e-03 9.86864247e-01 7.65496948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters Centerline goodness : 0.991925 with order 1 Centerline is valid? [True, True] Translation: X:270.26, Y:163.56, Z:76.54 [[ 8.95565863e-01 4.19561604e-01 1.48087292e-01 2.70255798e+02] [-4.14578776e-01 9.07719850e-01 -6.45686584e-02 1.63558390e+02] [-1.61512304e-01 -3.56836185e-03 9.86864247e-01 7.65401529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters Centerline goodness : 0.992541 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:163.54, Z:76.53 [[ 8.95081436e-01 4.20599693e-01 1.48071335e-01 2.70313488e+02] [-4.15624914e-01 9.07238720e-01 -6.46052302e-02 1.63536130e+02] [-1.61508989e-01 -3.71519361e-03 9.86864248e-01 7.65268790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters Centerline goodness : 0.982411 with order 1 Centerline is valid? [True, True] Translation: X:270.38, Y:163.53, Z:76.51 [[ 9.01745227e-01 4.06122390e-01 1.48054550e-01 2.70377216e+02] [-4.00946050e-01 9.13818067e-01 -6.46436743e-02 1.63531128e+02] [-1.61548166e-01 -1.06976218e-03 9.86864249e-01 7.65111262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters Centerline goodness : 0.982870 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:163.51, Z:76.49 [[ 9.03746934e-01 4.01653648e-01 1.48039947e-01 2.70433120e+02] [-3.96412134e-01 9.15791621e-01 -6.46770978e-02 1.63507916e+02] [-1.61551536e-01 -2.33102649e-04 9.86864250e-01 7.64948342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters Centerline goodness : 0.982293 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:163.48, Z:76.48 [[ 9.03745834e-01 4.01661728e-01 1.48024739e-01 2.70488438e+02] [-3.96414624e-01 9.15788086e-01 -6.47118857e-02 1.63483003e+02] [-1.61551581e-01 -1.96074164e-04 9.86864250e-01 7.64832089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters Centerline goodness : 0.979794 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:163.46, Z:76.47 [[ 9.06477872e-01 3.95463071e-01 1.48009552e-01 2.70545156e+02] [-3.90127951e-01 9.18481388e-01 -6.47466041e-02 1.63461784e+02] [-1.61548910e-01 9.48700640e-04 9.86864251e-01 7.64665408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters Centerline goodness : 0.982095 with order 1 Centerline is valid? [True, True] Translation: X:270.60, Y:163.43, Z:76.47 [[ 9.04867403e-01 3.99139839e-01 1.47994499e-01 2.70599961e+02] [-3.93847869e-01 9.16890004e-01 -6.47809932e-02 1.63430035e+02] [-1.61551352e-01 3.30890916e-04 9.86864252e-01 7.64656183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters Centerline goodness : 0.983478 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:163.40, Z:76.46 [[ 9.04648113e-01 3.99642134e-01 1.47979582e-01 2.70656250e+02] [-3.94351267e-01 9.16671199e-01 -6.48150519e-02 1.63404618e+02] [-1.61551446e-01 2.78878905e-04 9.86864252e-01 7.64606837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters Centerline goodness : 0.983449 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:163.38, Z:76.45 [[ 9.04183505e-01 4.00698000e-01 1.47963857e-01 2.70711365e+02] [-3.95415301e-01 9.16210181e-01 -6.48509304e-02 1.63378120e+02] [-1.61551630e-01 1.29968643e-04 9.86864253e-01 7.64531392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters Centerline goodness : 0.983279 with order 1 Centerline is valid? [True, True] Translation: X:270.77, Y:163.35, Z:76.44 [[ 9.05293191e-01 3.98190284e-01 1.47948422e-01 2.70766224e+02] [-3.92868520e-01 9.17302631e-01 -6.48861235e-02 1.63352727e+02] [-1.61550501e-01 6.16688200e-04 9.86864254e-01 7.64405575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters Centerline goodness : 0.985935 with order 1 Centerline is valid? [True, True] Translation: X:270.82, Y:163.33, Z:76.43 [[ 9.04240708e-01 4.00580038e-01 1.47933684e-01 2.70821462e+02] [-3.95284518e-01 9.16261743e-01 -6.49197069e-02 1.63327740e+02] [-1.61551514e-01 2.27146706e-04 9.86864254e-01 7.64275790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters Centerline goodness : 0.985152 with order 1 Centerline is valid? [True, True] Translation: X:270.88, Y:163.31, Z:76.42 [[ 9.04609441e-01 3.99752187e-01 1.47918722e-01 2.70878993e+02] [-3.94440095e-01 9.16623160e-01 -6.49537799e-02 1.63306404e+02] [-1.61551142e-01 4.12727681e-04 9.86864255e-01 7.64155320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters Centerline goodness : 0.987698 with order 1 Centerline is valid? [True, True] Translation: X:270.93, Y:163.28, Z:76.41 [[ 9.01002422e-01 4.07822692e-01 1.47902964e-01 2.70931455e+02] [-4.02612317e-01 9.13060605e-01 -6.49896436e-02 1.63275199e+02] [-1.61548621e-01 -9.91728577e-04 9.86864256e-01 7.64088736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters Centerline goodness : 0.986248 with order 1 Centerline is valid? [True, True] Translation: X:270.99, Y:163.26, Z:76.39 [[ 9.03924409e-01 4.01310344e-01 1.47887359e-01 2.70989321e+02] [-3.96007285e-01 9.15942117e-01 -6.50251328e-02 1.63256551e+02] [-1.61551519e-01 2.13333073e-04 9.86864257e-01 7.63904174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters Centerline goodness : 0.987072 with order 1 Centerline is valid? [True, True] Translation: X:271.05, Y:163.23, Z:76.39 [[ 9.03866684e-01 4.01446392e-01 1.47870928e-01 2.71046067e+02] [-3.96139032e-01 9.15882493e-01 -6.50624782e-02 1.63228094e+02] [-1.61551491e-01 2.30360218e-04 9.86864257e-01 7.63874337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters Centerline goodness : 0.986667 with order 1 Centerline is valid? [True, True] Translation: X:271.10, Y:163.20, Z:76.38 [[ 9.04542142e-01 3.99928748e-01 1.47853000e-01 2.71102193e+02] [-3.94594572e-01 9.16546070e-01 -6.51031932e-02 1.63202852e+02] [-1.61550725e-01 5.46590530e-04 9.86864258e-01 7.63835587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters Centerline goodness : 0.986555 with order 1 Centerline is valid? [True, True] Translation: X:271.16, Y:163.18, Z:76.37 [[ 9.06415224e-01 3.95670561e-01 1.47838588e-01 2.71159480e+02] [-3.90274659e-01 9.18391531e-01 -6.51359055e-02 1.63180964e+02] [-1.61546067e-01 1.34252205e-03 9.86864259e-01 7.63711286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters Centerline goodness : 0.986826 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:163.15, Z:76.37 [[ 9.07739757e-01 3.92628086e-01 1.47823272e-01 2.71216129e+02] [-3.87186386e-01 9.19695324e-01 -6.51706460e-02 1.63154393e+02] [-1.61540198e-01 1.92282801e-03 9.86864260e-01 7.63670577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters Centerline goodness : 0.993378 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:163.11, Z:76.36 [[ 9.02432311e-01 4.04684153e-01 1.47806160e-01 2.71264548e+02] [-3.99395829e-01 9.14456506e-01 -6.52094323e-02 1.63114250e+02] [-1.61551529e-01 -1.86065130e-04 9.86864261e-01 7.63605619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters Centerline goodness : 0.992276 with order 1 Centerline is valid? [True, True] Translation: X:271.32, Y:163.09, Z:76.35 [[ 9.04478277e-01 4.00096271e-01 1.47790463e-01 2.71321170e+02] [-3.94741145e-01 9.16472869e-01 -6.52449901e-02 1.63094568e+02] [-1.61550226e-01 6.73699909e-04 9.86864261e-01 7.63495244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters Centerline goodness : 0.991385 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:163.07, Z:76.34 [[ 9.04481432e-01 4.00094350e-01 1.47776350e-01 2.71378202e+02] [-3.94733978e-01 9.16473681e-01 -6.52769380e-02 1.63074128e+02] [-1.61550070e-01 7.09431650e-04 9.86864262e-01 7.63356214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters Centerline goodness : 0.985834 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:163.07, Z:76.33 [[ 9.09346253e-01 3.88916642e-01 1.47760744e-01 2.71441339e+02] [-3.83403143e-01 9.21268876e-01 -6.53122448e-02 1.63065247e+02] [-1.61528394e-01 2.73951134e-03 9.86864263e-01 7.63254075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters Centerline goodness : 0.985203 with order 1 Centerline is valid? [True, True] Translation: X:271.50, Y:163.05, Z:76.31 [[ 9.08457165e-01 3.90995030e-01 1.47744596e-01 2.71498890e+02] [-3.85502873e-01 9.20389632e-01 -6.53487534e-02 1.63046258e+02] [-1.61533633e-01 2.41057686e-03 9.86864264e-01 7.63105044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters Centerline goodness : 0.984026 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:163.02, Z:76.31 [[ 9.08029088e-01 3.91994157e-01 1.47728659e-01 2.71556116e+02] [-3.86509272e-01 9.19964899e-01 -6.53847629e-02 1.63022629e+02] [-1.61535626e-01 2.27277027e-03 9.86864264e-01 7.63050709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters Centerline goodness : 0.983320 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:163.00, Z:76.30 [[ 9.07623729e-01 3.92938144e-01 1.47711820e-01 2.71614058e+02] [-3.87459487e-01 9.19562399e-01 -6.54227810e-02 1.63000973e+02] [-1.61537342e-01 2.14692225e-03 9.86864265e-01 7.62976676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters Centerline goodness : 0.982997 with order 1 Centerline is valid? [True, True] Translation: X:271.67, Y:162.98, Z:76.28 [[ 9.08486997e-01 3.90943786e-01 1.47696761e-01 2.71672636e+02] [-3.85433398e-01 9.20411054e-01 -6.54567608e-02 1.62984661e+02] [-1.61531646e-01 2.53935141e-03 9.86864266e-01 7.62839943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters Centerline goodness : 0.983425 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:162.96, Z:76.28 [[ 9.04959588e-01 3.99043170e-01 1.47691208e-01 2.71727595e+02] [-3.93637468e-01 9.16931468e-01 -6.54692888e-02 1.62958523e+02] [-1.61547788e-01 1.11026751e-03 9.86864266e-01 7.62769056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters Centerline goodness : 0.983861 with order 1 Centerline is valid? [True, True] Translation: X:271.78, Y:162.93, Z:76.27 [[ 9.03504363e-01 4.02329985e-01 1.47683611e-01 2.71784050e+02] [-3.96965035e-01 9.15494560e-01 -6.54864218e-02 1.62934895e+02] [-1.61550693e-01 5.42038059e-04 9.86864266e-01 7.62699329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters Centerline goodness : 0.982010 with order 1 Centerline is valid? [True, True] Translation: X:271.84, Y:162.92, Z:76.26 [[ 9.03388199e-01 4.02596529e-01 1.47667858e-01 2.71841644e+02] [-3.97229314e-01 9.15377381e-01 -6.55219243e-02 1.62918156e+02] [-1.61550716e-01 5.33731284e-04 9.86864267e-01 7.62575800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters Centerline goodness : 0.984376 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:162.89, Z:76.25 [[ 9.02676231e-01 4.04195263e-01 1.47654363e-01 2.71897669e+02] [-3.98844310e-01 9.14672679e-01 -6.55523212e-02 1.62892635e+02] [-1.61551350e-01 2.81419758e-04 9.86864267e-01 7.62482262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters Centerline goodness : 0.983197 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:162.87, Z:76.24 [[ 9.02644280e-01 4.04268514e-01 1.47649156e-01 2.71953726e+02] [-3.98916615e-01 9.14640306e-01 -6.55640478e-02 1.62867583e+02] [-1.61551349e-01 2.81311222e-04 9.86864267e-01 7.62386523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters Centerline goodness : 0.983695 with order 1 Centerline is valid? [True, True] Translation: X:272.01, Y:162.84, Z:76.23 [[ 9.02646479e-01 4.04269370e-01 1.47633366e-01 2.72009566e+02] [-3.98911670e-01 9.14639915e-01 -6.55995832e-02 1.62841578e+02] [-1.61551272e-01 3.20560088e-04 9.86864268e-01 7.62284570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters Centerline goodness : 0.986690 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:162.81, Z:76.22 [[ 9.02627948e-01 4.04316667e-01 1.47617140e-01 2.72063437e+02] [-3.98953628e-01 9.14618996e-01 -6.56360766e-02 1.62814429e+02] [-1.61551200e-01 3.52563607e-04 9.86864269e-01 7.62208166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters Centerline goodness : 0.990255 with order 1 Centerline is valid? [True, True] Translation: X:272.11, Y:162.77, Z:76.21 [[ 9.00164756e-01 4.09775345e-01 1.47606164e-01 2.72113355e+02] [-4.04480972e-01 9.12186280e-01 -6.56607513e-02 1.62774514e+02] [-1.61550474e-01 -5.98390492e-04 9.86864269e-01 7.62142915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters Centerline goodness : 0.986975 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:162.76, Z:76.21 [[ 9.04654317e-01 3.99771973e-01 1.47590436e-01 2.72174712e+02] [-3.94338904e-01 9.16613797e-01 -6.56960855e-02 1.62758533e+02] [-1.61546883e-01 1.23159657e-03 9.86864270e-01 7.62080138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters Centerline goodness : 0.987342 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:162.74, Z:76.20 [[ 9.05446712e-01 3.97980758e-01 1.47572248e-01 2.72230161e+02] [-3.92517376e-01 9.17392374e-01 -6.57369156e-02 1.62736082e+02] [-1.61543682e-01 1.59660254e-03 9.86864271e-01 7.61973231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters Centerline goodness : 0.988229 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:162.70, Z:76.19 [[ 9.04169389e-01 4.00879523e-01 1.47557864e-01 2.72284555e+02] [-3.95449173e-01 9.16130103e-01 -6.57691867e-02 1.62702813e+02] [-1.61547722e-01 1.11484988e-03 9.86864272e-01 7.61914998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters Centerline goodness : 0.986419 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:162.69, Z:76.17 [[ 9.08730670e-01 3.90432999e-01 1.47548780e-01 2.72344426e+02] [-3.84861865e-01 9.20626460e-01 -6.57895604e-02 1.62694250e+02] [-1.61523726e-01 2.99909254e-03 9.86864272e-01 7.61720039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters Centerline goodness : 0.984443 with order 1 Centerline is valid? [True, True] Translation: X:272.40, Y:162.67, Z:76.17 [[ 9.09921139e-01 3.87656353e-01 1.47533297e-01 2.72401568e+02] [-3.82043297e-01 9.21797204e-01 -6.58242641e-02 1.62672043e+02] [-1.61512974e-01 3.53078238e-03 9.86864273e-01 7.61671873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters Centerline goodness : 0.985325 with order 1 Centerline is valid? [True, True] Translation: X:272.46, Y:162.64, Z:76.17 [[ 9.06669529e-01 3.95206523e-01 1.47520063e-01 2.72456119e+02] [-3.89687556e-01 9.18589610e-01 -6.58539084e-02 1.62637813e+02] [-1.61536292e-01 2.22099915e-03 9.86864273e-01 7.61720269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters Centerline goodness : 0.987560 with order 1 Centerline is valid? [True, True] Translation: X:272.52, Y:162.62, Z:76.16 [[ 9.06979853e-01 3.94496268e-01 1.47513530e-01 2.72516929e+02] [-3.88965587e-01 9.18894503e-01 -6.58685398e-02 1.62624253e+02] [-1.61534265e-01 2.36375166e-03 9.86864273e-01 7.61609465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters Centerline goodness : 0.986737 with order 1 Centerline is valid? [True, True] Translation: X:272.58, Y:162.61, Z:76.15 [[ 9.08797444e-01 3.90298124e-01 1.47494340e-01 2.72576809e+02] [-3.84705442e-01 9.20683116e-01 -6.59114823e-02 1.62613796e+02] [-1.61520677e-01 3.15831130e-03 9.86864274e-01 7.61455360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters Centerline goodness : 0.986020 with order 1 Centerline is valid? [True, True] Translation: X:272.63, Y:162.59, Z:76.15 [[ 9.07121034e-01 3.94184605e-01 1.47478564e-01 2.72634988e+02] [-3.88637115e-01 9.19027865e-01 -6.59467645e-02 1.62590180e+02] [-1.61532109e-01 2.50605380e-03 9.86864275e-01 7.61514637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters Centerline goodness : 0.988875 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:162.58, Z:76.13 [[ 9.05025853e-01 3.98972855e-01 1.47474967e-01 2.72695707e+02] [-3.93487055e-01 9.16961232e-01 -6.59548073e-02 1.62581326e+02] [-1.61543005e-01 1.66131550e-03 9.86864275e-01 7.61343577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:272.76, Y:162.57, Z:76.12 [[ 9.03554963e-01 4.02294979e-01 1.47469247e-01 2.72756478e+02] [-3.96850977e-01 9.15509464e-01 -6.59675941e-02 1.62566380e+02] [-1.61547923e-01 1.08203240e-03 9.86864275e-01 7.61193808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters Centerline goodness : 0.987671 with order 1 Centerline is valid? [True, True] Translation: X:272.82, Y:162.55, Z:76.12 [[ 9.01191882e-01 4.07568641e-01 1.47448275e-01 2.72816265e+02] [-4.02186931e-01 9.13174554e-01 -6.60144360e-02 1.62546645e+02] [-1.61551427e-01 1.89904529e-04 9.86864277e-01 7.61157797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters Centerline goodness : 0.985143 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:162.53, Z:76.11 [[ 9.00746198e-01 4.08559662e-01 1.47428932e-01 2.72877110e+02] [-4.03184069e-01 9.12731614e-01 -6.60576078e-02 1.62534637e+02] [-1.61551521e-01 6.01425491e-05 9.86864278e-01 7.61091380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters Centerline goodness : 0.988130 with order 1 Centerline is valid? [True, True] Translation: X:272.93, Y:162.52, Z:76.09 [[ 9.00055026e-01 4.10084107e-01 1.47417692e-01 2.72934065e+02] [-4.04724707e-01 9.12047691e-01 -6.60826820e-02 1.62517116e+02] [-1.61551423e-01 -1.85532033e-04 9.86864278e-01 7.60863691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters Centerline goodness : 0.986943 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:162.50, Z:76.08 [[ 9.01131155e-01 4.07715965e-01 1.47412122e-01 2.72991387e+02] [-4.02323016e-01 9.13108771e-01 -6.60951035e-02 1.62497380e+02] [-1.61551331e-01 2.53067312e-04 9.86864278e-01 7.60779692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters Centerline goodness : 0.985455 with order 1 Centerline is valid? [True, True] Translation: X:273.05, Y:162.48, Z:76.07 [[ 9.05236318e-01 3.98525072e-01 1.47393947e-01 2.73048850e+02] [-3.93003926e-01 9.17155382e-01 -6.61356108e-02 1.62477391e+02] [-1.61539851e-01 1.94195706e-03 9.86864279e-01 7.60707547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters Centerline goodness : 0.990583 with order 1 Centerline is valid? [True, True] Translation: X:273.11, Y:162.47, Z:76.04 [[ 9.09605688e-01 3.88453083e-01 1.47382819e-01 2.73105006e+02] [-3.82795970e-01 9.21460822e-01 -6.61604008e-02 1.62465571e+02] [-1.61507705e-01 3.76232789e-03 9.86864279e-01 7.60368933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:273.16, Y:162.45, Z:76.02 [[ 9.13295730e-01 3.79698715e-01 1.47376374e-01 2.73162684e+02] [-3.73925685e-01 9.25094852e-01 -6.61747528e-02 1.62450482e+02] [-1.61463594e-01 5.32930742e-03 9.86864280e-01 7.60186705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters Centerline goodness : 0.990812 with order 1 Centerline is valid? [True, True] Translation: X:273.22, Y:162.43, Z:76.01 [[ 9.12658056e-01 3.81232208e-01 1.47367825e-01 2.73218949e+02] [-3.75475935e-01 9.24465362e-01 -6.61937858e-02 1.62427292e+02] [-1.61471653e-01 5.07921997e-03 9.86864280e-01 7.60063760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters Centerline goodness : 0.992121 with order 1 Centerline is valid? [True, True] Translation: X:273.28, Y:162.41, Z:75.99 [[ 9.09001205e-01 3.89877100e-01 1.47352148e-01 2.73276257e+02] [-3.84227498e-01 9.20859921e-01 -6.62286657e-02 1.62409266e+02] [-1.61511728e-01 3.58518957e-03 9.86864281e-01 7.59933690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters Centerline goodness : 0.991011 with order 1 Centerline is valid? [True, True] Translation: X:273.33, Y:162.39, Z:75.98 [[ 9.06187409e-01 3.96378472e-01 1.47337999e-01 2.73331858e+02] [-3.90808848e-01 9.18083896e-01 -6.62601289e-02 1.62386668e+02] [-1.61532733e-01 2.46310093e-03 9.86864281e-01 7.59843693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters Centerline goodness : 0.990780 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:162.37, Z:75.97 [[ 9.00611229e-01 4.08894662e-01 1.47324709e-01 2.73388068e+02] [-4.03485552e-01 9.12581552e-01 -6.62896654e-02 1.62365657e+02] [-1.61551302e-01 2.57825472e-04 9.86864282e-01 7.59697208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters Centerline goodness : 0.990813 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:162.34, Z:75.96 [[ 8.97589263e-01 4.15488520e-01 1.47318722e-01 2.73444136e+02] [-4.10165160e-01 9.09597965e-01 -6.63029677e-02 1.62342172e+02] [-1.61548932e-01 -9.12175302e-04 9.86864282e-01 7.59576805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters Centerline goodness : 0.991041 with order 1 Centerline is valid? [True, True] Translation: X:273.50, Y:162.32, Z:75.94 [[ 8.93934320e-01 4.23296559e-01 1.47314135e-01 2.73499329e+02] [-4.18076396e-01 9.05988240e-01 -6.63131589e-02 1.62316946e+02] [-1.61535006e-01 -2.30895391e-03 9.86864282e-01 7.59449608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters Centerline goodness : 0.989495 with order 1 Centerline is valid? [True, True] Translation: X:273.55, Y:162.29, Z:75.93 [[ 8.92316296e-01 4.26702180e-01 1.47298598e-01 2.73552771e+02] [-4.21522326e-01 9.04387593e-01 -6.63476528e-02 1.62289441e+02] [-1.61525712e-01 -2.88655573e-03 9.86864283e-01 7.59314978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters Centerline goodness : 0.989918 with order 1 Centerline is valid? [True, True] Translation: X:273.61, Y:162.26, Z:75.91 [[ 8.91109868e-01 4.29219022e-01 1.47289629e-01 2.73605541e+02] [-4.24069972e-01 9.03194335e-01 -6.63675575e-02 1.62263235e+02] [-1.61517376e-01 -3.32032333e-03 9.86864283e-01 7.59123207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters Centerline goodness : 0.988004 with order 1 Centerline is valid? [True, True] Translation: X:273.66, Y:162.23, Z:75.90 [[ 8.88176865e-01 4.35260698e-01 1.47275192e-01 2.73659872e+02] [-4.30188527e-01 9.00293800e-01 -6.63995796e-02 1.62232585e+02] [-1.61492069e-01 -4.38152728e-03 9.86864283e-01 7.59046687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters Centerline goodness : 0.988663 with order 1 Centerline is valid? [True, True] Translation: X:273.71, Y:162.21, Z:75.88 [[ 8.87870986e-01 4.35886284e-01 1.47269345e-01 2.73712266e+02] [-4.30820502e-01 8.99990594e-01 -6.64125445e-02 1.62205111e+02] [-1.61489342e-01 -4.48088178e-03 9.86864283e-01 7.58844476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters Centerline goodness : 0.987550 with order 1 Centerline is valid? [True, True] Translation: X:273.76, Y:162.17, Z:75.87 [[ 8.86906860e-01 4.37845897e-01 1.47265720e-01 2.73761595e+02] [-4.32805558e-01 8.99037071e-01 -6.64205814e-02 1.62168707e+02] [-1.61479321e-01 -4.82855283e-03 9.86864284e-01 7.58746039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters Centerline goodness : 0.987253 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:162.14, Z:75.85 [[ 8.90148170e-01 4.31221875e-01 1.47254642e-01 2.73813436e+02] [-4.26087187e-01 9.02238745e-01 -6.64451329e-02 1.62140983e+02] [-1.61511438e-01 -3.59730262e-03 9.86864284e-01 7.58539305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters Centerline goodness : 0.986805 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:162.11, Z:75.85 [[ 8.90586189e-01 4.30321586e-01 1.47239843e-01 2.73866662e+02] [-4.25169259e-01 9.02669258e-01 -6.64779098e-02 1.62112248e+02] [-1.61515760e-01 -3.39754672e-03 9.86864284e-01 7.58467204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters Centerline goodness : 0.986678 with order 1 Centerline is valid? [True, True] Translation: X:273.92, Y:162.07, Z:75.84 [[ 8.91351016e-01 4.28738427e-01 1.47230187e-01 2.73916515e+02] [-4.23561107e-01 9.03423396e-01 -6.64992892e-02 1.62073479e+02] [-1.61521996e-01 -3.08677214e-03 9.86864285e-01 7.58365787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters Centerline goodness : 0.990163 with order 1 Centerline is valid? [True, True] Translation: X:273.96, Y:162.03, Z:75.82 [[ 8.89273769e-01 4.33035825e-01 1.47214600e-01 2.73964041e+02] [-4.27911131e-01 9.01368582e-01 -6.65337774e-02 1.62034888e+02] [-1.61506125e-01 -3.82802301e-03 9.86864285e-01 7.58202351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters Centerline goodness : 0.985893 with order 1 Centerline is valid? [True, True] Translation: X:274.02, Y:162.01, Z:75.80 [[ 8.93703683e-01 4.23819669e-01 1.47209426e-01 2.74019102e+02] [-4.18568331e-01 9.05744051e-01 -6.65452238e-02 1.62012049e+02] [-1.61537236e-01 -2.14549213e-03 9.86864286e-01 7.58047332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters Centerline goodness : 0.985846 with order 1 Centerline is valid? [True, True] Translation: X:274.07, Y:161.97, Z:75.79 [[ 8.95816027e-01 4.19341319e-01 1.47195460e-01 2.74068330e+02] [-4.14024712e-01 9.07827715e-01 -6.65761010e-02 1.61973989e+02] [-1.61546229e-01 -1.30261974e-03 9.86864286e-01 7.57905644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters Centerline goodness : 0.992084 with order 1 Centerline is valid? [True, True] Translation: X:274.12, Y:161.93, Z:75.79 [[ 8.92705560e-01 4.25927860e-01 1.47180984e-01 2.74116609e+02] [-4.20694593e-01 9.04753791e-01 -6.66080900e-02 1.61931100e+02] [-1.61532794e-01 -2.45683165e-03 9.86864287e-01 7.57878076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters Centerline goodness : 0.985658 with order 1 Centerline is valid? [True, True] Translation: X:274.18, Y:161.92, Z:75.76 [[ 9.02234790e-01 4.05356965e-01 1.47166964e-01 2.74177363e+02] [-3.99843901e-01 9.14157586e-01 -6.66390510e-02 1.61923863e+02] [-1.61546400e-01 1.28025714e-03 9.86864287e-01 7.57649818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters Centerline goodness : 0.986039 with order 1 Centerline is valid? [True, True] Translation: X:274.23, Y:161.89, Z:75.76 [[ 9.02632295e-01 4.04476116e-01 1.47153019e-01 2.74231307e+02] [-3.98946399e-01 9.14547377e-01 -6.66698299e-02 1.61894552e+02] [-1.61544762e-01 1.47217441e-03 9.86864288e-01 7.57561238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters Centerline goodness : 0.991677 with order 1 Centerline is valid? [True, True] Translation: X:274.28, Y:161.86, Z:75.74 [[ 8.98696401e-01 4.13151893e-01 1.47140381e-01 2.74280344e+02] [-4.07732639e-01 9.10662127e-01 -6.66977120e-02 1.61860306e+02] [-1.61551458e-01 -5.29420094e-05 9.86864288e-01 7.57351306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:161.84, Z:75.73 [[ 8.96241347e-01 4.18453012e-01 1.47134379e-01 2.74338238e+02] [-4.13102357e-01 9.08237905e-01 -6.67109482e-02 1.61837578e+02] [-1.61548418e-01 -9.92448840e-04 9.86864288e-01 7.57340846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters Centerline goodness : 0.986756 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:161.83, Z:75.72 [[ 8.99482902e-01 4.11443997e-01 1.47120179e-01 2.74399996e+02] [-4.05994737e-01 9.11434992e-01 -6.67422513e-02 1.61826901e+02] [-1.61551178e-01 3.03495572e-04 9.86864289e-01 7.57213241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters Centerline goodness : 0.983268 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:161.79, Z:75.71 [[ 8.94111682e-01 4.22994782e-01 1.47104432e-01 2.74449504e+02] [-4.17694205e-01 9.06130449e-01 -6.67769398e-02 1.61788020e+02] [-1.61542102e-01 -1.73862683e-03 9.86864290e-01 7.57087365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters Centerline goodness : 0.986482 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:161.77, Z:75.70 [[ 8.94392127e-01 4.22404290e-01 1.47096360e-01 2.74508618e+02] [-4.17092854e-01 9.06406099e-01 -6.67947156e-02 1.61772159e+02] [-1.61543413e-01 -1.61217312e-03 9.86864290e-01 7.57021021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters Centerline goodness : 0.982219 with order 1 Centerline is valid? [True, True] Translation: X:274.56, Y:161.74, Z:75.68 [[ 8.88569644e-01 4.34525193e-01 1.47077683e-01 2.74559573e+02] [-4.29370789e-01 9.00651819e-01 -6.68358167e-02 1.61744144e+02] [-1.61507629e-01 -3.76258309e-03 9.86864291e-01 7.56763356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters Centerline goodness : 0.988151 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:161.73, Z:75.67 [[ 8.88383402e-01 4.34907849e-01 1.47071733e-01 2.74619525e+02] [-4.29756483e-01 9.00466873e-01 -6.68489082e-02 1.61728778e+02] [-1.61506338e-01 -3.81757006e-03 9.86864291e-01 7.56683498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters Centerline goodness : 0.988414 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:161.70, Z:75.66 [[ 8.86641640e-01 4.38455294e-01 1.47049507e-01 2.74674847e+02] [-4.33344172e-01 8.98742187e-01 -6.68977635e-02 1.61698538e+02] [-1.61491274e-01 -4.40870415e-03 9.86864292e-01 7.56642437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters Centerline goodness : 0.988708 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:161.67, Z:75.66 [[ 8.84559185e-01 4.42647877e-01 1.47030285e-01 2.74726932e+02] [-4.37587088e-01 8.96680868e-01 -6.69399850e-02 1.61665687e+02] [-1.61470086e-01 -5.12617547e-03 9.86864294e-01 7.56597712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters Centerline goodness : 0.988224 with order 1 Centerline is valid? [True, True] Translation: X:274.78, Y:161.64, Z:75.65 [[ 8.82981814e-01 4.45789185e-01 1.47020809e-01 2.74781986e+02] [-4.40768054e-01 8.95119978e-01 -6.69607897e-02 1.61640439e+02] [-1.61451659e-01 -5.67691645e-03 9.86864294e-01 7.56470185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:274.84, Y:161.63, Z:75.61 [[ 8.81961852e-01 4.47805605e-01 1.47015073e-01 2.74836349e+02] [-4.42810127e-01 8.94110596e-01 -6.69733809e-02 1.61625603e+02] [-1.61438790e-01 -6.03179615e-03 9.86864294e-01 7.56125927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters Centerline goodness : 0.990451 with order 1 Centerline is valid? [True, True] Translation: X:274.89, Y:161.60, Z:75.62 [[ 8.77903290e-01 4.55715970e-01 1.46999211e-01 2.74892718e+02] [-4.50824094e-01 8.90094119e-01 -6.70081780e-02 1.61597635e+02] [-1.61379830e-01 -7.44408636e-03 9.86864295e-01 7.56182165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters Centerline goodness : 0.991408 with order 1 Centerline is valid? [True, True] Translation: X:274.95, Y:161.57, Z:75.59 [[ 8.78487204e-01 4.54591147e-01 1.46993610e-01 2.74945965e+02] [-4.49681610e-01 8.90670931e-01 -6.70204643e-02 1.61574896e+02] [-1.61389845e-01 -7.22370274e-03 9.86864295e-01 7.55873344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters Centerline goodness : 0.990569 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:161.54, Z:75.59 [[ 8.76786013e-01 4.57865588e-01 1.46987724e-01 2.75000511e+02] [-4.52999385e-01 8.88987112e-01 -6.70333705e-02 1.61542544e+02] [-1.61362466e-01 -7.81142680e-03 9.86864295e-01 7.55937338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters Centerline goodness : 0.993169 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:161.53, Z:75.55 [[ 8.79875683e-01 4.51905368e-01 1.46970474e-01 2.75054250e+02] [-4.46950182e-01 8.92040915e-01 -6.70711705e-02 1.61525509e+02] [-1.61413498e-01 -6.67418787e-03 9.86864296e-01 7.55532572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters Centerline goodness : 0.992602 with order 1 Centerline is valid? [True, True] Translation: X:275.11, Y:161.49, Z:75.55 [[ 8.73568289e-01 4.63985931e-01 1.46954074e-01 2.75106554e+02] [-4.59192815e-01 8.85798283e-01 -6.71070836e-02 1.61490803e+02] [-1.61308409e-01 -8.85763459e-03 9.86864296e-01 7.55519502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters Centerline goodness : 0.985006 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:161.47, Z:75.53 [[ 8.75219902e-01 4.60864218e-01 1.46949974e-01 2.75164318e+02] [-4.56025968e-01 8.87432111e-01 -6.71160598e-02 1.61474233e+02] [-1.61339516e-01 -8.27169285e-03 9.86864296e-01 7.55329853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters Centerline goodness : 0.989642 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:161.45, Z:75.54 [[ 8.74015055e-01 4.63147102e-01 1.46943680e-01 2.75221620e+02] [-4.58338435e-01 8.86238943e-01 -6.71298381e-02 1.61447702e+02] [-1.61318201e-01 -8.67744707e-03 9.86864297e-01 7.55368735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters Centerline goodness : 0.990783 with order 1 Centerline is valid? [True, True] Translation: X:275.28, Y:161.42, Z:75.53 [[ 8.73497097e-01 4.64130287e-01 1.46921402e-01 2.75276827e+02] [-4.59327212e-01 8.85723181e-01 -6.71785599e-02 1.61421329e+02] [-1.61311296e-01 -8.80472106e-03 9.86864298e-01 7.55258348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters Centerline goodness : 0.990084 with order 1 Centerline is valid? [True, True] Translation: X:275.33, Y:161.40, Z:75.51 [[ 8.74167118e-01 4.62873225e-01 1.46902104e-01 2.75331934e+02] [-4.58045503e-01 8.86383489e-01 -6.72207349e-02 1.61396417e+02] [-1.61326278e-01 -8.52569192e-03 9.86864299e-01 7.55090213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters Centerline goodness : 0.985821 with order 1 Centerline is valid? [True, True] Translation: X:275.39, Y:161.38, Z:75.51 [[ 8.81302743e-01 4.49144393e-01 1.46883590e-01 2.75392351e+02] [-4.44119466e-01 8.93439329e-01 -6.72611647e-02 1.61381127e+02] [-1.61441551e-01 -5.95641282e-03 9.86864300e-01 7.55082924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters Centerline goodness : 0.985379 with order 1 Centerline is valid? [True, True] Translation: X:275.45, Y:161.36, Z:75.49 [[ 8.83380905e-01 4.45046171e-01 1.46874375e-01 2.75448487e+02] [-4.39961587e-01 8.95492619e-01 -6.72812809e-02 1.61360708e+02] [-1.61468196e-01 -5.18408446e-03 9.86864300e-01 7.54889551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters Centerline goodness : 0.990043 with order 1 Centerline is valid? [True, True] Translation: X:275.50, Y:161.32, Z:75.48 [[ 8.73452592e-01 4.64233814e-01 1.46858898e-01 2.75497376e+02] [-4.59409316e-01 8.85670235e-01 -6.73150468e-02 1.61315913e+02] [-1.61318476e-01 -8.67184394e-03 9.86864301e-01 7.54847954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters Centerline goodness : 0.987159 with order 1 Centerline is valid? [True, True] Translation: X:275.56, Y:161.32, Z:75.46 [[ 8.81248494e-01 4.49261823e-01 1.46849943e-01 2.75564783e+02] [-4.44226299e-01 8.93380686e-01 -6.73345777e-02 1.61320075e+02] [-1.61443758e-01 -5.89611150e-03 9.86864301e-01 7.54610903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters Centerline goodness : 0.987265 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:161.29, Z:75.45 [[ 8.79760444e-01 4.52175928e-01 1.46828100e-01 2.75619047e+02] [-4.47172655e-01 8.91905970e-01 -6.73821750e-02 1.61291797e+02] [-1.61425456e-01 -6.37733905e-03 9.86864303e-01 7.54530108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters Centerline goodness : 0.988424 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:161.27, Z:75.45 [[ 8.79782302e-01 4.52138984e-01 1.46810898e-01 2.75677095e+02] [-4.47128961e-01 8.91925045e-01 -6.74196327e-02 1.61270257e+02] [-1.61427361e-01 -6.32880482e-03 9.86864303e-01 7.54454925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters Centerline goodness : 0.989511 with order 1 Centerline is valid? [True, True] Translation: X:275.73, Y:161.25, Z:75.44 [[ 8.77079469e-01 4.57363506e-01 1.46799959e-01 2.75733955e+02] [-4.52421815e-01 8.89250180e-01 -6.74434440e-02 1.61246348e+02] [-1.61388060e-01 -7.26224382e-03 9.86864304e-01 7.54386906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters Centerline goodness : 0.989803 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:161.23, Z:75.43 [[ 8.75311778e-01 4.60742299e-01 1.46784962e-01 2.75792714e+02] [-4.55842122e-01 8.87499262e-01 -6.74760685e-02 1.61229832e+02] [-1.61360624e-01 -7.84817107e-03 9.86864304e-01 7.54272570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters Centerline goodness : 0.990539 with order 1 Centerline is valid? [True, True] Translation: X:275.85, Y:161.21, Z:75.42 [[ 8.73152784e-01 4.64823476e-01 1.46776536e-01 2.75852373e+02] [-4.59977177e-01 8.85361792e-01 -6.74943929e-02 1.61210878e+02] [-1.61323315e-01 -8.58093942e-03 9.86864305e-01 7.54233842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters Centerline goodness : 0.992068 with order 1 Centerline is valid? [True, True] Translation: X:275.91, Y:161.19, Z:75.41 [[ 8.72189713e-01 4.66629130e-01 1.46773155e-01 2.75910867e+02] [-4.61806871e-01 8.84408236e-01 -6.75017444e-02 1.61191252e+02] [-1.61305667e-01 -8.90652413e-03 9.86864305e-01 7.54142971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:161.18, Z:75.40 [[ 8.70353864e-01 4.70049424e-01 1.46757249e-01 2.75971285e+02] [-4.65269364e-01 8.82588957e-01 -6.75363072e-02 1.61178657e+02] [-1.61271730e-01 -9.50116600e-03 9.86864305e-01 7.54048766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters Centerline goodness : 0.993782 with order 1 Centerline is valid? [True, True] Translation: X:276.03, Y:161.17, Z:75.39 [[ 8.70168520e-01 4.70397002e-01 1.46742657e-01 2.76032930e+02] [-4.65616506e-01 8.82403442e-01 -6.75679980e-02 1.61167100e+02] [-1.61270010e-01 -9.53025852e-03 9.86864306e-01 7.53905400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters Centerline goodness : 0.994379 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:161.15, Z:75.38 [[ 8.72150294e-01 4.66717228e-01 1.46727276e-01 2.76091251e+02] [-4.61879499e-01 8.84362698e-01 -6.76013824e-02 1.61150035e+02] [-1.61310860e-01 -8.81175524e-03 9.86864307e-01 7.53795144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:276.15, Y:161.13, Z:75.37 [[ 8.75426400e-01 4.60547342e-01 1.46713199e-01 2.76149753e+02] [-4.55618398e-01 8.87602275e-01 -6.76319194e-02 1.61128889e+02] [-1.61370670e-01 -7.63846501e-03 9.86864307e-01 7.53726183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters Centerline goodness : 0.992380 with order 1 Centerline is valid? [True, True] Translation: X:276.21, Y:161.11, Z:75.37 [[ 8.77445829e-01 4.56693099e-01 1.46697757e-01 2.76211395e+02] [-4.51705071e-01 8.89597618e-01 -6.76653996e-02 1.61110910e+02] [-1.61404296e-01 -6.89139796e-03 9.86864308e-01 7.53679956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters Centerline goodness : 0.992533 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:161.10, Z:75.36 [[ 8.76879742e-01 4.57785391e-01 1.46678059e-01 2.76272531e+02] [-4.52805378e-01 8.89034818e-01 -6.77080714e-02 1.61095841e+02] [-1.61397667e-01 -7.04477774e-03 9.86864309e-01 7.53619722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:276.33, Y:161.08, Z:75.36 [[ 8.77151659e-01 4.57269730e-01 1.46660699e-01 2.76331778e+02] [-4.52276300e-01 8.89301228e-01 -6.77456542e-02 1.61077843e+02] [-1.61403577e-01 -6.90794523e-03 9.86864310e-01 7.53553270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters Centerline goodness : 0.992759 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:161.06, Z:75.35 [[ 8.79104583e-01 4.53507845e-01 1.46648448e-01 2.76392215e+02] [-4.48457998e-01 8.91230811e-01 -6.77721642e-02 1.61061849e+02] [-1.61432823e-01 -6.18684910e-03 9.86864310e-01 7.53531728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters Centerline goodness : 0.992857 with order 1 Centerline is valid? [True, True] Translation: X:276.45, Y:161.05, Z:75.34 [[ 8.81573501e-01 4.48690922e-01 1.46644532e-01 2.76450975e+02] [-4.43573394e-01 8.93671321e-01 -6.77806357e-02 1.61045003e+02] [-1.61464569e-01 -5.29400039e-03 9.86864310e-01 7.53417416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters Centerline goodness : 0.994177 with order 1 Centerline is valid? [True, True] Translation: X:276.51, Y:161.02, Z:75.33 [[ 8.83959712e-01 4.43976530e-01 1.46629018e-01 2.76505106e+02] [-4.38788907e-01 8.96027640e-01 -6.78141795e-02 1.61016657e+02] [-1.61491557e-01 -4.39418419e-03 9.86864311e-01 7.53315007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:276.57, Y:161.01, Z:75.33 [[ 8.91840388e-01 4.27931536e-01 1.46612834e-01 2.76568176e+02] [-4.22520952e-01 9.03810012e-01 -6.78491519e-02 1.61007826e+02] [-1.61544939e-01 -1.43638039e-03 9.86864312e-01 7.53262784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:276.63, Y:160.99, Z:75.31 [[ 8.93333478e-01 4.24810314e-01 1.46599778e-01 2.76626088e+02] [-4.19353280e-01 9.05281996e-01 -6.78773505e-02 1.60989732e+02] [-1.61549138e-01 -8.39988247e-04 9.86864312e-01 7.53131433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters Centerline goodness : 0.994363 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:160.97, Z:75.31 [[ 8.93796072e-01 4.23841253e-01 1.46585038e-01 2.76684772e+02] [-4.18366046e-01 9.05736273e-01 -6.79091666e-02 1.60969941e+02] [-1.61550093e-01 -6.29256542e-04 9.86864313e-01 7.53073831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters Centerline goodness : 0.995458 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:160.95, Z:75.30 [[ 8.94110267e-01 4.23183709e-01 1.46568684e-01 2.76743587e+02] [-4.17693938e-01 9.06043777e-01 -6.79444457e-02 1.60953030e+02] [-1.61550627e-01 -4.71024584e-04 9.86864313e-01 7.53010308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters Centerline goodness : 0.994783 with order 1 Centerline is valid? [True, True] Translation: X:276.81, Y:160.94, Z:75.29 [[ 8.93918351e-01 4.23591743e-01 1.46560625e-01 2.76807316e+02] [-4.18104569e-01 9.05853056e-01 -6.79618267e-02 1.60941622e+02] [-1.61550458e-01 -5.25342786e-04 9.86864314e-01 7.52944190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters Centerline goodness : 0.995806 with order 1 Centerline is valid? [True, True] Translation: X:276.87, Y:160.92, Z:75.29 [[ 8.94356733e-01 4.22671796e-01 1.46542100e-01 2.76867565e+02] [-4.17165805e-01 9.06282767e-01 -6.80017472e-02 1.60923158e+02] [-1.61551001e-01 -3.14532613e-04 9.86864315e-01 7.52851610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters Centerline goodness : 0.994972 with order 1 Centerline is valid? [True, True] Translation: X:276.93, Y:160.90, Z:75.28 [[ 8.94620048e-01 4.22120605e-01 1.46523595e-01 2.76926847e+02] [-4.16600738e-01 9.06539666e-01 -6.80415979e-02 1.60904149e+02] [-1.61551211e-01 -1.70460024e-04 9.86864315e-01 7.52764363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:276.99, Y:160.89, Z:75.27 [[ 8.95293367e-01 4.20696268e-01 1.46507467e-01 2.76988531e+02] [-4.15151758e-01 9.07201540e-01 -6.80763074e-02 1.60888346e+02] [-1.61551248e-01 1.25434153e-04 9.86864316e-01 7.52667216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:277.05, Y:160.87, Z:75.26 [[ 8.96375648e-01 4.18391709e-01 1.46489165e-01 2.77047634e+02] [-4.12810150e-01 9.08266501e-01 -6.81156670e-02 1.60868789e+02] [-1.61550232e-01 5.85011043e-04 9.86864317e-01 7.52585106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:277.11, Y:160.85, Z:75.26 [[ 8.95497512e-01 4.20273825e-01 1.46472245e-01 2.77105502e+02] [-4.14711309e-01 9.07397284e-01 -6.81520324e-02 1.60845959e+02] [-1.61551032e-01 2.86279020e-04 9.86864318e-01 7.52553345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters Centerline goodness : 0.995050 with order 1 Centerline is valid? [True, True] Translation: X:277.16, Y:160.83, Z:75.25 [[ 8.95255322e-01 4.20795327e-01 1.46455462e-01 2.77164444e+02] [-4.15233846e-01 9.07155576e-01 -6.81880785e-02 1.60829512e+02] [-1.61551114e-01 2.32475328e-04 9.86864319e-01 7.52464100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:160.81, Z:75.24 [[ 8.95530782e-01 4.20214128e-01 1.46440111e-01 2.77223024e+02] [-4.14639535e-01 9.07424899e-01 -6.82210311e-02 1.60808750e+02] [-1.61550844e-01 3.74173769e-04 9.86864319e-01 7.52359624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters Centerline goodness : 0.994613 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:160.78, Z:75.23 [[ 8.95923300e-01 4.19383175e-01 1.46421285e-01 2.77279833e+02] [-4.13790951e-01 9.07809137e-01 -6.82614138e-02 1.60782679e+02] [-1.61550268e-01 5.69188499e-04 9.86864320e-01 7.52252366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters Centerline goodness : 0.994402 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:160.76, Z:75.22 [[ 8.94453289e-01 4.22515792e-01 1.46402593e-01 2.77337986e+02] [-4.16958637e-01 9.06355561e-01 -6.83014789e-02 1.60761066e+02] [-1.61551258e-01 4.86568104e-05 9.86864321e-01 7.52156960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters Centerline goodness : 0.993751 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:160.74, Z:75.21 [[ 8.91930693e-01 4.27818324e-01 1.46393718e-01 2.77395846e+02] [-4.22328803e-01 9.03864310e-01 -6.83204970e-02 1.60738656e+02] [-1.61548817e-01 -8.89135438e-04 9.86864322e-01 7.52074661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters Centerline goodness : 0.994656 with order 1 Centerline is valid? [True, True] Translation: X:277.45, Y:160.71, Z:75.20 [[ 8.88975172e-01 4.33931768e-01 1.46377475e-01 2.77453114e+02] [-4.28518581e-01 9.00943606e-01 -6.83552791e-02 1.60712757e+02] [-1.61539378e-01 -1.95932198e-03 9.86864322e-01 7.51996732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters Centerline goodness : 0.994357 with order 1 Centerline is valid? [True, True] Translation: X:277.51, Y:160.68, Z:75.19 [[ 8.86264652e-01 4.39447454e-01 1.46358815e-01 2.77508424e+02] [-4.34102151e-01 8.98263557e-01 -6.83952104e-02 1.60684473e+02] [-1.61524891e-01 -2.91841908e-03 9.86864323e-01 7.51899779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters Centerline goodness : 0.994983 with order 1 Centerline is valid? [True, True] Translation: X:277.56, Y:160.65, Z:75.18 [[ 8.83537161e-01 4.44911927e-01 1.46340227e-01 2.77562696e+02] [-4.39634242e-01 8.95565960e-01 -6.84349603e-02 1.60654839e+02] [-1.61504856e-01 -3.87134402e-03 9.86864324e-01 7.51814754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters Centerline goodness : 0.994030 with order 1 Centerline is valid? [True, True] Translation: X:277.62, Y:160.62, Z:75.17 [[ 8.81499014e-01 4.48941878e-01 1.46323884e-01 2.77616411e+02] [-4.43713383e-01 8.93549276e-01 -6.84698863e-02 1.60624179e+02] [-1.61486600e-01 -4.56972825e-03 9.86864325e-01 7.51719999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters Centerline goodness : 0.994168 with order 1 Centerline is valid? [True, True] Translation: X:277.67, Y:160.59, Z:75.16 [[ 8.80472484e-01 4.50957157e-01 1.46307377e-01 2.77670348e+02] [-4.45750389e-01 8.92532148e-01 -6.85051405e-02 1.60594348e+02] [-1.61476921e-01 -4.89967891e-03 9.86864326e-01 7.51642371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters Centerline goodness : 0.993851 with order 1 Centerline is valid? [True, True] Translation: X:277.72, Y:160.56, Z:75.16 [[ 8.78179640e-01 4.55411357e-01 1.46290861e-01 2.77722798e+02] [-4.50259881e-01 8.90263025e-01 -6.85403909e-02 1.60559034e+02] [-1.61451417e-01 -5.67813009e-03 9.86864326e-01 7.51572517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters Centerline goodness : 0.994086 with order 1 Centerline is valid? [True, True] Translation: X:277.77, Y:160.52, Z:75.15 [[ 8.75961868e-01 4.59668669e-01 1.46272078e-01 2.77774909e+02] [-4.54569229e-01 8.88067305e-01 -6.85804530e-02 1.60522706e+02] [-1.61423736e-01 -6.41692402e-03 9.86864327e-01 7.51493340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:277.83, Y:160.49, Z:75.14 [[ 8.74538694e-01 4.62376495e-01 1.46253376e-01 2.77829212e+02] [-4.57307879e-01 8.86657068e-01 -6.86203137e-02 1.60490630e+02] [-1.61405010e-01 -6.87170176e-03 9.86864328e-01 7.51401555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters Centerline goodness : 0.994084 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:160.45, Z:75.13 [[ 8.73088407e-01 4.65115123e-01 1.46234591e-01 2.77879740e+02] [-4.60077827e-01 8.85219833e-01 -6.86603234e-02 1.60453723e+02] [-1.61384715e-01 -7.33276048e-03 9.86864329e-01 7.51326317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters Centerline goodness : 0.993674 with order 1 Centerline is valid? [True, True] Translation: X:277.93, Y:160.42, Z:75.12 [[ 8.71565249e-01 4.67968276e-01 1.46218017e-01 2.77930631e+02] [-4.62964784e-01 8.83710656e-01 -6.86956019e-02 1.60418169e+02] [-1.61361782e-01 -7.82109316e-03 9.86864330e-01 7.51236306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters Centerline goodness : 0.994306 with order 1 Centerline is valid? [True, True] Translation: X:277.98, Y:160.39, Z:75.11 [[ 8.70679889e-01 4.69618637e-01 1.46201459e-01 2.77983524e+02] [-4.64632267e-01 8.82832334e-01 -6.87308231e-02 1.60385805e+02] [-1.61348651e-01 -8.08736990e-03 9.86864331e-01 7.51140773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters Centerline goodness : 0.994822 with order 1 Centerline is valid? [True, True] Translation: X:278.03, Y:160.35, Z:75.11 [[ 8.70055481e-01 4.70779899e-01 1.46183949e-01 2.78034861e+02] [-4.65803514e-01 8.82212017e-01 -6.87680458e-02 1.60349737e+02] [-1.61339850e-01 -8.26098177e-03 9.86864332e-01 7.51101353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:278.09, Y:160.32, Z:75.11 [[ 8.69855162e-01 4.71152609e-01 1.46175294e-01 2.78088764e+02] [-4.66178351e-01 8.82012568e-01 -6.87864371e-02 1.60318872e+02] [-1.61337356e-01 -8.30952037e-03 9.86864332e-01 7.51057182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters Centerline goodness : 0.995221 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:160.28, Z:75.10 [[ 8.70456969e-01 4.70045152e-01 1.46158204e-01 2.78139153e+02] [-4.65049349e-01 8.82605537e-01 -6.88227309e-02 1.60284956e+02] [-1.61349832e-01 -8.06355217e-03 9.86864333e-01 7.50954607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:160.25, Z:75.08 [[ 8.70785428e-01 4.69441237e-01 1.46142612e-01 2.78190455e+02] [-4.64431471e-01 8.82928244e-01 -6.88558258e-02 1.60252671e+02] [-1.61357204e-01 -7.91457842e-03 9.86864333e-01 7.50819356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters Centerline goodness : 0.994434 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:160.22, Z:75.07 [[ 8.71384296e-01 4.68329926e-01 1.46138594e-01 2.78242886e+02] [-4.63303246e-01 8.83520120e-01 -6.88643528e-02 1.60218844e+02] [-1.61367625e-01 -7.69916931e-03 9.86864333e-01 7.50732250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:278.29, Y:160.19, Z:75.07 [[ 8.72431041e-01 4.66382285e-01 1.46122013e-01 2.78293867e+02] [-4.61322634e-01 8.84553155e-01 -6.88995167e-02 1.60185687e+02] [-1.61386202e-01 -7.29931488e-03 9.86864334e-01 7.50712985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters Centerline goodness : 0.991864 with order 1 Centerline is valid? [True, True] Translation: X:278.35, Y:160.16, Z:75.06 [[ 8.72844285e-01 4.65610265e-01 1.46116172e-01 2.78346840e+02] [-4.60537823e-01 8.84961052e-01 -6.89119020e-02 1.60155054e+02] [-1.61393210e-01 -7.14266396e-03 9.86864334e-01 7.50618075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters Centerline goodness : 0.995126 with order 1 Centerline is valid? [True, True] Translation: X:278.40, Y:160.12, Z:75.05 [[ 8.72617752e-01 4.66036725e-01 1.46109651e-01 2.78398274e+02] [-4.60967896e-01 8.84736030e-01 -6.89257261e-02 1.60121936e+02] [-1.61390392e-01 -7.20604605e-03 9.86864334e-01 7.50538034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters Centerline goodness : 0.991615 with order 1 Centerline is valid? [True, True] Translation: X:278.46, Y:160.10, Z:75.05 [[ 8.77177704e-01 4.57401570e-01 1.46092706e-01 2.78458861e+02] [-4.52207413e-01 8.89242796e-01 -6.89616240e-02 1.60100593e+02] [-1.61455041e-01 -5.57260547e-03 9.86864335e-01 7.50516890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters Centerline goodness : 0.991116 with order 1 Centerline is valid? [True, True] Translation: X:278.51, Y:160.07, Z:75.04 [[ 8.76309752e-01 4.59068498e-01 1.46073036e-01 2.78514287e+02] [-4.53890360e-01 8.88381726e-01 -6.90032636e-02 1.60074117e+02] [-1.61445840e-01 -5.83290992e-03 9.86864336e-01 7.50419020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters Centerline goodness : 0.991384 with order 1 Centerline is valid? [True, True] Translation: X:278.57, Y:160.04, Z:75.03 [[ 8.76884274e-01 4.57975529e-01 1.46056100e-01 2.78568064e+02] [-4.52776383e-01 8.88947215e-01 -6.90390928e-02 1.60043206e+02] [-1.61454378e-01 -5.59145785e-03 9.86864337e-01 7.50343144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters Centerline goodness : 0.990747 with order 1 Centerline is valid? [True, True] Translation: X:278.62, Y:160.00, Z:75.03 [[ 8.77060150e-01 4.57644091e-01 1.46038966e-01 2.78616274e+02] [-4.52434363e-01 8.89118523e-01 -6.90753166e-02 1.60004568e+02] [-1.61457861e-01 -5.48983921e-03 9.86864338e-01 7.50305148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters Centerline goodness : 0.994325 with order 1 Centerline is valid? [True, True] Translation: X:278.66, Y:159.96, Z:75.02 [[ 8.75012167e-01 4.61549814e-01 1.46032455e-01 2.78662846e+02] [-4.56391606e-01 8.87092668e-01 -6.90890803e-02 1.59963094e+02] [-1.61432372e-01 -6.19420062e-03 9.86864338e-01 7.50191467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters Centerline goodness : 0.994760 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:159.93, Z:75.01 [[ 8.77255902e-01 4.57275799e-01 1.46016869e-01 2.78715483e+02] [-4.52053248e-01 8.89308726e-01 -6.91220036e-02 1.59929144e+02] [-1.61461896e-01 -5.36971446e-03 9.86864338e-01 7.50125789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters Centerline goodness : 0.995054 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:159.90, Z:75.01 [[ 8.77090394e-01 4.57598346e-01 1.46000665e-01 2.78768462e+02] [-4.52374540e-01 8.89142673e-01 -6.91562147e-02 1.59896794e+02] [-1.61461191e-01 -5.39073193e-03 9.86864339e-01 7.50057277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters Centerline goodness : 0.992120 with order 1 Centerline is valid? [True, True] Translation: X:278.83, Y:159.88, Z:75.00 [[ 8.78425426e-01 4.55033971e-01 1.45989234e-01 2.78826633e+02] [-4.49770972e-01 8.90460641e-01 -6.91803370e-02 1.59875348e+02] [-1.61477070e-01 -4.89195268e-03 9.86864339e-01 7.50047500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:278.88, Y:159.85, Z:74.99 [[ 8.76210752e-01 4.59285620e-01 1.45984376e-01 2.78880606e+02] [-4.54079302e-01 8.88270595e-01 -6.91905874e-02 1.59848053e+02] [-1.61451870e-01 -5.66294673e-03 9.86864340e-01 7.49942518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters Centerline goodness : 0.992748 with order 1 Centerline is valid? [True, True] Translation: X:278.93, Y:159.82, Z:74.99 [[ 8.75474477e-01 4.60692608e-01 1.45968360e-01 2.78933595e+02] [-4.55500048e-01 8.87540250e-01 -6.92243594e-02 1.59816252e+02] [-1.61443945e-01 -5.88443497e-03 9.86864340e-01 7.49884292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters Centerline goodness : 0.992879 with order 1 Centerline is valid? [True, True] Translation: X:278.99, Y:159.79, Z:74.98 [[ 8.75265689e-01 4.61094314e-01 1.45952073e-01 2.78986968e+02] [-4.55901577e-01 8.87331385e-01 -6.92586803e-02 1.59785680e+02] [-1.61442639e-01 -5.92003398e-03 9.86864341e-01 7.49812198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:279.04, Y:159.76, Z:74.97 [[ 8.75776651e-01 4.60124277e-01 1.45948306e-01 2.79041701e+02] [-4.54916854e-01 8.87836016e-01 -6.92666194e-02 1.59756267e+02] [-1.61449415e-01 -5.73225618e-03 9.86864341e-01 7.49738871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:279.09, Y:159.73, Z:74.96 [[ 8.74436013e-01 4.62668588e-01 1.45943263e-01 2.79092074e+02] [-4.57494480e-01 8.86509709e-01 -6.92772420e-02 1.59725862e+02] [-1.61432524e-01 -6.18972199e-03 9.86864341e-01 7.49555468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters Centerline goodness : 0.994191 with order 1 Centerline is valid? [True, True] Translation: X:279.15, Y:159.70, Z:74.95 [[ 8.75326854e-01 4.60982251e-01 1.45939241e-01 2.79147216e+02] [-4.55783470e-01 8.87389947e-01 -6.92857133e-02 1.59695491e+02] [-1.61444500e-01 -5.86904842e-03 9.86864341e-01 7.49545290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:279.20, Y:159.67, Z:74.95 [[ 8.76900306e-01 4.57987660e-01 1.45921751e-01 2.79203074e+02] [-4.52741558e-01 8.88942894e-01 -6.93225310e-02 1.59667836e+02] [-1.61464967e-01 -5.27589214e-03 9.86864342e-01 7.49493092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:159.64, Z:74.94 [[ 8.78161293e-01 4.55570393e-01 1.45905316e-01 2.79257992e+02] [-4.50285399e-01 8.90186863e-01 -6.93571051e-02 1.59640131e+02] [-1.61480039e-01 -4.79230827e-03 9.86864343e-01 7.49438871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:279.31, Y:159.61, Z:74.93 [[ 8.78680531e-01 4.54572177e-01 1.45892633e-01 2.79313589e+02] [-4.49269098e-01 8.90698136e-01 -6.93837733e-02 1.59612676e+02] [-1.61486229e-01 -4.57888075e-03 9.86864343e-01 7.49327116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters Centerline goodness : 0.992613 with order 1 Centerline is valid? [True, True] Translation: X:279.37, Y:159.58, Z:74.93 [[ 8.80104130e-01 4.51816160e-01 1.45872816e-01 2.79367604e+02] [-4.46468547e-01 8.92101983e-01 -6.94254117e-02 1.59581962e+02] [-1.61500952e-01 -4.02603276e-03 9.86864344e-01 7.49281983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters Centerline goodness : 0.993374 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:159.55, Z:74.92 [[ 8.81796290e-01 4.48510292e-01 1.45855483e-01 2.79422686e+02] [-4.43111676e-01 8.93771279e-01 -6.94618089e-02 1.59554952e+02] [-1.61515778e-01 -3.37910198e-03 9.86864345e-01 7.49217786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:159.53, Z:74.92 [[ 8.84903954e-01 4.42352704e-01 1.45839218e-01 2.79478630e+02] [-4.36865121e-01 8.96838436e-01 -6.94959420e-02 1.59531412e+02] [-1.61535934e-01 -2.21483355e-03 9.86864346e-01 7.49158786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:159.50, Z:74.91 [[ 8.85979807e-01 4.40199225e-01 1.45823263e-01 2.79534565e+02] [-4.34677125e-01 8.97898356e-01 -6.95294041e-02 1.59503378e+02] [-1.61541258e-01 -1.78438866e-03 9.86864346e-01 7.49123332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters Centerline goodness : 0.991202 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:159.48, Z:74.91 [[ 8.87164958e-01 4.37811488e-01 1.45806168e-01 2.79592517e+02] [-4.32251421e-01 8.99065841e-01 -6.95652350e-02 1.59480160e+02] [-1.61545804e-01 -1.30908436e-03 9.86864347e-01 7.49058878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters Centerline goodness : 0.988849 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:159.46, Z:74.89 [[ 8.88950510e-01 4.34181256e-01 1.45786240e-01 2.79646553e+02] [-4.28565741e-01 9.00825330e-01 -6.96069713e-02 1.59457258e+02] [-1.61549980e-01 -6.01835546e-04 9.86864348e-01 7.48862359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters Centerline goodness : 0.989708 with order 1 Centerline is valid? [True, True] Translation: X:279.70, Y:159.43, Z:74.88 [[ 8.88721043e-01 4.34657238e-01 1.45766913e-01 2.79702059e+02] [-4.29041448e-01 9.00595732e-01 -6.96474236e-02 1.59433310e+02] [-1.61549816e-01 -6.42916221e-04 9.86864349e-01 7.48779298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters Centerline goodness : 0.991386 with order 1 Centerline is valid? [True, True] Translation: X:279.76, Y:159.41, Z:74.87 [[ 8.88372547e-01 4.35372535e-01 1.45756556e-01 2.79759346e+02] [-4.29762751e-01 9.00250074e-01 -6.96690907e-02 1.59409271e+02] [-1.61549359e-01 -7.48630999e-04 9.86864349e-01 7.48709700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters Centerline goodness : 0.992025 with order 1 Centerline is valid? [True, True] Translation: X:279.82, Y:159.39, Z:74.86 [[ 8.87571108e-01 4.37010054e-01 1.45738603e-01 2.79817976e+02] [-4.31416020e-01 8.99456060e-01 -6.97066273e-02 1.59391062e+02] [-1.61547966e-01 -1.00437940e-03 9.86864350e-01 7.48629277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:279.88, Y:159.37, Z:74.86 [[ 8.85954376e-01 4.40279315e-01 1.45735952e-01 2.79875107e+02] [-4.34728224e-01 8.97859446e-01 -6.97121680e-02 1.59368592e+02] [-1.61543227e-01 -1.59373142e-03 9.86864350e-01 7.48550242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters Centerline goodness : 0.993066 with order 1 Centerline is valid? [True, True] Translation: X:279.93, Y:159.35, Z:74.84 [[ 8.84841727e-01 4.42517203e-01 1.45717682e-01 2.79930789e+02] [-4.36989935e-01 8.96757875e-01 -6.97503380e-02 1.59345516e+02] [-1.61539203e-01 -1.95915067e-03 9.86864351e-01 7.48415473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters Centerline goodness : 0.992597 with order 1 Centerline is valid? [True, True] Translation: X:279.99, Y:159.33, Z:74.83 [[ 8.83486981e-01 4.45216720e-01 1.45714881e-01 2.79989555e+02] [-4.39724896e-01 8.95419505e-01 -6.97561881e-02 1.59329018e+02] [-1.61532568e-01 -2.44577693e-03 9.86864351e-01 7.48301175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters Centerline goodness : 0.992656 with order 1 Centerline is valid? [True, True] Translation: X:280.05, Y:159.31, Z:74.82 [[ 8.82493582e-01 4.47183472e-01 1.45712110e-01 2.80046522e+02] [-4.41717284e-01 8.94437872e-01 -6.97619753e-02 1.59308728e+02] [-1.61526832e-01 -2.79906216e-03 9.86864351e-01 7.48172050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters Centerline goodness : 0.992872 with order 1 Centerline is valid? [True, True] Translation: X:280.10, Y:159.28, Z:74.81 [[ 8.81920798e-01 4.48312953e-01 1.45709305e-01 2.80103802e+02] [-4.42861094e-01 8.93871635e-01 -6.97678340e-02 1.59282960e+02] [-1.61523239e-01 -2.99927845e-03 9.86864351e-01 7.48107840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters Centerline goodness : 0.991215 with order 1 Centerline is valid? [True, True] Translation: X:280.16, Y:159.26, Z:74.80 [[ 8.81568462e-01 4.49011657e-01 1.45690007e-01 2.80160985e+02] [-4.43562616e-01 8.93520584e-01 -6.98081101e-02 1.59261793e+02] [-1.61521675e-01 -3.08201225e-03 9.86864352e-01 7.47999272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters Centerline goodness : 0.992364 with order 1 Centerline is valid? [True, True] Translation: X:280.22, Y:159.24, Z:74.79 [[ 8.79499664e-01 4.53056741e-01 1.45670623e-01 2.80217526e+02] [-4.47655973e-01 8.91473674e-01 -6.98485358e-02 1.59236738e+02] [-1.61506876e-01 -3.77856065e-03 9.86864353e-01 7.47879711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters Centerline goodness : 0.992552 with order 1 Centerline is valid? [True, True] Translation: X:280.27, Y:159.21, Z:74.78 [[ 8.76028265e-01 4.59740346e-01 1.45647839e-01 2.80274247e+02] [-4.54423023e-01 8.88039562e-01 -6.98960140e-02 1.59210471e+02] [-1.61475060e-01 -4.95484718e-03 9.86864355e-01 7.47815800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters Centerline goodness : 0.992551 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:159.19, Z:74.77 [[ 8.68780014e-01 4.73297630e-01 1.45638731e-01 2.80330178e+02] [-4.68164423e-01 8.80871142e-01 -6.99149867e-02 1.59185779e+02] [-1.61379552e-01 -7.44212910e-03 9.86864355e-01 7.47706253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters Centerline goodness : 0.992484 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:159.16, Z:74.76 [[ 8.69919818e-01 4.71205046e-01 1.45620447e-01 2.80384809e+02] [-4.66036393e-01 8.81995834e-01 -6.99530470e-02 1.59157005e+02] [-1.61398857e-01 -7.01088610e-03 9.86864356e-01 7.47642762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters Centerline goodness : 0.992898 with order 1 Centerline is valid? [True, True] Translation: X:280.44, Y:159.13, Z:74.75 [[ 8.64381600e-01 4.81294455e-01 1.45602530e-01 2.80440891e+02] [-4.76260397e-01 8.76514340e-01 -6.99903209e-02 1.59131111e+02] [-1.61308659e-01 -8.84637330e-03 9.86864357e-01 7.47511616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:280.50, Y:159.10, Z:74.75 [[ 8.67214120e-01 4.76178042e-01 1.45582083e-01 2.80496788e+02] [-4.71065259e-01 8.79313894e-01 -7.00328273e-02 1.59104001e+02] [-1.61360443e-01 -7.84520473e-03 9.86864358e-01 7.47454201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters Centerline goodness : 0.992106 with order 1 Centerline is valid? [True, True] Translation: X:280.55, Y:159.07, Z:74.73 [[ 8.67644492e-01 4.75398828e-01 1.45564383e-01 2.80550247e+02] [-4.70269026e-01 8.79737060e-01 -7.00695966e-02 1.59073247e+02] [-1.61369387e-01 -7.65892118e-03 9.86864358e-01 7.47340611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters Centerline goodness : 0.992273 with order 1 Centerline is valid? [True, True] Translation: X:280.61, Y:159.05, Z:74.72 [[ 8.68531937e-01 4.73780947e-01 1.45546858e-01 2.80605437e+02] [-4.68622534e-01 8.80612328e-01 -7.01059818e-02 1.59048187e+02] [-1.61385236e-01 -7.31725302e-03 9.86864359e-01 7.47190850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:159.02, Z:74.71 [[ 8.64642366e-01 4.80848040e-01 1.45529180e-01 2.80658270e+02] [-4.75782161e-01 8.76761851e-01 -7.01426590e-02 1.59019485e+02] [-1.61322393e-01 -8.59187316e-03 9.86864360e-01 7.47097193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters Centerline goodness : 0.991722 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:158.99, Z:74.71 [[ 8.71120207e-01 4.69015503e-01 1.45513037e-01 2.80711771e+02] [-4.63779287e-01 8.83167076e-01 -7.01761321e-02 1.58986692e+02] [-1.61426017e-01 -6.35408590e-03 9.86864361e-01 7.47064574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:158.96, Z:74.69 [[ 8.67857468e-01 4.75027670e-01 1.45506456e-01 2.80764988e+02] [-4.69872596e-01 8.79939282e-01 -7.01897748e-02 1.58958843e+02] [-1.61378932e-01 -7.45477598e-03 9.86864361e-01 7.46896186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters Centerline goodness : 0.990813 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:158.93, Z:74.69 [[ 8.73100501e-01 4.65326637e-01 1.45487578e-01 2.80820237e+02] [-4.60030735e-01 8.85121250e-01 -7.02288832e-02 1.58932345e+02] [-1.61453517e-01 -5.61188434e-03 9.86864362e-01 7.46854015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters Centerline goodness : 0.991075 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:158.91, Z:74.67 [[ 8.72761277e-01 4.65963360e-01 1.45485055e-01 2.80876116e+02] [-4.60675356e-01 8.84785503e-01 -7.02341090e-02 1.58908652e+02] [-1.61449589e-01 -5.72376909e-03 9.86864362e-01 7.46689225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters Centerline goodness : 0.990900 with order 1 Centerline is valid? [True, True] Translation: X:280.93, Y:158.88, Z:74.66 [[ 8.71873627e-01 4.67627535e-01 1.45467753e-01 2.80931155e+02] [-4.62356514e-01 8.83905307e-01 -7.02699280e-02 1.58881602e+02] [-1.61439872e-01 -5.99146599e-03 9.86864363e-01 7.46592003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters Centerline goodness : 0.989571 with order 1 Centerline is valid? [True, True] Translation: X:280.99, Y:158.85, Z:74.66 [[ 8.69764063e-01 4.71544958e-01 1.45450430e-01 2.80986136e+02] [-4.66322135e-01 8.81816742e-01 -7.03057664e-02 1.58853236e+02] [-1.61412954e-01 -6.67732582e-03 9.86864363e-01 7.46552877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters Centerline goodness : 0.990473 with order 1 Centerline is valid? [True, True] Translation: X:281.04, Y:158.82, Z:74.65 [[ 8.68245336e-01 4.74340870e-01 1.45433060e-01 2.81039089e+02] [-4.69150851e-01 8.80312176e-01 -7.03416801e-02 1.58823487e+02] [-1.61392427e-01 -7.15620796e-03 9.86864364e-01 7.46453256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters Centerline goodness : 0.989988 with order 1 Centerline is valid? [True, True] Translation: X:281.09, Y:158.80, Z:74.64 [[ 8.67065890e-01 4.76498272e-01 1.45417119e-01 2.81094212e+02] [-4.71332762e-01 8.79143242e-01 -7.03746185e-02 1.58796049e+02] [-1.61375862e-01 -7.52042123e-03 9.86864365e-01 7.46380961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters Centerline goodness : 0.989456 with order 1 Centerline is valid? [True, True] Translation: X:281.15, Y:158.77, Z:74.63 [[ 8.64808860e-01 4.80583581e-01 1.45413404e-01 2.81148346e+02] [-4.75473820e-01 8.76909904e-01 -7.03822943e-02 1.58766768e+02] [-1.61339029e-01 -8.27303493e-03 9.86864365e-01 7.46302749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters Centerline goodness : 0.979068 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:158.74, Z:74.63 [[ 8.64967443e-01 4.80303616e-01 1.45395185e-01 2.81204827e+02] [-4.75183635e-01 8.77064165e-01 -7.04199108e-02 1.58743493e+02] [-1.61343844e-01 -8.17848245e-03 9.86864366e-01 7.46262849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters Centerline goodness : 0.989721 with order 1 Centerline is valid? [True, True] Translation: X:281.61, Y:159.21, Z:75.37 [[ 9.38564160e-01 3.12991687e-01 1.45373734e-01 2.81611045e+02] [-3.05727121e-01 9.49508151e-01 -7.04641675e-02 1.59211237e+02] [-1.60088244e-01 2.16904490e-02 9.86864367e-01 7.53745071e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters Centerline goodness : 0.990478 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:159.18, Z:75.37 [[ 9.35458135e-01 3.18426691e-01 1.53370529e-01 2.81665683e+02] [-3.16029614e-01 9.47887637e-01 -4.04266106e-02 1.59180521e+02] [-1.58250940e-01 -1.06522273e-02 9.87341466e-01 7.53659317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters Centerline goodness : 0.990369 with order 1 Centerline is valid? [True, True] Translation: X:281.72, Y:159.16, Z:75.36 [[ 9.37003703e-01 3.13852486e-01 1.53364525e-01 2.81724349e+02] [-3.11391000e-01 9.49420609e-01 -4.04493746e-02 1.59163081e+02] [-1.58302578e-01 -9.85511912e-03 9.87341466e-01 7.53627758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters Centerline goodness : 0.991063 with order 1 Centerline is valid? [True, True] Translation: X:281.78, Y:159.14, Z:75.35 [[ 9.36522950e-01 3.15288763e-01 1.53355012e-01 2.81783010e+02] [-3.12840442e-01 9.48942458e-01 -4.04854113e-02 1.59144972e+02] [-1.58289677e-01 -1.00601329e-02 9.87341467e-01 7.53507979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters Centerline goodness : 0.991732 with order 1 Centerline is valid? [True, True] Translation: X:281.84, Y:159.13, Z:75.34 [[ 9.34062412e-01 3.22510769e-01 1.53343455e-01 2.81841481e+02] [-3.20151278e-01 9.46499101e-01 -4.05291394e-02 1.59128726e+02] [-1.58210526e-01 -1.12363573e-02 9.87341468e-01 7.53352441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters Centerline goodness : 0.991642 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:159.11, Z:75.33 [[ 9.34589123e-01 3.20986060e-01 1.53333364e-01 2.81900492e+02] [-3.18600051e-01 9.47020751e-01 -4.05672815e-02 1.59109613e+02] [-1.58231409e-01 -1.09382773e-02 9.87341468e-01 7.53318301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:281.96, Y:159.10, Z:75.31 [[ 9.33572826e-01 3.23935054e-01 1.53322732e-01 2.81958572e+02] [-3.21581748e-01 9.46010685e-01 -4.06074245e-02 1.59097769e+02] [-1.58199111e-01 -1.13958042e-02 9.87341469e-01 7.53109343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:282.02, Y:159.08, Z:75.31 [[ 9.35603959e-01 3.18025766e-01 1.53312898e-01 2.82017072e+02] [-3.15587814e-01 9.48025503e-01 -4.06445175e-02 1.59080018e+02] [-1.58270541e-01 -1.03565109e-02 9.87341470e-01 7.53063128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters Centerline goodness : 0.992837 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:159.06, Z:75.29 [[ 9.32545872e-01 3.26888506e-01 1.53303952e-01 2.82074962e+02] [-3.24563010e-01 9.44988960e-01 -4.06782325e-02 1.59064162e+02] [-1.58167789e-01 -1.18224744e-02 9.87341471e-01 7.52917545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters Centerline goodness : 0.992915 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:159.05, Z:75.28 [[ 9.32250853e-01 3.27733061e-01 1.53295101e-01 2.82134858e+02] [-3.25413390e-01 9.44695027e-01 -4.07115600e-02 1.59048108e+02] [-1.58159644e-01 -1.19308922e-02 9.87341471e-01 7.52788396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:159.03, Z:75.27 [[ 9.32790086e-01 3.26200216e-01 1.53284292e-01 2.82194085e+02] [-3.23853450e-01 9.45229178e-01 -4.07522200e-02 1.59032103e+02] [-1.58182168e-01 -1.16283798e-02 9.87341472e-01 7.52715996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters Centerline goodness : 0.992303 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:159.01, Z:75.26 [[ 9.33539305e-01 3.24054468e-01 1.53274485e-01 2.82253806e+02] [-3.21673087e-01 9.45971816e-01 -4.07890716e-02 1.59014644e+02] [-1.58211224e-01 -1.12260752e-02 9.87341473e-01 7.52637747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters Centerline goodness : 0.992709 with order 1 Centerline is valid? [True, True] Translation: X:282.31, Y:159.00, Z:75.25 [[ 9.34728349e-01 3.20610243e-01 1.53270956e-01 2.82312562e+02] [-3.18180875e-01 9.47151572e-01 -4.08023295e-02 1.58996826e+02] [-1.58252471e-01 -1.06287926e-02 9.87341473e-01 7.52539498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters Centerline goodness : 0.994639 with order 1 Centerline is valid? [True, True] Translation: X:282.37, Y:158.97, Z:75.25 [[ 9.32611172e-01 3.26722287e-01 1.53261047e-01 2.82369099e+02] [-3.24368220e-01 9.45048883e-01 -4.08395150e-02 1.58966651e+02] [-1.58182361e-01 -1.16256250e-02 9.87341474e-01 7.52514403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters Centerline goodness : 0.992661 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:158.97, Z:75.23 [[ 9.36068199e-01 3.16683188e-01 1.53258231e-01 2.82430066e+02] [-3.14193900e-01 9.48479554e-01 -4.08500804e-02 1.58965311e+02] [-1.58298832e-01 -9.91433995e-03 9.87341474e-01 7.52315571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:282.49, Y:158.95, Z:75.22 [[ 9.36982091e-01 3.13973676e-01 1.53248461e-01 2.82489916e+02] [-3.11442524e-01 9.49384976e-01 -4.08866977e-02 1.58948964e+02] [-1.58329134e-01 -9.41798409e-03 9.87341474e-01 7.52178574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:282.55, Y:158.93, Z:75.21 [[ 9.37138820e-01 3.13510591e-01 1.53238186e-01 2.82548487e+02] [-3.10967042e-01 9.49539167e-01 -4.09251716e-02 1.58931912e+02] [-1.58336134e-01 -9.29945852e-03 9.87341475e-01 7.52103180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters Centerline goodness : 0.992110 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:158.92, Z:75.20 [[ 9.37245496e-01 3.13195564e-01 1.53229954e-01 2.82607603e+02] [-3.10642829e-01 9.49643955e-01 -4.09559713e-02 1.58915580e+02] [-1.58341128e-01 -9.21398684e-03 9.87341476e-01 7.51988305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters Centerline goodness : 0.992103 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:158.90, Z:75.19 [[ 9.36963368e-01 3.14043271e-01 1.53220335e-01 2.82666575e+02] [-3.11495895e-01 9.49362928e-01 -4.09919249e-02 1.58898843e+02] [-1.58334944e-01 -9.31957355e-03 9.87341476e-01 7.51872282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters Centerline goodness : 0.991905 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:158.88, Z:75.17 [[ 9.36340560e-01 3.15900356e-01 1.53210058e-01 2.82725473e+02] [-3.13371314e-01 9.48743872e-01 -4.10303021e-02 1.58882257e+02] [-1.58318591e-01 -9.59330113e-03 9.87341477e-01 7.51738890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters Centerline goodness : 0.992078 with order 1 Centerline is valid? [True, True] Translation: X:282.79, Y:158.86, Z:75.17 [[ 9.36065511e-01 3.16719524e-01 1.53199551e-01 2.82785725e+02] [-3.14194947e-01 9.48469731e-01 -4.10694965e-02 1.58864510e+02] [-1.58312648e-01 -9.69078563e-03 9.87341478e-01 7.51650363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:282.84, Y:158.84, Z:75.16 [[ 9.36893608e-01 3.14267516e-01 1.53187128e-01 2.82844060e+02] [-3.11702929e-01 9.49289617e-01 -4.11157821e-02 1.58844899e+02] [-1.58340305e-01 -9.22776297e-03 9.87341479e-01 7.51616556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters Centerline goodness : 0.992365 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:158.83, Z:75.15 [[ 9.39570850e-01 3.06175405e-01 1.53177149e-01 2.82902302e+02] [-3.03497961e-01 9.51942973e-01 -4.11529262e-02 1.58830738e+02] [-1.58415924e-01 -7.82286247e-03 9.87341480e-01 7.51481102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters Centerline goodness : 0.992457 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:158.81, Z:75.14 [[ 9.40365287e-01 3.03727440e-01 1.53175615e-01 2.82960478e+02] [-3.01016857e-01 9.52730192e-01 -4.11586360e-02 1.58812819e+02] [-1.58436040e-01 -7.40428947e-03 9.87341480e-01 7.51365293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:283.02, Y:158.78, Z:75.14 [[ 9.37299751e-01 3.13065052e-01 1.53164778e-01 2.83015610e+02] [-3.10471020e-01 9.49689631e-01 -4.11989229e-02 1.58783136e+02] [-1.58356945e-01 -8.93748471e-03 9.87341481e-01 7.51352126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters Centerline goodness : 0.992757 with order 1 Centerline is valid? [True, True] Translation: X:283.08, Y:158.78, Z:75.11 [[ 9.40659187e-01 3.02821782e-01 1.53164170e-01 2.83076644e+02] [-3.00092380e-01 9.53019950e-01 -4.12011822e-02 1.58784219e+02] [-1.58445125e-01 -7.20712995e-03 9.87341481e-01 7.51110084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:283.14, Y:158.77, Z:75.10 [[ 9.40102367e-01 3.04546960e-01 1.53162297e-01 2.83135212e+02] [-3.01839108e-01 9.52467869e-01 -4.12081457e-02 1.58768329e+02] [-1.58431982e-01 -7.49049570e-03 9.87341481e-01 7.51008879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters Centerline goodness : 0.991935 with order 1 Centerline is valid? [True, True] Translation: X:283.19, Y:158.75, Z:75.09 [[ 9.39333398e-01 3.06914230e-01 1.53154897e-01 2.83194945e+02] [-3.04233067e-01 9.51704714e-01 -4.12356312e-02 1.58753237e+02] [-1.58414039e-01 -7.86077847e-03 9.87341481e-01 7.50903464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters Centerline goodness : 0.991935 with order 1 Centerline is valid? [True, True] Translation: X:283.25, Y:158.74, Z:75.08 [[ 9.39456281e-01 3.06543140e-01 1.53144371e-01 2.83254631e+02] [-3.03850740e-01 9.51825156e-01 -4.12746859e-02 1.58739459e+02] [-1.58419137e-01 -7.75726757e-03 9.87341482e-01 7.50811908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:158.71, Z:75.08 [[ 9.36730476e-01 3.14779639e-01 1.53133256e-01 2.83309885e+02] [-3.12189229e-01 9.49121111e-01 -4.13158830e-02 1.58706884e+02] [-1.58347405e-01 -9.10470640e-03 9.87341483e-01 7.50805939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:283.37, Y:158.69, Z:75.07 [[ 9.36946464e-01 3.14140124e-01 1.53125131e-01 2.83370143e+02] [-3.11536355e-01 9.49334298e-01 -4.13459735e-02 1.58692925e+02] [-1.58355368e-01 -8.96508157e-03 9.87341483e-01 7.50689134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters Centerline goodness : 0.994824 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:158.68, Z:75.06 [[ 9.37610300e-01 3.12158897e-01 1.53113513e-01 2.83430358e+02] [-3.09521952e-01 9.49991114e-01 -4.13889532e-02 1.58680159e+02] [-1.58376407e-01 -8.58528458e-03 9.87341484e-01 7.50574899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:283.49, Y:158.68, Z:75.05 [[ 9.42122187e-01 2.98270927e-01 1.53102056e-01 2.83492141e+02] [-2.95444465e-01 9.54461113e-01 -4.14312929e-02 1.58676308e+02] [-1.58487709e-01 -6.19981474e-03 9.87341485e-01 7.50461919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters Centerline goodness : 0.991252 with order 1 Centerline is valid? [True, True] Translation: X:283.55, Y:158.66, Z:75.03 [[ 9.44085476e-01 2.91998370e-01 1.53099858e-01 2.83552424e+02] [-2.89088589e-01 9.56405020e-01 -4.14394137e-02 1.58663898e+02] [-1.58525714e-01 -5.13707337e-03 9.87341485e-01 7.50342549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters Centerline goodness : 0.991765 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:158.65, Z:75.02 [[ 9.45744376e-01 2.86581897e-01 1.53096022e-01 2.83612500e+02] [-2.83599255e-01 9.58046483e-01 -4.14535809e-02 1.58652484e+02] [-1.58552951e-01 -4.21342676e-03 9.87341485e-01 7.50207123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:158.62, Z:75.02 [[ 9.44722667e-01 2.89937951e-01 1.53085162e-01 2.83668690e+02] [-2.86992520e-01 9.57033735e-01 -4.14936483e-02 1.58624145e+02] [-1.58538248e-01 -4.73430622e-03 9.87341486e-01 7.50198997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:283.73, Y:158.61, Z:75.01 [[ 9.46241784e-01 2.84946410e-01 1.53075240e-01 2.83729183e+02] [-2.81930113e-01 9.58535681e-01 -4.15302175e-02 1.58611800e+02] [-1.58561966e-01 -3.85889275e-03 9.87341487e-01 7.50108486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:283.79, Y:158.61, Z:75.00 [[ 9.47144420e-01 2.81937260e-01 1.53064788e-01 2.83791662e+02] [-2.78875684e-01 9.59427118e-01 -4.15687056e-02 1.58606167e+02] [-1.58574276e-01 -3.31447996e-03 9.87341488e-01 7.50002013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters Centerline goodness : 0.993841 with order 1 Centerline is valid? [True, True] Translation: X:283.85, Y:158.60, Z:74.99 [[ 9.46544893e-01 2.83945556e-01 1.53061056e-01 2.83853287e+02] [-2.80907819e-01 9.58833509e-01 -4.15824417e-02 1.58603474e+02] [-1.58567219e-01 -3.63639965e-03 9.87341488e-01 7.49895818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters Centerline goodness : 0.993542 with order 1 Centerline is valid? [True, True] Translation: X:283.91, Y:158.60, Z:74.98 [[ 9.45435668e-01 2.87622377e-01 1.53051515e-01 2.83914573e+02] [-2.84626749e-01 9.57734616e-01 -4.16175310e-02 1.58596713e+02] [-1.58552867e-01 -4.21585689e-03 9.87341488e-01 7.49768956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:283.98, Y:158.60, Z:74.97 [[ 9.43630959e-01 2.93494451e-01 1.53041236e-01 2.83977961e+02] [-2.90569223e-01 9.55946841e-01 -4.16552968e-02 1.58595118e+02] [-1.58524884e-01 -5.16184536e-03 9.87341489e-01 7.49668399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:158.59, Z:74.96 [[ 9.42199037e-01 2.98064899e-01 1.53030357e-01 2.84041197e+02] [-2.95192927e-01 9.54527446e-01 -4.16952239e-02 1.58593320e+02] [-1.58499559e-01 -5.88827923e-03 9.87341490e-01 7.49560708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters Centerline goodness : 0.994095 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:158.59, Z:74.95 [[ 9.41402980e-01 3.00571596e-01 1.53026618e-01 2.84103260e+02] [-2.97730221e-01 9.53738476e-01 -4.17089441e-02 1.58586913e+02] [-1.58483897e-01 -6.29572445e-03 9.87341490e-01 7.49463403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters Centerline goodness : 0.993795 with order 1 Centerline is valid? [True, True] Translation: X:284.17, Y:158.59, Z:74.94 [[ 9.40881897e-01 3.02204226e-01 1.53015885e-01 2.84165527e+02] [-2.99377868e-01 9.53220842e-01 -4.17482814e-02 1.58585835e+02] [-1.58474438e-01 -6.52936723e-03 9.87341491e-01 7.49369050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:284.23, Y:158.58, Z:74.93 [[ 9.40487923e-01 3.03432913e-01 1.53006317e-01 2.84227611e+02] [-3.00616985e-01 9.52829252e-01 -4.17833210e-02 1.58579825e+02] [-1.58467329e-01 -6.69958882e-03 9.87341492e-01 7.49258642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:284.29, Y:158.58, Z:74.91 [[ 9.40318874e-01 3.03961470e-01 1.52996212e-01 2.84291290e+02] [-3.01146475e-01 9.52660414e-01 -4.18202892e-02 1.58581900e+02] [-1.58465191e-01 -6.74986260e-03 9.87341492e-01 7.49148639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters Centerline goodness : 0.993775 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:158.58, Z:74.91 [[ 9.39730069e-01 3.05782002e-01 1.52986159e-01 2.84354879e+02] [-3.02984945e-01 9.52075686e-01 -4.18570317e-02 1.58583076e+02] [-1.58453530e-01 -7.01819170e-03 9.87341493e-01 7.49057210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:284.42, Y:158.58, Z:74.90 [[ 9.39134478e-01 3.07611392e-01 1.52976021e-01 2.84418329e+02] [-3.04832364e-01 9.51484166e-01 -4.18940512e-02 1.58579259e+02] [-1.58441349e-01 -7.28789422e-03 9.87341494e-01 7.48966952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:284.48, Y:158.58, Z:74.89 [[ 9.38518066e-01 3.09492657e-01 1.52964488e-01 2.84483227e+02] [-3.06731542e-01 9.50871770e-01 -4.19361188e-02 1.58583715e+02] [-1.58428535e-01 -7.56122824e-03 9.87341495e-01 7.48850292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:284.55, Y:158.59, Z:74.87 [[ 9.38233594e-01 3.10359167e-01 1.52953948e-01 2.84545258e+02] [-3.07603215e-01 9.50588450e-01 -4.19745269e-02 1.58585083e+02] [-1.58423436e-01 -7.66721498e-03 9.87341496e-01 7.48729178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters Centerline goodness : 0.997590 with order 1 Centerline is valid? [True, True] Translation: X:284.60, Y:158.57, Z:74.87 [[ 9.35136734e-01 3.19571540e-01 1.52948746e-01 2.84603302e+02] [-3.16934142e-01 9.47517439e-01 -4.19934757e-02 1.58565367e+02] [-1.58341524e-01 -9.20503775e-03 9.87341496e-01 7.48703434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:284.67, Y:158.58, Z:74.86 [[ 9.37978256e-01 3.11132944e-01 1.52947970e-01 2.84668684e+02] [-3.08383642e-01 9.50334594e-01 -4.19963003e-02 1.58580506e+02] [-1.58418180e-01 -7.77503564e-03 9.87341496e-01 7.48577470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:284.73, Y:158.56, Z:74.86 [[ 9.34567118e-01 3.21233902e-01 1.52947970e-01 2.84728050e+02] [-3.18618063e-01 9.46952396e-01 -4.19963003e-02 1.58563652e+02] [-1.58325082e-01 -9.48362463e-03 9.87341496e-01 7.48584410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:284.79, Y:158.58, Z:74.84 [[ 9.37341101e-01 3.13047871e-01 1.52946691e-01 2.84791895e+02] [-3.10323052e-01 9.49702860e-01 -4.20009581e-02 1.58577745e+02] [-1.58402221e-01 -8.09365958e-03 9.87341496e-01 7.48440283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:284.86, Y:158.58, Z:74.84 [[ 9.35764753e-01 3.17728511e-01 1.52947441e-01 2.84857079e+02] [-3.15065951e-01 9.48140072e-01 -4.19982281e-02 1.58580178e+02] [-1.58359632e-01 -8.88806926e-03 9.87341496e-01 7.48376082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:284.92, Y:158.58, Z:74.83 [[ 9.35116870e-01 3.19635133e-01 1.52937310e-01 2.84921130e+02] [-3.16991795e-01 9.47496308e-01 -4.20350862e-02 1.58582165e+02] [-1.58343427e-01 -9.17215435e-03 9.87341496e-01 7.48286519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:284.98, Y:158.57, Z:74.82 [[ 9.35210619e-01 3.19365581e-01 1.52927184e-01 2.84982116e+02] [-3.16712678e-01 9.47588009e-01 -4.20718940e-02 1.58574462e+02] [-1.58348281e-01 -9.08789596e-03 9.87341497e-01 7.48184058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:285.04, Y:158.55, Z:74.81 [[ 9.32253125e-01 3.27902815e-01 1.52917805e-01 2.85038527e+02] [-3.25357627e-01 9.44653113e-01 -4.21059557e-02 1.58549920e+02] [-1.58260942e-01 -1.04995655e-02 9.87341498e-01 7.48092179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:285.10, Y:158.56, Z:74.80 [[ 9.35333166e-01 3.19015884e-01 1.52907598e-01 2.85103981e+02] [-3.16346769e-01 9.47707070e-01 -4.21429904e-02 1.58559351e+02] [-1.58355895e-01 -8.95408816e-03 9.87341499e-01 7.48001775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:285.17, Y:158.56, Z:74.79 [[ 9.34307957e-01 3.22010912e-01 1.52897397e-01 2.85166353e+02] [-3.19375426e-01 9.46689066e-01 -4.21799706e-02 1.58557952e+02] [-1.58328704e-01 -9.42258908e-03 9.87341499e-01 7.47900577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters Centerline goodness : 0.998029 with order 1 Centerline is valid? [True, True] Translation: X:285.23, Y:158.55, Z:74.77 [[ 9.33273634e-01 3.25000932e-01 1.52887929e-01 2.85226211e+02] [-3.22399510e-01 9.45661944e-01 -4.22142610e-02 1.58547193e+02] [-1.58299970e-01 -9.89353657e-03 9.87341500e-01 7.47745946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:285.29, Y:158.53, Z:74.77 [[ 9.29961112e-01 3.34362883e-01 1.52884900e-01 2.85285314e+02] [-3.31884288e-01 9.42374580e-01 -4.22252284e-02 1.58529881e+02] [-1.58193392e-01 -1.14722757e-02 9.87341500e-01 7.47677038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters Centerline goodness : 0.997266 with order 1 Centerline is valid? [True, True] Translation: X:285.35, Y:158.53, Z:74.76 [[ 9.28925186e-01 3.37234996e-01 1.52874316e-01 2.85347666e+02] [-3.34788510e-01 9.41345021e-01 -4.22635130e-02 1.58532986e+02] [-1.58160212e-01 -1.19209228e-02 9.87341501e-01 7.47583537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters Centerline goodness : 0.996591 with order 1 Centerline is valid? [True, True] Translation: X:285.41, Y:158.54, Z:74.74 [[ 9.28564880e-01 3.38225824e-01 1.52874316e-01 2.85408623e+02] [-3.35792589e-01 9.40987318e-01 -4.22635130e-02 1.58540545e+02] [-1.58147404e-01 -1.20896485e-02 9.87341501e-01 7.47423949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters Centerline goodness : 0.997087 with order 1 Centerline is valid? [True, True] Translation: X:285.47, Y:158.53, Z:74.73 [[ 9.27157885e-01 3.42062521e-01 1.52877362e-01 2.85466767e+02] [-3.39682479e-01 9.39590624e-01 -4.22524900e-02 1.58534458e+02] [-1.58095130e-01 -1.27550321e-02 9.87341501e-01 7.47294518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters Centerline goodness : 0.996230 with order 1 Centerline is valid? [True, True] Translation: X:285.52, Y:158.53, Z:74.72 [[ 9.26639108e-01 3.43464014e-01 1.52880456e-01 2.85523883e+02] [-3.41104607e-01 9.39075780e-01 -4.22412936e-02 1.58532171e+02] [-1.58074698e-01 -1.30057932e-02 9.87341501e-01 7.47186248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters Centerline goodness : 0.996033 with order 1 Centerline is valid? [True, True] Translation: X:285.58, Y:158.53, Z:74.71 [[ 9.28891968e-01 3.37321284e-01 1.52885784e-01 2.85581323e+02] [-3.34882742e-01 9.41313365e-01 -4.22220001e-02 1.58529847e+02] [-1.58155811e-01 -1.19791339e-02 9.87341501e-01 7.47053113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:285.64, Y:158.53, Z:74.69 [[ 9.28661847e-01 3.37951938e-01 1.52891008e-01 2.85640927e+02] [-3.35524928e-01 9.41085503e-01 -4.22030743e-02 1.58530930e+02] [-1.58146122e-01 -1.21063596e-02 9.87341501e-01 7.46912328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:285.70, Y:158.53, Z:74.68 [[ 9.27339553e-01 3.41562228e-01 1.52894074e-01 2.85699177e+02] [-3.39185387e-01 9.39772904e-01 -4.21919642e-02 1.58527279e+02] [-1.58096889e-01 -1.27331586e-02 9.87341501e-01 7.46795263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters Centerline goodness : 0.996861 with order 1 Centerline is valid? [True, True] Translation: X:285.76, Y:158.53, Z:74.67 [[ 9.26677498e-01 3.43352647e-01 1.52897919e-01 2.85758343e+02] [-3.41002108e-01 9.39115848e-01 -4.21780251e-02 1.58525706e+02] [-1.58070796e-01 -1.30530861e-02 9.87341501e-01 7.46686670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters Centerline goodness : 0.997625 with order 1 Centerline is valid? [True, True] Translation: X:285.82, Y:158.54, Z:74.66 [[ 9.23910493e-01 3.50728867e-01 1.52900826e-01 2.85821867e+02] [-3.48479285e-01 9.36367498e-01 -4.21674866e-02 1.58537177e+02] [-1.57960719e-01 -1.43237872e-02 9.87341501e-01 7.46640475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:285.88, Y:158.53, Z:74.65 [[ 9.22176562e-01 3.55261358e-01 1.52904402e-01 2.85879963e+02] [-3.53075101e-01 9.34644836e-01 -4.21545158e-02 1.58534324e+02] [-1.57887180e-01 -1.51128307e-02 9.87341502e-01 7.46546493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:158.53, Z:74.64 [[ 9.21016064e-01 3.58254400e-01 1.52915648e-01 2.85937133e+02] [-3.56115356e-01 9.33492523e-01 -4.21136816e-02 1.58527375e+02] [-1.57833026e-01 -1.56682331e-02 9.87341502e-01 7.46413475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:285.99, Y:158.52, Z:74.63 [[ 9.19188814e-01 3.62911254e-01 1.52929216e-01 2.85993130e+02] [-3.60843494e-01 9.31677285e-01 -4.20643559e-02 1.58519075e+02] [-1.57746304e-01 -1.65184270e-02 9.87341504e-01 7.46346876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:158.52, Z:74.63 [[ 9.17852063e-01 3.66276282e-01 1.52935529e-01 2.86052022e+02] [-3.64258066e-01 9.30348635e-01 -4.20413902e-02 1.58517234e+02] [-1.57682125e-01 -1.71202231e-02 9.87341504e-01 7.46252408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:158.51, Z:74.61 [[ 9.15635971e-01 3.71776845e-01 1.52946873e-01 2.86108461e+02] [-3.69840448e-01 9.28145482e-01 -4.20000796e-02 1.58510376e+02] [-1.57571606e-01 -1.81091564e-02 9.87341505e-01 7.46142341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:286.16, Y:158.50, Z:74.61 [[ 9.13835155e-01 3.76179583e-01 1.52951724e-01 2.86164265e+02] [-3.74306331e-01 9.26354278e-01 -4.19824049e-02 1.58496735e+02] [-1.57480408e-01 -1.88858014e-02 9.87341505e-01 7.46055074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:158.48, Z:74.60 [[ 9.12174469e-01 3.80184405e-01 1.52962599e-01 2.86220789e+02] [-3.78372626e-01 9.24702634e-01 -4.19427472e-02 1.58484581e+02] [-1.57390896e-01 -1.96177570e-02 9.87341506e-01 7.45997235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:158.47, Z:74.59 [[ 9.11450143e-01 3.81913303e-01 1.52973415e-01 2.86277029e+02] [-3.80131796e-01 9.23982648e-01 -4.19032621e-02 1.58470666e+02] [-1.57348194e-01 -1.99573246e-02 9.87341507e-01 7.45925666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:286.33, Y:158.46, Z:74.58 [[ 9.10591717e-01 3.83951163e-01 1.52984411e-01 2.86333117e+02] [-3.82204326e-01 9.23129100e-01 -4.18630780e-02 1.58455838e+02] [-1.57297739e-01 -2.03511317e-02 9.87341508e-01 7.45837127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:286.39, Y:158.44, Z:74.57 [[ 9.11006374e-01 3.82962195e-01 1.52994587e-01 2.86388240e+02] [-3.81207888e-01 9.23542714e-01 -4.18258566e-02 1.58438866e+02] [-1.57314758e-01 -2.02191214e-02 9.87341508e-01 7.45746089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:286.44, Y:158.43, Z:74.57 [[ 9.11611700e-01 3.81514400e-01 1.53006113e-01 2.86444085e+02] [-3.79747140e-01 9.24146220e-01 -4.17836503e-02 1.58425564e+02] [-1.57341085e-01 -2.00131693e-02 9.87341509e-01 7.45653814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:286.50, Y:158.41, Z:74.56 [[ 9.12129842e-01 3.80272536e-01 1.53009640e-01 2.86499251e+02] [-3.78490338e-01 9.24662246e-01 -4.17707316e-02 1.58412006e+02] [-1.57366499e-01 -1.98123395e-02 9.87341509e-01 7.45567793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:286.56, Y:158.40, Z:74.55 [[ 9.12913923e-01 3.78384367e-01 1.53014507e-01 2.86555444e+02] [-3.76579183e-01 9.25443037e-01 -4.17528941e-02 1.58396483e+02] [-1.57404852e-01 -1.95052796e-02 9.87341510e-01 7.45497890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:286.61, Y:158.38, Z:74.54 [[ 9.13714016e-01 3.76444326e-01 1.53024069e-01 2.86611907e+02] [-3.74618314e-01 9.26240111e-01 -4.17178188e-02 1.58382208e+02] [-1.57441467e-01 -1.92074631e-02 9.87341510e-01 7.45384070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:286.67, Y:158.37, Z:74.53 [[ 9.13914688e-01 3.75954609e-01 1.53029655e-01 2.86666685e+02] [-3.74125262e-01 9.26440296e-01 -4.16973199e-02 1.58366120e+02] [-1.57449138e-01 -1.91444667e-02 9.87341510e-01 7.45310883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:286.72, Y:158.35, Z:74.52 [[ 9.13584845e-01 3.76753988e-01 1.53033211e-01 2.86721452e+02] [-3.74937752e-01 9.26112361e-01 -4.16842662e-02 1.58350808e+02] [-1.57430661e-01 -1.92958140e-02 9.87341511e-01 7.45222819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:158.34, Z:74.51 [[ 9.13365535e-01 3.77283204e-01 1.53038503e-01 2.86777650e+02] [-3.75477431e-01 9.25894563e-01 -4.16648261e-02 1.58336997e+02] [-1.57416957e-01 -1.94072879e-02 9.87341511e-01 7.45122073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:286.83, Y:158.32, Z:74.50 [[ 9.13741742e-01 3.76367300e-01 1.53047979e-01 2.86833552e+02] [-3.74554709e-01 9.26269785e-01 -4.16299892e-02 1.58320848e+02] [-1.57431885e-01 -1.92857825e-02 9.87341511e-01 7.45015474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:158.31, Z:74.49 [[ 9.14225285e-01 3.75187191e-01 1.53057832e-01 2.86888456e+02] [-3.73364400e-01 9.26751847e-01 -4.15937346e-02 1.58306103e+02] [-1.57452065e-01 -1.91203016e-02 9.87341512e-01 7.44924048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:158.29, Z:74.48 [[ 9.15233104e-01 3.72717368e-01 1.53069034e-01 2.86943910e+02] [-3.70867560e-01 9.27755704e-01 -4.15524672e-02 1.58293069e+02] [-1.57497996e-01 -1.87381457e-02 9.87341513e-01 7.44831288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:158.28, Z:74.47 [[ 9.15779485e-01 3.71371439e-01 1.53072499e-01 2.87001099e+02] [-3.69505326e-01 9.28299665e-01 -4.15396996e-02 1.58280453e+02] [-1.57523808e-01 -1.85198990e-02 9.87341513e-01 7.44745919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:287.06, Y:158.27, Z:74.47 [[ 9.15847711e-01 3.71199235e-01 1.53081997e-01 2.87057753e+02] [-3.69336537e-01 9.28368399e-01 -4.15046686e-02 1.58268338e+02] [-1.57522990e-01 -1.85268189e-02 9.87341514e-01 7.44660903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:158.26, Z:74.45 [[ 9.16882353e-01 3.68632269e-01 1.53091481e-01 2.87114231e+02] [-3.66740269e-01 9.29398646e-01 -4.14696572e-02 1.58255883e+02] [-1.57570069e-01 -1.81220142e-02 9.87341514e-01 7.44545743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:287.17, Y:158.25, Z:74.44 [[ 9.19065662e-01 3.63150748e-01 1.53100763e-01 2.87171382e+02] [-3.61189684e-01 9.31571319e-01 -4.14353620e-02 1.58247596e+02] [-1.57671562e-01 -1.72165978e-02 9.87341515e-01 7.44430961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:287.23, Y:158.24, Z:74.43 [[ 9.21768191e-01 3.56230960e-01 1.53110760e-01 2.87227874e+02] [-3.54182008e-01 9.34259749e-01 -4.13983870e-02 1.58237742e+02] [-1.57792608e-01 -1.60693602e-02 9.87341516e-01 7.44343350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:158.23, Z:74.42 [[ 9.24080209e-01 3.50187446e-01 1.53116035e-01 2.87284383e+02] [-3.48059944e-01 9.36558629e-01 -4.13788686e-02 1.58227038e+02] [-1.57892504e-01 -1.50561651e-02 9.87341516e-01 7.44236590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:287.34, Y:158.22, Z:74.41 [[ 9.27358250e-01 3.41407695e-01 1.53125638e-01 2.87343008e+02] [-3.39167770e-01 9.39816980e-01 -4.13433014e-02 1.58223717e+02] [-1.58024996e-01 -1.35952296e-02 9.87341517e-01 7.44137838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:287.40, Y:158.22, Z:74.40 [[ 9.29398856e-01 3.35811349e-01 1.53129047e-01 2.87400987e+02] [-3.33498429e-01 9.41844241e-01 -4.13306721e-02 1.58215501e+02] [-1.58103020e-01 -1.26556173e-02 9.87341517e-01 7.44043923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:287.46, Y:158.21, Z:74.39 [[ 9.30337416e-01 3.33197956e-01 1.53138546e-01 2.87460730e+02] [-3.30855829e-01 9.42777337e-01 -4.12954472e-02 1.58214061e+02] [-1.58135109e-01 -1.22480809e-02 9.87341517e-01 7.43931594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:158.22, Z:74.39 [[ 9.28626636e-01 3.37932226e-01 1.53148233e-01 2.87520764e+02] [-3.35659377e-01 9.41079400e-01 -4.12594924e-02 1.58215589e+02] [-1.58067559e-01 -1.30909767e-02 9.87341518e-01 7.43852001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:287.58, Y:158.22, Z:74.38 [[ 9.27950643e-01 3.39782550e-01 1.53151637e-01 2.87582080e+02] [-3.37536597e-01 9.40408285e-01 -4.12468504e-02 1.58219075e+02] [-1.58040029e-01 -1.34192412e-02 9.87341518e-01 7.43757904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:287.64, Y:158.21, Z:74.37 [[ 9.28944716e-01 3.37050921e-01 1.53161323e-01 2.87639842e+02] [-3.34774218e-01 9.41396775e-01 -4.12108545e-02 1.58214848e+02] [-1.58075732e-01 -1.29918566e-02 9.87341519e-01 7.43670181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters Centerline goodness : 0.998285 with order 1 Centerline is valid? [True, True] Translation: X:287.70, Y:158.22, Z:74.36 [[ 9.32441185e-01 3.27252206e-01 1.53164716e-01 2.87699944e+02] [-3.24846594e-01 9.44868983e-01 -4.11982380e-02 1.58215921e+02] [-1.58202804e-01 -1.13401026e-02 9.87341519e-01 7.43558367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:158.22, Z:74.35 [[ 9.36281402e-01 3.16092959e-01 1.53174340e-01 2.87760963e+02] [-3.13544932e-01 9.48680784e-01 -4.11624279e-02 1.58221681e+02] [-1.58324706e-01 -9.48742214e-03 9.87341520e-01 7.43458977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:287.82, Y:158.22, Z:74.35 [[ 9.37849880e-01 3.11406744e-01 1.53177810e-01 2.87823709e+02] [-3.08798844e-01 9.50236808e-01 -4.11495103e-02 1.58222414e+02] [-1.58369428e-01 -8.70906736e-03 9.87341520e-01 7.43453636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:287.88, Y:158.23, Z:74.33 [[ 9.38404512e-01 3.09730890e-01 1.53178807e-01 2.87884762e+02] [-3.07101470e-01 9.50786890e-01 -4.11457978e-02 1.58225854e+02] [-1.58384526e-01 -8.43003457e-03 9.87341520e-01 7.43272435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:287.95, Y:158.23, Z:74.32 [[ 9.40759728e-01 3.02501530e-01 1.53179498e-01 2.87945458e+02] [-2.99777335e-01 9.53121600e-01 -4.11432239e-02 1.58228214e+02] [-1.58444577e-01 -7.21385364e-03 9.87341520e-01 7.43210151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:288.00, Y:158.21, Z:74.31 [[ 9.45028820e-01 2.88883455e-01 1.53189029e-01 2.88001707e+02] [-2.85986763e-01 9.57351413e-01 -4.11077088e-02 1.58214082e+02] [-1.58531070e-01 -4.96206503e-03 9.87341520e-01 7.43121145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:288.06, Y:158.20, Z:74.30 [[ 9.48863271e-01 2.76022943e-01 1.53198655e-01 2.88056840e+02] [-2.72964968e-01 9.61146832e-01 -4.10718026e-02 1.58197166e+02] [-1.58583162e-01 -2.84634103e-03 9.87341521e-01 7.42962980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:288.11, Y:158.18, Z:74.29 [[ 9.48344569e-01 2.77798697e-01 1.53200728e-01 2.88112960e+02] [-2.74764970e-01 9.60634141e-01 -4.10640715e-02 1.58181182e+02] [-1.58577395e-01 -3.15130415e-03 9.87341521e-01 7.42907859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:288.17, Y:158.17, Z:74.28 [[ 9.46604322e-01 2.83666717e-01 1.53210479e-01 2.88167246e+02] [-2.80715050e-01 9.58913861e-01 -4.10276573e-02 1.58165154e+02] [-1.58553833e-01 -4.17152951e-03 9.87341522e-01 7.42772140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:158.15, Z:74.27 [[ 9.44620983e-01 2.90200965e-01 1.53214224e-01 2.88223953e+02] [-2.87336694e-01 9.56951150e-01 -4.10136687e-02 1.58150543e+02] [-1.58520734e-01 -5.28169640e-03 9.87341522e-01 7.42687268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:288.28, Y:158.13, Z:74.25 [[ 9.43268421e-01 2.94562633e-01 1.53223830e-01 2.88278775e+02] [-2.91761191e-01 9.55613013e-01 -4.09777491e-02 1.58130591e+02] [-1.58493199e-01 -6.05175040e-03 9.87341522e-01 7.42524430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:288.33, Y:158.11, Z:74.24 [[ 9.41903468e-01 2.98897803e-01 1.53225196e-01 2.88334098e+02] [-2.96153995e-01 9.54260999e-01 -4.09726420e-02 1.58111669e+02] [-1.58463461e-01 -6.78598017e-03 9.87341523e-01 7.42422122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:288.39, Y:158.10, Z:74.24 [[ 9.42010450e-01 2.98555851e-01 1.53234186e-01 2.88390299e+02] [-2.95813020e-01 9.54368197e-01 -4.09389922e-02 1.58101066e+02] [-1.58464409e-01 -6.76370879e-03 9.87341523e-01 7.42361980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:288.45, Y:158.09, Z:74.23 [[ 9.40805090e-01 3.02330650e-01 1.53238248e-01 2.88446226e+02] [-2.99639864e-01 9.53174274e-01 -4.09237818e-02 1.58085267e+02] [-1.58435269e-01 -7.41498557e-03 9.87341523e-01 7.42250153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:158.07, Z:74.22 [[ 9.39891687e-01 3.05153542e-01 1.53247947e-01 2.88501339e+02] [-3.02505811e-01 9.52270157e-01 -4.08874281e-02 1.58070620e+02] [-1.58410390e-01 -7.92864083e-03 9.87341524e-01 7.42161424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:288.56, Y:158.06, Z:74.21 [[ 9.40317663e-01 3.03836661e-01 1.53251351e-01 2.88557688e+02] [-3.01173668e-01 9.52692859e-01 -4.08746678e-02 1.58055530e+02] [-1.58420690e-01 -7.72009932e-03 9.87341524e-01 7.42076778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:288.61, Y:158.04, Z:74.20 [[ 9.41773025e-01 2.99290314e-01 1.53260813e-01 2.88613914e+02] [-2.96573332e-01 9.54136480e-01 -4.08391580e-02 1.58041827e+02] [-1.58454497e-01 -6.99185262e-03 9.87341525e-01 7.41999563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters Centerline goodness : 0.998506 with order 1 Centerline is valid? [True, True] Translation: X:288.67, Y:158.03, Z:74.19 [[ 9.43043170e-01 2.95258128e-01 1.53271710e-01 2.88668673e+02] [-2.92494914e-01 9.55396373e-01 -4.07982193e-02 1.58026177e+02] [-1.58481242e-01 -6.35671374e-03 9.87341526e-01 7.41894229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:288.72, Y:158.01, Z:74.18 [[ 9.44624959e-01 2.90151915e-01 1.53282594e-01 2.88723255e+02] [-2.87328544e-01 9.56964551e-01 -4.07572871e-02 1.58010097e+02] [-1.58511814e-01 -5.54211403e-03 9.87341526e-01 7.41797985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:288.78, Y:158.00, Z:74.17 [[ 9.46666542e-01 2.83414113e-01 1.53293506e-01 2.88780600e+02] [-2.80509541e-01 9.58987272e-01 -4.07162063e-02 1.57998068e+02] [-1.58546068e-01 -4.45562068e-03 9.87341527e-01 7.41742767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:157.98, Z:74.17 [[ 9.48168311e-01 2.78343377e-01 1.53303028e-01 2.88837090e+02] [-2.75378704e-01 9.60474717e-01 -4.06803210e-02 1.57983406e+02] [-1.58566781e-01 -3.64459796e-03 9.87341528e-01 7.41661220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters Centerline goodness : 0.998001 with order 1 Centerline is valid? [True, True] Translation: X:288.89, Y:157.97, Z:74.16 [[ 9.49973772e-01 2.72112245e-01 1.53312619e-01 2.88893291e+02] [-2.69072674e-01 9.62261892e-01 -4.06441446e-02 1.57968363e+02] [-1.58586660e-01 -2.64136511e-03 9.87341529e-01 7.41558607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:157.95, Z:74.14 [[ 9.51820470e-01 2.65575090e-01 1.53322093e-01 2.88948860e+02] [-2.62456876e-01 9.64088869e-01 -4.06083752e-02 1.57952269e+02] [-1.58600696e-01 -1.58855487e-03 9.87341529e-01 7.41447320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters Centerline goodness : 0.997951 with order 1 Centerline is valid? [True, True] Translation: X:289.01, Y:157.94, Z:74.14 [[ 9.54131951e-01 2.57141259e-01 1.53331645e-01 2.89005421e+02] [-2.53920395e-01 9.66373801e-01 -4.05722784e-02 1.57939142e+02] [-1.58608491e-01 -2.22724621e-04 9.87341530e-01 7.41361979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:289.06, Y:157.92, Z:74.12 [[ 9.53469063e-01 2.59582752e-01 1.53341257e-01 2.89061104e+02] [-2.56399082e-01 9.65720638e-01 -4.05359180e-02 1.57923229e+02] [-1.58607241e-01 -6.66813698e-04 9.87341531e-01 7.41239522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:289.12, Y:157.91, Z:74.12 [[ 9.52364035e-01 2.63602513e-01 1.53350775e-01 2.89117184e+02] [-2.60476356e-01 9.64630410e-01 -4.04998776e-02 1.57909253e+02] [-1.58602690e-01 -1.37362416e-03 9.87341531e-01 7.41157621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters Centerline goodness : 0.997925 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:157.89, Z:74.10 [[ 9.51323672e-01 2.67326607e-01 1.53361519e-01 2.89172266e+02] [-2.64255029e-01 9.63603828e-01 -4.04591525e-02 1.57893296e+02] [-1.58595555e-01 -2.03680315e-03 9.87341532e-01 7.41018622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:157.88, Z:74.09 [[ 9.50629176e-01 2.69780470e-01 1.53371011e-01 2.89227003e+02] [-2.66746398e-01 9.62918651e-01 -4.04231378e-02 1.57877460e+02] [-1.58589180e-01 -2.48375064e-03 9.87341533e-01 7.40887383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:289.28, Y:157.86, Z:74.08 [[ 9.49701428e-01 2.73026534e-01 1.53374406e-01 2.89282368e+02] [-2.70036545e-01 9.62001703e-01 -4.04102527e-02 1.57861487e+02] [-1.58579511e-01 -3.03901995e-03 9.87341533e-01 7.40798841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:289.34, Y:157.84, Z:74.07 [[ 9.49875886e-01 2.72413599e-01 1.53383935e-01 2.89336319e+02] [-2.69421515e-01 9.62175651e-01 -4.03740518e-02 1.57844390e+02] [-1.58580728e-01 -2.97459396e-03 9.87341534e-01 7.40675528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:289.39, Y:157.82, Z:74.05 [[ 9.50666533e-01 2.69639548e-01 1.53387281e-01 2.89390211e+02] [-2.66613623e-01 9.62958015e-01 -4.03613380e-02 1.57824201e+02] [-1.58588524e-01 -2.52496541e-03 9.87341534e-01 7.40520709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:289.44, Y:157.81, Z:74.04 [[ 9.51715073e-01 2.65909422e-01 1.53396865e-01 2.89444519e+02] [-2.62841194e-01 9.63996064e-01 -4.03248789e-02 1.57807208e+02] [-1.58596739e-01 -1.94122018e-03 9.87341535e-01 7.40441293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters Centerline goodness : 0.998337 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:157.79, Z:74.04 [[ 9.52722093e-01 2.62275753e-01 1.53401576e-01 2.89500049e+02] [-2.59163570e-01 9.64992018e-01 -4.03069495e-02 1.57791916e+02] [-1.58602832e-01 -1.35477875e-03 9.87341535e-01 7.40367447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:289.56, Y:157.78, Z:74.03 [[ 9.53360084e-01 2.59940801e-01 1.53412288e-01 2.89556129e+02] [-2.56805133e-01 9.65624027e-01 -4.02661376e-02 1.57775088e+02] [-1.58605404e-01 -1.00893467e-03 9.87341536e-01 7.40281122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters Centerline goodness : 0.998454 with order 1 Centerline is valid? [True, True] Translation: X:289.61, Y:157.76, Z:74.02 [[ 9.53207663e-01 2.60493620e-01 1.53421723e-01 2.89611598e+02] [-2.57370855e-01 9.65474897e-01 -4.02301566e-02 1.57759641e+02] [-1.58604522e-01 -1.13858651e-03 9.87341536e-01 7.40188374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:289.67, Y:157.74, Z:74.01 [[ 9.53631487e-01 2.58932229e-01 1.53431052e-01 2.89665599e+02] [-2.55795107e-01 9.65895057e-01 -4.01945482e-02 1.57739874e+02] [-1.58605958e-01 -9.16125533e-04 9.87341537e-01 7.40108751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:157.70, Z:73.99 [[ 9.46566121e-01 2.83673199e-01 1.53434332e-01 2.89713664e+02] [-2.80858463e-01 9.58907675e-01 -4.01820232e-02 1.57698665e+02] [-1.58527921e-01 -5.05838877e-03 9.87341537e-01 7.39869313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters Centerline goodness : 0.997460 with order 1 Centerline is valid? [True, True] Translation: X:289.77, Y:157.69, Z:73.98 [[ 9.46010723e-01 2.85519659e-01 1.53434796e-01 2.89769820e+02] [-2.82729297e-01 9.58357810e-01 -4.01802517e-02 1.57686015e+02] [-1.58517687e-01 -5.36956305e-03 9.87341537e-01 7.39767545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters Centerline goodness : 0.997497 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:157.67, Z:73.96 [[ 9.44780722e-01 2.89558838e-01 1.53444017e-01 2.89826126e+02] [-2.86826968e-01 9.57140882e-01 -4.01450075e-02 1.57673298e+02] [-1.58491883e-01 -6.08365296e-03 9.87341538e-01 7.39636316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:157.66, Z:73.96 [[ 9.45952922e-01 2.85701116e-01 1.53453386e-01 2.89883948e+02] [-2.82924639e-01 9.58303138e-01 -4.01091624e-02 1.57663806e+02] [-1.58514094e-01 -5.47436441e-03 9.87341538e-01 7.39611599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters Centerline goodness : 0.997273 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:157.65, Z:73.95 [[ 9.43926997e-01 2.92323233e-01 1.53456681e-01 2.89939060e+02] [-2.89635419e-01 9.56296811e-01 -4.00965532e-02 1.57651094e+02] [-1.58471288e-01 -6.59827101e-03 9.87341538e-01 7.39460754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters Centerline goodness : 0.997111 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:157.64, Z:73.94 [[ 9.45981988e-01 2.85600362e-01 1.53461759e-01 2.89994716e+02] [-2.82827763e-01 9.58333075e-01 -4.00771070e-02 1.57637665e+02] [-1.58513516e-01 -5.49102469e-03 9.87341539e-01 7.39418348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:157.64, Z:73.93 [[ 9.48293469e-01 2.77825822e-01 1.53467619e-01 2.90054808e+02] [-2.74955566e-01 9.60622226e-01 -4.00546533e-02 1.57638330e+02] [-1.58552623e-01 -4.21320997e-03 9.87341539e-01 7.39305853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters Centerline goodness : 0.998216 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:157.62, Z:73.92 [[ 9.47914892e-01 2.79109694e-01 1.53476825e-01 2.90110073e+02] [-2.76261847e-01 9.60248845e-01 -4.00193507e-02 1.57620682e+02] [-1.58545732e-01 -4.46485253e-03 9.87341540e-01 7.39205944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:157.60, Z:73.91 [[ 9.46272037e-01 2.84628240e-01 1.53479631e-01 2.90163369e+02] [-2.81854052e-01 9.58622765e-01 -4.00085861e-02 1.57598291e+02] [-1.58516642e-01 -5.39984958e-03 9.87341540e-01 7.39126637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters Centerline goodness : 0.997599 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:157.58, Z:73.91 [[ 9.46394478e-01 2.84218991e-01 1.53483086e-01 2.90218969e+02] [-2.81441610e-01 9.58744488e-01 -3.99953286e-02 1.57584100e+02] [-1.58518494e-01 -5.34516847e-03 9.87341540e-01 7.39065827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:290.27, Y:157.57, Z:73.90 [[ 9.42872321e-01 2.95691967e-01 1.53486310e-01 2.90274969e+02] [-2.93066791e-01 9.55255578e-01 -3.99829518e-02 1.57572843e+02] [-1.58441291e-01 -7.28292158e-03 9.87341540e-01 7.39000807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:290.33, Y:157.56, Z:73.89 [[ 9.43281827e-01 2.94380113e-01 1.53491836e-01 2.90331867e+02] [-2.91741160e-01 9.55662156e-01 -3.99617260e-02 1.57562074e+02] [-1.58450276e-01 -7.08471634e-03 9.87341540e-01 7.38914979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:290.39, Y:157.56, Z:73.87 [[ 9.40572368e-01 3.02920871e-01 1.53501029e-01 2.90388895e+02] [-3.00400031e-01 9.52977285e-01 -3.99263812e-02 1.57561813e+02] [-1.58377528e-01 -8.55806310e-03 9.87341541e-01 7.38739663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters Centerline goodness : 0.998401 with order 1 Centerline is valid? [True, True] Translation: X:290.44, Y:157.55, Z:73.86 [[ 9.39344461e-01 3.06705766e-01 1.53504258e-01 2.90444502e+02] [-3.04236919e-01 9.51759829e-01 -3.99139634e-02 1.57546962e+02] [-1.58341029e-01 -9.20870214e-03 9.87341541e-01 7.38648615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:290.50, Y:157.53, Z:73.85 [[ 9.37820292e-01 3.11329978e-01 1.53514642e-01 2.90499447e+02] [-3.08928844e-01 9.50248933e-01 -3.98739851e-02 1.57531477e+02] [-1.58291092e-01 -1.00304687e-02 9.87341542e-01 7.38524470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:290.55, Y:157.52, Z:73.84 [[ 9.36523838e-01 3.15203848e-01 1.53524055e-01 2.90554294e+02] [-3.12860026e-01 9.48963414e-01 -3.98377126e-02 1.57515006e+02] [-1.58245711e-01 -1.07225722e-02 9.87341542e-01 7.38439564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:290.61, Y:157.50, Z:73.83 [[ 9.35712005e-01 3.17604147e-01 1.53527354e-01 2.90610143e+02] [-3.15294306e-01 9.48157936e-01 -3.98249932e-02 1.57499987e+02] [-1.58216762e-01 -1.11415762e-02 9.87341542e-01 7.38313219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:290.67, Y:157.48, Z:73.82 [[ 9.35261274e-01 3.18924603e-01 1.53536471e-01 2.90665455e+02] [-3.16638074e-01 9.47711507e-01 -3.97898149e-02 1.57476777e+02] [-1.58198231e-01 -1.14016195e-02 9.87341543e-01 7.38233558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:157.46, Z:73.81 [[ 9.35341390e-01 3.18688935e-01 1.53537769e-01 2.90720584e+02] [-3.16400087e-01 9.47791198e-01 -3.97848040e-02 1.57461552e+02] [-1.58200723e-01 -1.13669898e-02 9.87341543e-01 7.38094815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:157.45, Z:73.79 [[ 9.36975235e-01 3.13848356e-01 1.53546793e-01 2.90776405e+02] [-3.11500851e-01 9.49414115e-01 -3.97499461e-02 1.57453878e+02] [-1.58254948e-01 -1.05852417e-02 9.87341544e-01 7.37939035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:290.83, Y:157.44, Z:73.79 [[ 9.36889396e-01 3.14099443e-01 1.53557152e-01 2.90832031e+02] [-3.11761804e-01 9.49330133e-01 -3.97098895e-02 1.57439090e+02] [-1.58249286e-01 -1.06694804e-02 9.87341545e-01 7.37859859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:290.89, Y:157.42, Z:73.79 [[ 9.35259576e-01 3.18918078e-01 1.53560362e-01 2.90888385e+02] [-3.16646538e-01 9.47712552e-01 -3.96974719e-02 1.57421757e+02] [-1.58191324e-01 -1.14969164e-02 9.87341545e-01 7.37870127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:290.94, Y:157.41, Z:73.78 [[ 9.37083607e-01 3.13512841e-01 1.53570872e-01 2.90944692e+02] [-3.11176076e-01 9.49524507e-01 -3.96567752e-02 1.57413867e+02] [-1.58252214e-01 -1.06258673e-02 9.87341546e-01 7.37757893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:291.00, Y:157.40, Z:73.77 [[ 9.39542579e-01 3.06063306e-01 1.53574071e-01 2.91001605e+02] [-3.03629864e-01 9.51964930e-01 -3.96443820e-02 1.57400707e+02] [-1.58330820e-01 -9.38208927e-03 9.87341546e-01 7.37684196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:157.39, Z:73.76 [[ 9.42163043e-01 2.97894284e-01 1.53583187e-01 2.91057673e+02] [-2.95358823e-01 9.54564974e-01 -3.96090332e-02 1.57385761e+02] [-1.58404436e-01 -8.04398228e-03 9.87341546e-01 7.37572237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters Centerline goodness : 0.998554 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:157.37, Z:73.74 [[ 9.44641699e-01 2.89933550e-01 1.53592307e-01 2.91112622e+02] [-2.87299273e-01 9.57023017e-01 -3.95736383e-02 1.57369697e+02] [-1.58465099e-01 -6.74404936e-03 9.87341547e-01 7.37440392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:291.17, Y:157.36, Z:73.73 [[ 9.44715874e-01 2.89686970e-01 1.53601357e-01 2.91168940e+02] [-2.87055167e-01 9.57097717e-01 -3.95384813e-02 1.57355806e+02] [-1.58465291e-01 -6.73943235e-03 9.87341548e-01 7.37321816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:291.22, Y:157.34, Z:73.72 [[ 9.43093916e-01 2.94919874e-01 1.53610333e-01 2.91224524e+02] [-2.92362425e-01 9.55491329e-01 -3.95035804e-02 1.57343204e+02] [-1.58423732e-01 -7.65430293e-03 9.87341548e-01 7.37242393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:291.28, Y:157.33, Z:73.72 [[ 9.41572310e-01 2.99736937e-01 1.53620812e-01 2.91281222e+02] [-2.97249529e-01 9.53983965e-01 -3.94627865e-02 1.57328090e+02] [-1.58380246e-01 -8.50664704e-03 9.87341549e-01 7.37197540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:291.34, Y:157.31, Z:73.71 [[ 9.39270581e-01 3.06869075e-01 1.53629904e-01 2.91335816e+02] [-3.04481638e-01 9.51701852e-01 -3.94273608e-02 1.57312246e+02] [-1.58308902e-01 -9.74452465e-03 9.87341550e-01 7.37091680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:291.39, Y:157.29, Z:73.69 [[ 9.36961738e-01 3.13842799e-01 1.53640486e-01 2.91389037e+02] [-3.11554572e-01 9.49411652e-01 -3.93860827e-02 1.57288490e+02] [-1.58229106e-01 -1.09641432e-02 9.87341551e-01 7.36929086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:291.45, Y:157.28, Z:73.68 [[ 9.37117553e-01 3.13373050e-01 1.53649029e-01 2.91445243e+02] [-3.11084024e-01 9.49567319e-01 -3.93527244e-02 1.57275848e+02] [-1.58232180e-01 -1.09196296e-02 9.87341551e-01 7.36846065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:157.27, Z:73.68 [[ 9.39103378e-01 3.07369214e-01 1.53652244e-01 2.91502929e+02] [-3.05002604e-01 9.51538629e-01 -3.93401673e-02 1.57266522e+02] [-1.58298002e-01 -9.91985069e-03 9.87341551e-01 7.36786348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:157.25, Z:73.67 [[ 9.38915012e-01 3.07942525e-01 1.53655462e-01 2.91558351e+02] [-3.05585557e-01 9.51352095e-01 -3.93275944e-02 1.57253474e+02] [-1.58291085e-01 -1.00296212e-02 9.87341551e-01 7.36680112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:291.61, Y:157.24, Z:73.66 [[ 9.39185196e-01 3.07112353e-01 1.53665772e-01 2.91614999e+02] [-3.04750960e-01 9.51621439e-01 -3.92872706e-02 1.57241336e+02] [-1.58297249e-01 -9.93176862e-03 9.87341552e-01 7.36602343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:291.67, Y:157.22, Z:73.65 [[ 9.38382509e-01 3.09551542e-01 1.53675337e-01 2.91669358e+02] [-3.07228574e-01 9.50825986e-01 -3.92498210e-02 1.57221447e+02] [-1.58268346e-01 -1.03821092e-02 9.87341553e-01 7.36467566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:291.73, Y:157.21, Z:73.64 [[ 9.41460237e-01 3.00056314e-01 1.53684191e-01 2.91727571e+02] [-2.97613407e-01 9.53880723e-01 -3.92151228e-02 1.57214345e+02] [-1.58363132e-01 -8.81899693e-03 9.87341554e-01 7.36407974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:157.20, Z:73.63 [[ 9.43947945e-01 2.92131306e-01 1.53693128e-01 2.91784243e+02] [-2.89589766e-01 9.56348623e-01 -3.91800673e-02 1.57201046e+02] [-1.58429935e-01 -7.52401289e-03 9.87341554e-01 7.36346936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:157.19, Z:73.62 [[ 9.45800488e-01 2.86071901e-01 1.53701998e-01 2.91839946e+02] [-2.83456540e-01 9.58185807e-01 -3.91452380e-02 1.57187083e+02] [-1.58473426e-01 -6.54425133e-03 9.87341555e-01 7.36234773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:157.17, Z:73.62 [[ 9.47839406e-01 2.79237241e-01 1.53710845e-01 2.91895874e+02] [-2.76538177e-01 9.60206753e-01 -3.91104705e-02 1.57171968e+02] [-1.58515291e-01 -5.43647155e-03 9.87341556e-01 7.36159999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:157.16, Z:73.61 [[ 9.48651026e-01 2.76462522e-01 1.53719566e-01 2.91952168e+02] [-2.73732833e-01 9.61011649e-01 -3.90761610e-02 1.57157636e+02] [-1.58529388e-01 -5.00845222e-03 9.87341556e-01 7.36074495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:292.01, Y:157.14, Z:73.60 [[ 9.47883722e-01 2.79076888e-01 1.53728786e-01 2.92007499e+02] [-2.76387169e-01 9.60253103e-01 -3.90398555e-02 1.57143267e+02] [-1.58513666e-01 -5.48342047e-03 9.87341557e-01 7.35992668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:292.06, Y:157.13, Z:73.59 [[ 9.46338694e-01 2.84270186e-01 1.53732032e-01 2.92063248e+02] [-2.81650405e-01 9.58723076e-01 -3.90270712e-02 1.57129800e+02] [-1.58480679e-01 -6.36586148e-03 9.87341557e-01 7.35900644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:292.12, Y:157.11, Z:73.58 [[ 9.44593534e-01 2.90010935e-01 1.53742359e-01 2.92117742e+02] [-2.87473010e-01 9.56994949e-01 -3.89863469e-02 1.57113008e+02] [-1.58437128e-01 -7.37052750e-03 9.87341558e-01 7.35779023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:292.17, Y:157.10, Z:73.57 [[ 9.43909653e-01 2.92223438e-01 1.53753144e-01 2.92173559e+02] [-2.89721496e-01 9.56318377e-01 -3.89437685e-02 1.57099461e+02] [-1.58417239e-01 -7.78619181e-03 9.87341559e-01 7.35701278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:292.23, Y:157.09, Z:73.56 [[ 9.44133372e-01 2.91498075e-01 1.53756456e-01 2.92228754e+02] [-2.88988725e-01 9.56540600e-01 -3.89306867e-02 1.57085329e+02] [-1.58422513e-01 -7.67812160e-03 9.87341559e-01 7.35594113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:292.28, Y:157.07, Z:73.55 [[ 9.44630495e-01 2.89877456e-01 1.53766994e-01 2.92283052e+02] [-2.87353584e-01 9.57034776e-01 -3.88890193e-02 1.57071598e+02] [-1.58433411e-01 -7.44974333e-03 9.87341560e-01 7.35490969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:292.34, Y:157.06, Z:73.54 [[ 9.45190164e-01 2.88044911e-01 1.53771528e-01 2.92337987e+02] [-2.85499899e-01 9.57590125e-01 -3.88710850e-02 1.57056794e+02] [-1.58446715e-01 -7.16118839e-03 9.87341560e-01 7.35370248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:292.39, Y:157.04, Z:73.53 [[ 9.46604790e-01 2.83355543e-01 1.53782340e-01 2.92393553e+02] [-2.80756033e-01 9.58993439e-01 -3.88282646e-02 1.57043659e+02] [-1.58478459e-01 -6.42029837e-03 9.87341561e-01 7.35302720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:157.03, Z:73.52 [[ 9.47636519e-01 2.79883181e-01 1.53786975e-01 2.92448152e+02] [-2.77241245e-01 9.60016190e-01 -3.88098969e-02 1.57028833e+02] [-1.58500223e-01 -5.85841670e-03 9.87341561e-01 7.35202006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:292.50, Y:157.01, Z:73.51 [[ 9.47251284e-01 2.81178592e-01 1.53797286e-01 2.92503496e+02] [-2.78560215e-01 9.59635958e-01 -3.87689912e-02 1.57012939e+02] [-1.58490417e-01 -6.11782849e-03 9.87341562e-01 7.35076512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:292.56, Y:157.00, Z:73.50 [[ 9.46370147e-01 2.84125033e-01 1.53806732e-01 2.92559906e+02] [-2.81551295e-01 9.58764174e-01 -3.87314820e-02 1.56997130e+02] [-1.58468968e-01 -6.65016625e-03 9.87341563e-01 7.34987864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:292.62, Y:156.99, Z:73.49 [[ 9.46066182e-01 2.85130873e-01 1.53815360e-01 2.92617045e+02] [-2.82575875e-01 9.58464085e-01 -3.86971869e-02 1.56985419e+02] [-1.58460261e-01 -6.85441019e-03 9.87341563e-01 7.34944380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:292.67, Y:156.97, Z:73.48 [[ 9.46929606e-01 2.82247481e-01 1.53820290e-01 2.92671842e+02] [-2.79657906e-01 9.59320333e-01 -3.86775801e-02 1.56969452e+02] [-1.58479582e-01 -6.39211458e-03 9.87341564e-01 7.34797578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:292.73, Y:156.95, Z:73.47 [[ 9.47934911e-01 2.78847369e-01 1.53829610e-01 2.92726252e+02] [-2.76219355e-01 9.60317542e-01 -3.86404798e-02 1.56953494e+02] [-1.58500069e-01 -5.86205586e-03 9.87341564e-01 7.34681325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:292.78, Y:156.94, Z:73.46 [[ 9.49082643e-01 2.74912862e-01 1.53834504e-01 2.92782349e+02] [-2.72236663e-01 9.61454949e-01 -3.86209864e-02 1.56941554e+02] [-1.58522351e-01 -5.22488405e-03 9.87341564e-01 7.34592307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:292.84, Y:156.93, Z:73.45 [[ 9.49725673e-01 2.72677059e-01 1.53845274e-01 2.92838013e+02] [-2.69978682e-01 9.62093159e-01 -3.85780358e-02 1.56928561e+02] [-1.58532831e-01 -4.89639330e-03 9.87341565e-01 7.34513425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:292.89, Y:156.91, Z:73.44 [[ 9.49640156e-01 2.72972870e-01 1.53848584e-01 2.92893570e+02] [-2.70280481e-01 9.62008948e-01 -3.85648328e-02 1.56914437e+02] [-1.58530867e-01 -4.95955541e-03 9.87341566e-01 7.34413812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:156.90, Z:73.44 [[ 9.48549675e-01 2.76732451e-01 1.53859238e-01 2.92949663e+02] [-2.74095971e-01 9.60930503e-01 -3.85222805e-02 1.56900692e+02] [-1.58508400e-01 -5.63190057e-03 9.87341566e-01 7.34364275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:156.89, Z:73.43 [[ 9.48663130e-01 2.76341444e-01 1.53862512e-01 2.93006410e+02] [-2.73701981e-01 9.61043322e-01 -3.85092001e-02 1.56887294e+02] [-1.58510227e-01 -5.58021583e-03 9.87341567e-01 7.34307428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:156.87, Z:73.42 [[ 9.50609211e-01 2.69565856e-01 1.53871299e-01 2.93061142e+02] [-2.66843812e-01 9.62971509e-01 -3.84740583e-02 1.56871302e+02] [-1.58544969e-01 -4.48580963e-03 9.87341567e-01 7.34196614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:156.86, Z:73.41 [[ 9.53178898e-01 2.60327392e-01 1.53881892e-01 2.93117488e+02] [-2.57492344e-01 9.65515770e-01 -3.84316408e-02 1.56857501e+02] [-1.58580203e-01 -2.99118010e-03 9.87341568e-01 7.34091464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:156.84, Z:73.40 [[ 9.54796790e-01 2.54323849e-01 1.53891099e-01 2.93171945e+02] [-2.51417167e-01 9.67116980e-01 -3.83947413e-02 1.56842576e+02] [-1.58595393e-01 -2.03168823e-03 9.87341569e-01 7.33971202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:156.83, Z:73.39 [[ 9.55497676e-01 2.51675834e-01 1.53894335e-01 2.93228209e+02] [-2.48737097e-01 9.67810259e-01 -3.83817644e-02 1.56828092e+02] [-1.58600279e-01 -1.60554341e-03 9.87341569e-01 7.33879180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:293.28, Y:156.81, Z:73.38 [[ 9.55514215e-01 2.51607514e-01 1.53903357e-01 2.93284003e+02] [-2.48673728e-01 9.67827978e-01 -3.83455559e-02 1.56813730e+02] [-1.58600005e-01 -1.63199769e-03 9.87341570e-01 7.33761548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:156.80, Z:73.37 [[ 9.54767874e-01 2.54419316e-01 1.53912699e-01 2.93340700e+02] [-2.51527841e-01 9.67091640e-01 -3.83080208e-02 1.56800549e+02] [-1.58593985e-01 -2.13806137e-03 9.87341570e-01 7.33702404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:156.79, Z:73.36 [[ 9.54151316e-01 2.56716252e-01 1.53922165e-01 2.93397289e+02] [-2.53860584e-01 9.66483427e-01 -3.82699500e-02 1.56787728e+02] [-1.58587740e-01 -2.55944744e-03 9.87341571e-01 7.33640324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:293.45, Y:156.77, Z:73.35 [[ 9.54175537e-01 2.56620647e-01 1.53931442e-01 2.93453928e+02] [-2.53769767e-01 9.66508755e-01 -3.82325985e-02 1.56774994e+02] [-1.58587361e-01 -2.58253590e-03 9.87341572e-01 7.33547299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:293.51, Y:156.76, Z:73.35 [[ 9.55322352e-01 2.52312158e-01 1.53940831e-01 2.93509724e+02] [-2.49411747e-01 9.67644015e-01 -3.81947583e-02 1.56761632e+02] [-1.58596926e-01 -1.90634535e-03 9.87341573e-01 7.33464484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters Centerline goodness : 0.998394 with order 1 Centerline is valid? [True, True] Translation: X:293.56, Y:156.75, Z:73.34 [[ 9.56805802e-01 2.46624943e-01 1.53944126e-01 2.93564709e+02] [-2.43653425e-01 9.69110512e-01 -3.81814717e-02 1.56747389e+02] [-1.58605374e-01 -9.76759997e-04 9.87341573e-01 7.33360821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:293.62, Y:156.73, Z:73.32 [[ 9.57157397e-01 2.45250416e-01 1.53954377e-01 2.93619566e+02] [-2.42267884e-01 9.69459440e-01 -3.81400934e-02 1.56730411e+02] [-1.58606398e-01 -7.92128661e-04 9.87341574e-01 7.33218542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters Centerline goodness : 0.998004 with order 1 Centerline is valid? [True, True] Translation: X:293.68, Y:156.72, Z:73.32 [[ 9.57116562e-01 2.45404074e-01 1.53963393e-01 2.93677005e+02] [-2.42429376e-01 9.69420501e-01 -3.81036631e-02 1.56718118e+02] [-1.58606064e-01 -8.55602354e-04 9.87341574e-01 7.33152409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters Centerline goodness : 0.997931 with order 1 Centerline is valid? [True, True] Translation: X:293.73, Y:156.70, Z:73.31 [[ 9.57268436e-01 2.44805145e-01 1.53972667e-01 2.93732822e+02] [-2.41828782e-01 9.69571972e-01 -3.80661545e-02 1.56703981e+02] [-1.58606372e-01 -7.95494215e-04 9.87341575e-01 7.33067054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters Centerline goodness : 0.998240 with order 1 Centerline is valid? [True, True] Translation: X:293.79, Y:156.69, Z:73.30 [[ 9.56934681e-01 2.46099813e-01 1.53983438e-01 2.93787672e+02] [-2.43147114e-01 9.69243916e-01 -3.80225337e-02 1.56687745e+02] [-1.58604849e-01 -1.05554742e-03 9.87341576e-01 7.32963391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:156.66, Z:73.28 [[ 9.51629782e-01 2.65869481e-01 1.53994081e-01 2.93838885e+02] [-2.63179373e-01 9.63999058e-01 -3.79793815e-02 1.56656561e+02] [-1.58547707e-01 -4.38575506e-03 9.87341577e-01 7.32828983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:156.66, Z:73.28 [[ 9.54993153e-01 2.53521348e-01 1.53996764e-01 2.93900234e+02] [-2.50673009e-01 9.67326954e-01 -3.79684998e-02 1.56659620e+02] [-1.58591046e-01 -2.34317471e-03 9.87341577e-01 7.32826135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:293.95, Y:156.64, Z:73.27 [[ 9.55379672e-01 2.52055315e-01 1.54005847e-01 2.93954957e+02] [-2.49193993e-01 9.67710466e-01 -3.79316204e-02 1.56641835e+02] [-1.58593937e-01 -2.13823287e-03 9.87341578e-01 7.32700335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:294.01, Y:156.62, Z:73.26 [[ 9.56542025e-01 2.47602257e-01 1.54014534e-01 2.94009447e+02] [-2.44689210e-01 9.68860702e-01 -3.78963181e-02 1.56624592e+02] [-1.58601843e-01 -1.43627377e-03 9.87341578e-01 7.32577607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:294.06, Y:156.61, Z:73.25 [[ 9.58257893e-01 2.40869368e-01 1.54025186e-01 2.94063624e+02] [-2.37876730e-01 9.70557476e-01 -3.78529749e-02 1.56606547e+02] [-1.58607918e-01 -3.66095551e-04 9.87341579e-01 7.32482289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:294.12, Y:156.59, Z:73.24 [[ 9.59022066e-01 2.37806459e-01 1.54028456e-01 2.94118306e+02] [-2.34776677e-01 9.71312551e-01 -3.78396650e-02 1.56589469e+02] [-1.58608289e-01 1.26784830e-04 9.87341580e-01 7.32367292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:294.17, Y:156.57, Z:73.23 [[ 9.59200574e-01 2.37079362e-01 1.54037772e-01 2.94173538e+02] [-2.34046359e-01 9.71490264e-01 -3.78017003e-02 1.56572410e+02] [-1.58608199e-01 2.07432894e-04 9.87341580e-01 7.32295619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:156.56, Z:73.22 [[ 9.59373893e-01 2.36374895e-01 1.54041042e-01 2.94230361e+02] [-2.33335008e-01 9.71661882e-01 -3.77883720e-02 1.56558220e+02] [-1.58608031e-01 3.10009679e-04 9.87341580e-01 7.32212593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:294.28, Y:156.51, Z:73.20 [[ 9.54661373e-01 2.54735793e-01 1.54049795e-01 2.94278736e+02] [-2.51937956e-01 9.67006723e-01 -3.77526573e-02 1.56514101e+02] [-1.58584140e-01 -2.76998676e-03 9.87341581e-01 7.31999830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:156.50, Z:73.18 [[ 9.50807877e-01 2.68761805e-01 1.54050230e-01 2.94333850e+02] [-2.66146296e-01 9.63193138e-01 -3.77508804e-02 1.56499696e+02] [-1.58526119e-01 -5.10606362e-03 9.87341581e-01 7.31838245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:294.39, Y:156.50, Z:73.18 [[ 9.46143812e-01 2.84741332e-01 1.54059277e-01 2.94394639e+02] [-2.82340843e-01 9.58572537e-01 -3.77139237e-02 1.56498623e+02] [-1.58415705e-01 -7.81443064e-03 9.87341582e-01 7.31766637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:294.45, Y:156.48, Z:73.17 [[ 9.44582784e-01 2.89877051e-01 1.54060573e-01 2.94449471e+02] [-2.87544977e-01 9.57024527e-01 -3.77086311e-02 1.56482830e+02] [-1.58370614e-01 -8.68042006e-03 9.87341582e-01 7.31665702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters Centerline goodness : 0.998645 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:156.47, Z:73.15 [[ 9.47667248e-01 2.79626806e-01 1.54063743e-01 2.94504260e+02] [-2.77162181e-01 9.60083414e-01 -3.76956729e-02 1.56471008e+02] [-1.58454765e-01 -6.97768857e-03 9.87341582e-01 7.31534588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:156.46, Z:73.15 [[ 9.47716840e-01 2.79455733e-01 1.54069088e-01 2.94564787e+02] [-2.76992413e-01 9.60133265e-01 -3.76738147e-02 1.56463776e+02] [-1.58455020e-01 -6.97185992e-03 9.87341582e-01 7.31528470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters Centerline goodness : 0.997824 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:156.45, Z:73.15 [[ 9.47319606e-01 2.80798647e-01 1.54070385e-01 2.94621980e+02] [-2.78353788e-01 9.59739679e-01 -3.76685107e-02 1.56452279e+02] [-1.58444729e-01 -7.20195666e-03 9.87341582e-01 7.31458414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters Centerline goodness : 0.997325 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:156.44, Z:73.14 [[ 9.47388798e-01 2.80563695e-01 1.54072963e-01 2.94679280e+02] [-2.78117468e-01 9.59808602e-01 -3.76579652e-02 1.56442432e+02] [-1.58446013e-01 -7.17364789e-03 9.87341582e-01 7.31430121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters Centerline goodness : 0.996991 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:156.43, Z:73.13 [[ 9.43688562e-01 2.92766874e-01 1.54076138e-01 2.94736426e+02] [-2.90483249e-01 9.56139288e-01 -3.76449666e-02 1.56427306e+02] [-1.58339449e-01 -9.23141287e-03 9.87341582e-01 7.31333819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters Centerline goodness : 0.997281 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:156.42, Z:73.13 [[ 9.44276856e-01 2.90863507e-01 1.54076735e-01 2.94796200e+02] [-2.88555179e-01 9.56723026e-01 -3.76425249e-02 1.56418494e+02] [-1.58357597e-01 -8.91467480e-03 9.87341582e-01 7.31260843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:156.40, Z:73.11 [[ 9.43224502e-01 2.94258028e-01 1.54077098e-01 2.94851525e+02] [-2.91994724e-01 9.55678938e-01 -3.76410386e-02 1.56403395e+02] [-1.58324415e-01 -9.48574989e-03 9.87341582e-01 7.31146819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:156.39, Z:73.10 [[ 9.39135144e-01 3.07055038e-01 1.54085642e-01 2.94907451e+02] [-3.04966986e-01 9.51620157e-01 -3.76060298e-02 1.56390445e+02] [-1.58178124e-01 -1.16738899e-02 9.87341583e-01 7.31021680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:294.96, Y:156.38, Z:73.09 [[ 9.37807104e-01 3.11083334e-01 1.54094110e-01 2.94962344e+02] [-3.09054560e-01 9.50301887e-01 -3.75713025e-02 1.56377350e+02] [-1.58123729e-01 -1.23888529e-02 9.87341584e-01 7.30906067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:156.37, Z:73.08 [[ 9.40729413e-01 3.02126161e-01 1.54103711e-01 2.95020752e+02] [-2.99984754e-01 9.53205385e-01 -3.75318791e-02 1.56365904e+02] [-1.58231850e-01 -1.09214214e-02 9.87341584e-01 7.30828752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters Centerline goodness : 0.998266 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:156.37, Z:73.07 [[ 9.39942645e-01 3.04564750e-01 1.54104308e-01 2.95080763e+02] [-3.02456104e-01 9.52424195e-01 -3.75294287e-02 1.56367455e+02] [-1.58202813e-01 -1.13342781e-02 9.87341584e-01 7.30655092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:156.34, Z:73.07 [[ 9.38729277e-01 3.08284296e-01 1.54104308e-01 2.95136654e+02] [-3.06225090e-01 9.51219079e-01 -3.75294287e-02 1.56342321e+02] [-1.58156692e-01 -1.19606322e-02 9.87341584e-01 7.30656767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:156.34, Z:73.04 [[ 9.39533958e-01 3.05822844e-01 1.54104928e-01 2.95194075e+02] [-3.03731325e-01 9.52018390e-01 -3.75268814e-02 1.56336581e+02] [-1.58187304e-01 -1.15487147e-02 9.87341584e-01 7.30442330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:295.25, Y:156.32, Z:73.03 [[ 9.37465209e-01 3.12106503e-01 1.54105527e-01 2.95249238e+02] [-3.10099020e-01 9.49963428e-01 -3.75244250e-02 1.56321288e+02] [-1.58106231e-01 -1.26101299e-02 9.87341584e-01 7.30346054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:295.31, Y:156.31, Z:73.02 [[ 9.33378569e-01 3.24118712e-01 1.54115243e-01 2.95305557e+02] [-3.22278419e-01 9.45902497e-01 -3.74844774e-02 1.56306378e+02] [-1.57927414e-01 -1.46808090e-02 9.87341585e-01 7.30224228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:295.36, Y:156.29, Z:73.01 [[ 9.29083393e-01 3.36232303e-01 1.54116471e-01 2.95361119e+02] [-3.34555900e-01 9.41630311e-01 -3.74794290e-02 1.56290726e+02] [-1.57722535e-01 -1.67390595e-02 9.87341585e-01 7.30088871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:295.42, Y:156.27, Z:73.01 [[ 9.26146970e-01 3.44237028e-01 1.54118972e-01 2.95417598e+02] [-3.42670646e-01 9.38708097e-01 -3.74691421e-02 1.56271221e+02] [-1.57570993e-01 -1.81101151e-02 9.87341585e-01 7.30110406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:295.47, Y:156.26, Z:72.99 [[ 9.24092491e-01 3.49713955e-01 1.54120792e-01 2.95473861e+02] [-3.48223194e-01 9.36662817e-01 -3.74616526e-02 1.56263201e+02] [-1.57460078e-01 -1.90504026e-02 9.87341585e-01 7.29925938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:156.25, Z:72.99 [[ 9.23655457e-01 3.50863017e-01 1.54128974e-01 2.95530500e+02] [-3.49393426e-01 9.36228274e-01 -3.74279606e-02 1.56249226e+02] [-1.57431990e-01 -1.92811101e-02 9.87341586e-01 7.29850737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:295.59, Y:156.24, Z:72.97 [[ 9.24708566e-01 3.48074410e-01 1.54137188e-01 2.95585786e+02] [-3.46572448e-01 9.37277557e-01 -3.73941007e-02 1.56236570e+02] [-1.57485257e-01 -1.88410575e-02 9.87341586e-01 7.29746852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:295.64, Y:156.22, Z:72.96 [[ 9.27245655e-01 3.41253771e-01 1.54147199e-01 2.95641233e+02] [-3.39666045e-01 9.39804100e-01 -3.73527911e-02 1.56224847e+02] [-1.57614950e-01 -1.77233560e-02 9.87341587e-01 7.29646352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:295.70, Y:156.21, Z:72.97 [[ 9.29984669e-01 3.33715759e-01 1.54150274e-01 2.95698765e+02] [-3.32028225e-01 9.42530092e-01 -3.73400934e-02 1.56207096e+02] [-1.57752250e-01 -1.64565276e-02 9.87341587e-01 7.29669855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:295.75, Y:156.20, Z:72.95 [[ 9.30361829e-01 3.32658843e-01 1.54158880e-01 2.95754909e+02] [-3.30962883e-01 9.42906115e-01 -3.73045311e-02 1.56200337e+02] [-1.57767033e-01 -1.63141556e-02 9.87341588e-01 7.29498400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:156.19, Z:72.94 [[ 9.30113382e-01 3.33348973e-01 1.54167312e-01 2.95810505e+02] [-3.31668034e-01 9.42659689e-01 -3.72696533e-02 1.56187292e+02] [-1.57751111e-01 -1.64673659e-02 9.87341589e-01 7.29418544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:156.17, Z:72.94 [[ 9.28049961e-01 3.39046778e-01 1.54177014e-01 2.95867083e+02] [-3.37449402e-01 9.40607180e-01 -3.72294754e-02 1.56173789e+02] [-1.57642540e-01 -1.74761279e-02 9.87341590e-01 7.29425268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:295.92, Y:156.16, Z:72.93 [[ 9.26257410e-01 3.43911395e-01 1.54182238e-01 2.95922696e+02] [-3.42383479e-01 9.38823269e-01 -3.72078293e-02 1.56163480e+02] [-1.57546069e-01 -1.83254233e-02 9.87341590e-01 7.29265653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:295.98, Y:156.15, Z:72.92 [[ 9.24435662e-01 3.48774900e-01 1.54190713e-01 2.95978388e+02] [-3.47318822e-01 9.37010047e-01 -3.71726746e-02 1.56150555e+02] [-1.57443143e-01 -1.91895907e-02 9.87341590e-01 7.29199792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:296.03, Y:156.14, Z:72.91 [[ 9.23655981e-01 3.50830271e-01 1.54200354e-01 2.96034471e+02] [-3.49408741e-01 9.36234318e-01 -3.71326381e-02 1.56139067e+02] [-1.57394917e-01 -1.95811683e-02 9.87341591e-01 7.29127334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:296.09, Y:156.13, Z:72.90 [[ 9.25006946e-01 3.47248368e-01 1.54209990e-01 2.96089035e+02] [-3.45784683e-01 9.37580447e-01 -3.70925771e-02 1.56126115e+02] [-1.57464608e-01 -1.90125611e-02 9.87341592e-01 7.29037125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:296.14, Y:156.11, Z:72.89 [[ 9.28097830e-01 3.38898829e-01 1.54214144e-01 2.96144826e+02] [-3.37324735e-01 9.40657985e-01 -3.70753010e-02 1.56111922e+02] [-1.57627542e-01 -1.76107388e-02 9.87341592e-01 7.28903851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:296.20, Y:156.10, Z:72.88 [[ 9.31189500e-01 3.30305198e-01 1.54222541e-01 2.96199946e+02] [-3.28620793e-01 9.43735338e-01 -3.70403396e-02 1.56097709e+02] [-1.57779878e-01 -1.61891584e-02 9.87341593e-01 7.28775298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:296.26, Y:156.09, Z:72.87 [[ 9.35764290e-01 3.17108228e-01 1.54232179e-01 2.96255097e+02] [-3.15253201e-01 9.48286036e-01 -3.70001653e-02 1.56086012e+02] [-1.57989278e-01 -1.39987546e-02 9.87341594e-01 7.28659626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:296.31, Y:156.07, Z:72.85 [[ 9.38994772e-01 3.07405700e-01 1.54241870e-01 2.96310837e+02] [-3.05427768e-01 9.51497692e-01 -3.69597221e-02 1.56071860e+02] [-1.58122412e-01 -1.24047642e-02 9.87341595e-01 7.28526308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:296.37, Y:156.05, Z:72.85 [[ 9.42139301e-01 2.97624537e-01 1.54250356e-01 2.96366875e+02] [-2.95522471e-01 9.54621950e-01 -3.69242709e-02 1.56053673e+02] [-1.58240345e-01 -1.07966397e-02 9.87341595e-01 7.28461609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:296.43, Y:156.05, Z:72.84 [[ 9.45470689e-01 2.86861059e-01 1.54259230e-01 2.96425825e+02] [-2.84622811e-01 9.57929639e-01 -3.68871634e-02 1.56051127e+02] [-1.58350979e-01 -9.02996376e-03 9.87341596e-01 7.28441025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:296.48, Y:156.04, Z:72.84 [[ 9.46482411e-01 2.83503409e-01 1.54262318e-01 2.96482747e+02] [-2.81223053e-01 9.58933723e-01 -3.68742427e-02 1.56038978e+02] [-1.58381313e-01 -8.48129783e-03 9.87341596e-01 7.28397926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:296.54, Y:156.03, Z:72.83 [[ 9.46816574e-01 2.82380068e-01 1.54272073e-01 2.96538415e+02] [-2.80091575e-01 9.59266392e-01 -3.68333875e-02 1.56026422e+02] [-1.58389029e-01 -8.33584613e-03 9.87341597e-01 7.28322973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:296.59, Y:156.01, Z:72.82 [[ 9.45308668e-01 2.87382455e-01 1.54281714e-01 2.96592456e+02] [-2.85166397e-01 9.57771582e-01 -3.67929613e-02 1.56006755e+02] [-1.58340293e-01 -9.21525527e-03 9.87341598e-01 7.28187614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:296.65, Y:156.00, Z:72.82 [[ 9.47385303e-01 2.80455459e-01 1.54291357e-01 2.96650587e+02] [-2.78154812e-01 9.59832879e-01 -3.67524793e-02 1.56002003e+02] [-1.58401351e-01 -8.09812444e-03 9.87341599e-01 7.28161749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:296.71, Y:155.99, Z:72.80 [[ 9.47501515e-01 2.80060377e-01 1.54295380e-01 2.96705789e+02] [-2.77757283e-01 9.59948639e-01 -3.67355827e-02 1.55987273e+02] [-1.58403821e-01 -8.04964520e-03 9.87341599e-01 7.28044158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:296.76, Y:155.97, Z:72.79 [[ 9.47989340e-01 2.78400017e-01 1.54303732e-01 2.96761397e+02] [-2.76080822e-01 9.60433473e-01 -3.67004671e-02 1.55974456e+02] [-1.58415880e-01 -7.80864953e-03 9.87341599e-01 7.27920148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:296.82, Y:155.96, Z:72.78 [[ 9.49526419e-01 2.73106719e-01 1.54312347e-01 2.96816997e+02] [-2.70724013e-01 9.61958546e-01 -3.66642083e-02 1.55962403e+02] [-1.58455323e-01 -6.96242341e-03 9.87341600e-01 7.27810601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:155.95, Z:72.77 [[ 9.50973858e-01 2.68017395e-01 1.54322381e-01 2.96872213e+02] [-2.65574990e-01 9.63394394e-01 -3.66219240e-02 1.55950072e+02] [-1.58488630e-01 -6.15767261e-03 9.87341601e-01 7.27711110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:296.93, Y:155.94, Z:72.76 [[ 9.52754458e-01 2.61611232e-01 1.54332454e-01 2.96928591e+02] [-2.59092169e-01 9.65159673e-01 -3.65794274e-02 1.55937736e+02] [-1.58525050e-01 -5.13511764e-03 9.87341602e-01 7.27635107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:296.99, Y:155.93, Z:72.76 [[ 9.53454355e-01 2.59042792e-01 1.54342559e-01 2.96985763e+02] [-2.56497210e-01 9.65854154e-01 -3.65367415e-02 1.55927632e+02] [-1.58536981e-01 -4.75232050e-03 9.87341603e-01 7.27591035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:297.04, Y:155.92, Z:72.76 [[ 9.53171475e-01 2.60075812e-01 1.54352554e-01 2.97043714e+02] [-2.57550507e-01 9.65575419e-01 -3.64944690e-02 1.55918906e+02] [-1.58530361e-01 -4.96809175e-03 9.87341604e-01 7.27554878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:297.10, Y:155.91, Z:72.75 [[ 9.52992475e-01 2.60729139e-01 1.54355626e-01 2.97098877e+02] [-2.58214441e-01 9.65398573e-01 -3.64814697e-02 1.55905745e+02] [-1.58526484e-01 -5.09028561e-03 9.87341604e-01 7.27454556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:297.15, Y:155.88, Z:72.72 [[ 9.50097964e-01 2.71081279e-01 1.54365794e-01 2.97151172e+02] [-2.68708679e-01 9.62532020e-01 -3.64383945e-02 1.55878030e+02] [-1.58459786e-01 -6.85938423e-03 9.87341605e-01 7.27215008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:297.21, Y:155.88, Z:72.73 [[ 9.53628201e-01 2.58387779e-01 1.54366477e-01 2.97214407e+02] [-2.55850052e-01 9.66029609e-01 -3.64355040e-02 1.55879899e+02] [-1.58537076e-01 -4.74874687e-03 9.87341605e-01 7.27273050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:155.86, Z:72.72 [[ 9.53809099e-01 2.57718418e-01 1.54367804e-01 2.97268667e+02] [-2.55172898e-01 9.66208909e-01 -3.64298774e-02 1.55864373e+02] [-1.58540198e-01 -4.64333146e-03 9.87341605e-01 7.27152684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:297.32, Y:155.85, Z:72.70 [[ 9.53820835e-01 2.57669165e-01 1.54377512e-01 2.97323784e+02] [-2.55129663e-01 9.66221878e-01 -3.63886951e-02 1.55849207e+02] [-1.58539174e-01 -4.67798706e-03 9.87341606e-01 7.27026365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:155.84, Z:72.70 [[ 9.53460139e-01 2.58995561e-01 1.54386084e-01 2.97380044e+02] [-2.56479199e-01 9.65865897e-01 -3.63522884e-02 1.55836645e+02] [-1.58531335e-01 -4.93636125e-03 9.87341607e-01 7.26965850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:297.44, Y:155.82, Z:72.69 [[ 9.52798718e-01 2.61412593e-01 1.54395785e-01 2.97436708e+02] [-2.58934374e-01 9.65212152e-01 -3.63110399e-02 1.55824860e+02] [-1.58516851e-01 -5.38126377e-03 9.87341607e-01 7.26895680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:297.49, Y:155.81, Z:72.69 [[ 9.53174137e-01 2.60034578e-01 1.54405582e-01 2.97494194e+02] [-2.57545160e-01 9.65585328e-01 -3.62693353e-02 1.55814804e+02] [-1.58523046e-01 -5.19541791e-03 9.87341608e-01 7.26867999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:155.80, Z:72.68 [[ 9.53448011e-01 2.59022589e-01 1.54415636e-01 2.97549129e+02] [-2.56526930e-01 9.65857948e-01 -3.62264820e-02 1.55803677e+02] [-1.58527046e-01 -5.07170172e-03 9.87341609e-01 7.26789885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:155.79, Z:72.67 [[ 9.54575393e-01 2.54832375e-01 1.54422410e-01 2.97605788e+02] [-2.52286904e-01 9.66975208e-01 -3.61975836e-02 1.55789066e+02] [-1.58546958e-01 -4.40542903e-03 9.87341610e-01 7.26698789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:155.78, Z:72.66 [[ 9.55514418e-01 2.51283457e-01 1.54430634e-01 2.97661736e+02] [-2.48697599e-01 9.67905874e-01 -3.61624627e-02 1.55777365e+02] [-1.58561346e-01 -3.85277328e-03 9.87341610e-01 7.26619182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:155.77, Z:72.65 [[ 9.56235600e-01 2.48523025e-01 1.54433752e-01 2.97718455e+02] [-2.45903544e-01 9.68619991e-01 -3.61491406e-02 1.55765417e+02] [-1.58571513e-01 -3.40871189e-03 9.87341611e-01 7.26542399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:155.75, Z:72.64 [[ 9.56790914e-01 2.46370910e-01 1.54442613e-01 2.97773920e+02] [-2.43729686e-01 9.69170686e-01 -3.61112440e-02 1.55750408e+02] [-1.58578013e-01 -3.09133934e-03 9.87341611e-01 7.26433282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:155.74, Z:72.63 [[ 9.56570570e-01 2.47219567e-01 1.54451384e-01 2.97828062e+02] [-2.44595386e-01 9.68953965e-01 -3.60736929e-02 1.55735568e+02] [-1.58574403e-01 -3.27106277e-03 9.87341612e-01 7.26292027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:297.88, Y:155.72, Z:72.62 [[ 9.55811332e-01 2.50136988e-01 1.54454474e-01 2.97883498e+02] [-2.47552740e-01 9.68203122e-01 -3.60604551e-02 1.55721129e+02] [-1.58563358e-01 -3.76863670e-03 9.87341612e-01 7.26196843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:297.94, Y:155.71, Z:72.61 [[ 9.54816380e-01 2.53902343e-01 1.54464494e-01 2.97939391e+02] [-2.51373902e-01 9.67219676e-01 -3.60174861e-02 1.55707579e+02] [-1.58546022e-01 -4.43825688e-03 9.87341613e-01 7.26110065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:297.99, Y:155.68, Z:72.60 [[ 9.50749433e-01 2.68729024e-01 1.54467560e-01 2.97991666e+02] [-2.66396023e-01 9.63190971e-01 -3.60043322e-02 1.55680466e+02] [-1.58457168e-01 -6.91844528e-03 9.87341613e-01 7.25955285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:298.05, Y:155.68, Z:72.60 [[ 9.52970176e-01 2.60742843e-01 1.54470108e-01 2.98052829e+02] [-2.58307311e-01 9.65392049e-01 -3.59933969e-02 1.55681366e+02] [-1.58509235e-01 -5.60012450e-03 9.87341613e-01 7.25954045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters Centerline goodness : 0.998554 with order 1 Centerline is valid? [True, True] Translation: X:298.11, Y:155.67, Z:72.59 [[ 9.53149098e-01 2.60082842e-01 1.54478838e-01 2.98107907e+02] [-2.57644780e-01 9.65570475e-01 -3.59558882e-02 1.55668315e+02] [-1.58511715e-01 -5.52934393e-03 9.87341614e-01 7.25880453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:298.16, Y:155.66, Z:72.58 [[ 9.54456593e-01 2.55238695e-01 1.54485665e-01 2.98163324e+02] [-2.52742326e-01 9.66866382e-01 -3.59265327e-02 1.55656206e+02] [-1.58536838e-01 -4.75475035e-03 9.87341614e-01 7.25787932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:298.22, Y:155.64, Z:72.57 [[ 9.56926310e-01 2.45811324e-01 1.54495402e-01 2.98220153e+02] [-2.43199429e-01 9.69312299e-01 -3.58846144e-02 1.55643479e+02] [-1.58575138e-01 -3.23426182e-03 9.87341615e-01 7.25690692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:298.27, Y:155.63, Z:72.56 [[ 9.58908100e-01 2.37957551e-01 1.54503913e-01 2.98274864e+02] [-2.35250104e-01 9.71273553e-01 -3.58479314e-02 1.55629842e+02] [-1.58595851e-01 -1.97218986e-03 9.87341616e-01 7.25595415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:298.33, Y:155.62, Z:72.55 [[ 9.59305886e-01 2.36344509e-01 1.54510486e-01 2.98330561e+02] [-2.33620835e-01 9.71667774e-01 -3.58195788e-02 1.55618028e+02] [-1.58598621e-01 -1.73493602e-03 9.87341616e-01 7.25507557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:298.39, Y:155.61, Z:72.54 [[ 9.58732741e-01 2.38652543e-01 1.54520212e-01 2.98387302e+02] [-2.35965396e-01 9.71102619e-01 -3.57775758e-02 1.55605111e+02] [-1.58593392e-01 -2.16028961e-03 9.87341617e-01 7.25445246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:298.44, Y:155.59, Z:72.54 [[ 9.57872886e-01 2.42075308e-01 1.54528571e-01 2.98442868e+02] [-2.39438188e-01 9.70253526e-01 -3.57414341e-02 1.55592173e+02] [-1.58584010e-01 -2.76429040e-03 9.87341618e-01 7.25365506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:298.50, Y:155.58, Z:72.53 [[ 9.55802829e-01 2.50117683e-01 1.54538332e-01 2.98499043e+02] [-2.47591542e-01 9.68206588e-01 -3.56991798e-02 1.55578038e+02] [-1.58554027e-01 -4.14100700e-03 9.87341619e-01 7.25285929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:298.55, Y:155.56, Z:72.51 [[ 9.54105519e-01 2.56511131e-01 1.54546753e-01 2.98553507e+02] [-2.54073994e-01 9.66527071e-01 -3.56626888e-02 1.55560829e+02] [-1.58521497e-01 -5.24034254e-03 9.87341620e-01 7.25148184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:298.61, Y:155.55, Z:72.50 [[ 9.54300372e-01 2.55780185e-01 1.54555159e-01 2.98609620e+02] [-2.53339433e-01 9.66721213e-01 -3.56262191e-02 1.55546068e+02] [-1.58524232e-01 -5.15680233e-03 9.87341620e-01 7.25031160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:298.67, Y:155.53, Z:72.49 [[ 9.55418550e-01 2.51566033e-01 1.54563664e-01 2.98665185e+02] [-2.49076456e-01 9.67829697e-01 -3.55892857e-02 1.55532827e+02] [-1.58544359e-01 -4.49550591e-03 9.87341621e-01 7.24948286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:155.52, Z:72.48 [[ 9.56394284e-01 2.47828819e-01 1.54566651e-01 2.98720708e+02] [-2.45292835e-01 9.68796032e-01 -3.55763067e-02 1.55517900e+02] [-1.58560392e-01 -3.88911564e-03 9.87341621e-01 7.24831098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:298.78, Y:155.50, Z:72.47 [[ 9.57476916e-01 2.43607329e-01 1.54574983e-01 2.98775493e+02] [-2.41022508e-01 9.69868576e-01 -3.55400704e-02 1.55501799e+02] [-1.58575240e-01 -3.22725297e-03 9.87341622e-01 7.24713760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:298.83, Y:155.49, Z:72.46 [[ 9.58565498e-01 2.39281764e-01 1.54584684e-01 2.98831288e+02] [-2.36647831e-01 9.70946811e-01 -3.54978234e-02 1.55487661e+02] [-1.58587488e-01 -2.55514140e-03 9.87341623e-01 7.24617062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters Centerline goodness : 0.998078 with order 1 Centerline is valid? [True, True] Translation: X:298.89, Y:155.48, Z:72.45 [[ 9.57982218e-01 2.41600207e-01 1.54594341e-01 2.98886485e+02] [-2.39003029e-01 9.70371292e-01 -3.54557166e-02 1.55476289e+02] [-1.58580019e-01 -2.98256988e-03 9.87341624e-01 7.24541103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:298.94, Y:155.45, Z:72.45 [[ 9.52479941e-01 2.62452408e-01 1.54598495e-01 2.98939936e+02] [-2.60129199e-01 9.64923301e-01 -3.54375947e-02 1.55447781e+02] [-1.58476373e-01 -6.46198473e-03 9.87341624e-01 7.24465938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:299.00, Y:155.44, Z:72.44 [[ 9.51138186e-01 2.67269247e-01 1.54606924e-01 2.98996596e+02] [-2.65015010e-01 9.63594224e-01 -3.54007852e-02 1.55436117e+02] [-1.58439880e-01 -7.30211687e-03 9.87341625e-01 7.24352705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:299.06, Y:155.45, Z:72.42 [[ 9.54568308e-01 2.54742039e-01 1.54615130e-01 2.99057876e+02] [-2.52330048e-01 9.66994762e-01 -3.53649095e-02 1.55445740e+02] [-1.58520950e-01 -5.25582134e-03 9.87341625e-01 7.24240122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters Centerline goodness : 0.997993 with order 1 Centerline is valid? [True, True] Translation: X:299.11, Y:155.41, Z:72.41 [[ 9.52065334e-01 2.63939902e-01 1.54619949e-01 2.99108424e+02] [-2.61651331e-01 9.64515109e-01 -3.53438286e-02 1.55413965e+02] [-1.58461923e-01 -6.80688142e-03 9.87341625e-01 7.24115186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:299.17, Y:155.42, Z:72.40 [[ 9.55082229e-01 2.52799457e-01 1.54629784e-01 2.99169259e+02] [-2.50372567e-01 9.67505780e-01 -3.53007468e-02 1.55422506e+02] [-1.58529219e-01 -4.99994002e-03 9.87341626e-01 7.24027694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:155.39, Z:72.38 [[ 9.51342221e-01 2.66523982e-01 1.54638112e-01 2.99217835e+02] [-2.64282133e-01 9.63800492e-01 -3.52642265e-02 1.55385326e+02] [-1.58439051e-01 -7.31974265e-03 9.87341627e-01 7.23813362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters Centerline goodness : 0.997860 with order 1 Centerline is valid? [True, True] Translation: X:299.27, Y:155.37, Z:72.38 [[ 9.49399694e-01 2.73358210e-01 1.54646406e-01 2.99274246e+02] [-2.71211919e-01 9.61874782e-01 -3.52278203e-02 1.55372768e+02] [-1.58380292e-01 -8.49666663e-03 9.87341628e-01 7.23752047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters Centerline goodness : 0.998085 with order 1 Centerline is valid? [True, True] Translation: X:299.33, Y:155.36, Z:72.37 [[ 9.48233519e-01 2.77374828e-01 1.54649273e-01 2.99331175e+02] [-2.75283413e-01 9.60717924e-01 -3.52152282e-02 1.55362954e+02] [-1.58342146e-01 -9.18011982e-03 9.87341628e-01 7.23711151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:155.36, Z:72.37 [[ 9.47382082e-01 2.80264045e-01 1.54658517e-01 2.99389372e+02] [-2.78217305e-01 9.59873888e-01 -3.51745844e-02 1.55355442e+02] [-1.58310843e-01 -9.70490469e-03 9.87341629e-01 7.23668760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:155.34, Z:72.36 [[ 9.47325788e-01 2.80452654e-01 1.54661439e-01 2.99444827e+02] [-2.78410491e-01 9.59818343e-01 -3.51617328e-02 1.55343696e+02] [-1.58308087e-01 -9.74975080e-03 9.87341629e-01 7.23580939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:155.34, Z:72.35 [[ 9.50041004e-01 2.71110750e-01 1.54664323e-01 2.99501160e+02] [-2.68947732e-01 9.62513201e-01 -3.51490401e-02 1.55335183e+02] [-1.58395736e-01 -8.20358967e-03 9.87341629e-01 7.23492885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:299.56, Y:155.33, Z:72.34 [[ 9.52030137e-01 2.64039190e-01 1.54667142e-01 2.99558413e+02] [-2.61785506e-01 9.64486270e-01 -3.51366342e-02 1.55326817e+02] [-1.58451783e-01 -7.03848130e-03 9.87341629e-01 7.23408460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters Centerline goodness : 0.998169 with order 1 Centerline is valid? [True, True] Translation: X:299.61, Y:155.31, Z:72.33 [[ 9.53317992e-01 2.59345840e-01 1.54675601e-01 2.99613838e+02] [-2.57036857e-01 9.65763993e-01 -3.50993539e-02 1.55313403e+02] [-1.58482998e-01 -6.29648491e-03 9.87341630e-01 7.23326992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:299.67, Y:155.31, Z:72.33 [[ 9.55738063e-01 2.50278432e-01 1.54678577e-01 2.99673662e+02] [-2.47853448e-01 9.68161983e-01 -3.50862378e-02 1.55313131e+02] [-1.58535246e-01 -4.80436556e-03 9.87341630e-01 7.23263198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:299.73, Y:155.30, Z:72.32 [[ 9.54563603e-01 2.54716221e-01 1.54686701e-01 2.99729588e+02] [-2.52354788e-01 9.66999758e-01 -3.50503828e-02 1.55301046e+02] [-1.58509904e-01 -5.57810997e-03 9.87341630e-01 7.23192752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:299.79, Y:155.29, Z:72.31 [[ 9.53720391e-01 2.57853727e-01 1.54689596e-01 2.99785560e+02] [-2.55535271e-01 9.66164630e-01 -3.50376040e-02 1.55286722e+02] [-1.58490193e-01 -6.11257026e-03 9.87341631e-01 7.23072678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:299.84, Y:155.27, Z:72.29 [[ 9.51156206e-01 2.67152600e-01 1.54697640e-01 2.99841631e+02] [-2.64961515e-01 9.63623501e-01 -3.50020500e-02 1.55273373e+02] [-1.58421170e-01 -7.69650399e-03 9.87341631e-01 7.22947034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:299.90, Y:155.26, Z:72.29 [[ 9.48152111e-01 2.77621586e-01 1.54705624e-01 2.99898379e+02] [-2.75573810e-01 9.60643744e-01 -3.49667274e-02 1.55260764e+02] [-1.58324508e-01 -9.47904188e-03 9.87341632e-01 7.22871963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:155.24, Z:72.27 [[ 9.43960502e-01 2.91551525e-01 1.54713540e-01 2.99950894e+02] [-2.89693603e-01 9.56481780e-01 -3.49316689e-02 1.55235878e+02] [-1.58165063e-01 -1.18454071e-02 9.87341632e-01 7.22724518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:300.01, Y:155.23, Z:72.27 [[ 9.46753861e-01 2.82343753e-01 1.54722759e-01 3.00009752e+02] [-2.80370617e-01 9.59257499e-01 -3.48907870e-02 1.55231286e+02] [-1.58270163e-01 -1.03467280e-02 9.87341633e-01 7.22684169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:155.22, Z:72.26 [[ 9.47802472e-01 2.78799044e-01 1.54730629e-01 3.00067942e+02] [-2.76784813e-01 9.60299556e-01 -3.48558526e-02 1.55223668e+02] [-1.58305532e-01 -9.79062494e-03 9.87341634e-01 7.22592210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:155.21, Z:72.25 [[ 9.48971766e-01 2.74788050e-01 1.54738861e-01 3.00122077e+02] [-2.72726928e-01 9.61461201e-01 -3.48192697e-02 1.55208756e+02] [-1.58343330e-01 -9.15895019e-03 9.87341635e-01 7.22483175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:300.17, Y:155.19, Z:72.23 [[ 9.49362840e-01 2.73431587e-01 1.54742903e-01 3.00174670e+02] [-2.71355538e-01 9.61849802e-01 -3.48012968e-02 1.55186975e+02] [-1.58355204e-01 -8.95128569e-03 9.87341635e-01 7.22343140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:300.23, Y:155.18, Z:72.23 [[ 9.50997103e-01 2.67686981e-01 1.54752031e-01 3.00233327e+02] [-2.65542072e-01 9.63472420e-01 -3.47606603e-02 1.55180224e+02] [-1.58404290e-01 -8.03588757e-03 9.87341636e-01 7.22316470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:300.29, Y:155.17, Z:72.22 [[ 9.52458772e-01 2.62434058e-01 1.54759982e-01 3.00289932e+02] [-2.60226072e-01 9.64923080e-01 -3.47252236e-02 1.55171957e+02] [-1.58444560e-01 -7.19823838e-03 9.87341636e-01 7.22217088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:300.35, Y:155.16, Z:72.22 [[ 9.51342049e-01 2.66448582e-01 1.54769048e-01 3.00346597e+02] [-2.64299745e-01 9.63816690e-01 -3.46847696e-02 1.55159640e+02] [-1.58410699e-01 -7.90834022e-03 9.87341637e-01 7.22167791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:300.40, Y:155.15, Z:72.21 [[ 9.50547319e-01 2.69268393e-01 1.54771854e-01 3.00404976e+02] [-2.67158589e-01 9.63028620e-01 -3.46722445e-02 1.55149369e+02] [-1.58385865e-01 -8.39102112e-03 9.87341637e-01 7.22139048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:300.46, Y:155.13, Z:72.19 [[ 9.48982780e-01 2.74727148e-01 1.54779447e-01 3.00458464e+02] [-2.72694629e-01 9.61476899e-01 -3.46383172e-02 1.55128276e+02] [-1.58332949e-01 -9.33635720e-03 9.87341638e-01 7.21943964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:300.52, Y:155.12, Z:72.19 [[ 9.50476060e-01 2.69510893e-01 1.54787395e-01 3.00517432e+02] [-2.67415555e-01 9.62959797e-01 -3.46027645e-02 1.55122133e+02] [-1.58379860e-01 -8.50345778e-03 9.87341639e-01 7.21903380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:155.11, Z:72.17 [[ 9.49295993e-01 2.73633836e-01 1.54795486e-01 3.00570706e+02] [-2.71598589e-01 9.61789666e-01 -3.45665298e-02 1.55105513e+02] [-1.58339271e-01 -9.22836749e-03 9.87341639e-01 7.21743855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:300.63, Y:155.09, Z:72.17 [[ 9.50420550e-01 2.69700315e-01 1.54798316e-01 3.00627656e+02] [-2.67615407e-01 9.62906031e-01 -3.45538526e-02 1.55093864e+02] [-1.58375417e-01 -8.58572273e-03 9.87341639e-01 7.21674817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:155.08, Z:72.16 [[ 9.49188606e-01 2.73999906e-01 1.54806463e-01 3.00683025e+02] [-2.71977476e-01 9.61684360e-01 -3.45173160e-02 1.55082761e+02] [-1.58332695e-01 -9.34042791e-03 9.87341640e-01 7.21616371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:300.74, Y:155.07, Z:72.15 [[ 9.48070485e-01 2.77840533e-01 1.54812770e-01 3.00738472e+02] [-2.75873312e-01 9.60575049e-01 -3.44890051e-02 1.55069531e+02] [-1.58291728e-01 -1.00107038e-02 9.87341640e-01 7.21518792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:155.06, Z:72.15 [[ 9.46766995e-01 2.82245193e-01 1.54822184e-01 3.00795804e+02] [-2.80343014e-01 9.59281617e-01 -3.44466931e-02 1.55056389e+02] [-1.58240489e-01 -1.07903256e-02 9.87341641e-01 7.21479829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:155.04, Z:72.14 [[ 9.46330276e-01 2.83701557e-01 1.54830347e-01 3.00852161e+02] [-2.81824613e-01 9.58848706e-01 -3.44099640e-02 1.55044028e+02] [-1.58221038e-01 -1.10718119e-02 9.87341642e-01 7.21416390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:300.91, Y:155.03, Z:72.13 [[ 9.46112755e-01 2.84424562e-01 1.54833212e-01 3.00908249e+02] [-2.82559284e-01 9.58632929e-01 -3.43970658e-02 1.55033264e+02] [-1.58211586e-01 -1.12060590e-02 9.87341642e-01 7.21348194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:300.96, Y:155.02, Z:72.12 [[ 9.46250422e-01 2.83964697e-01 1.54836007e-01 3.00963927e+02] [-2.82095383e-01 9.58769994e-01 -3.43844836e-02 1.55019466e+02] [-1.58216097e-01 -1.11421905e-02 9.87341642e-01 7.21241473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:155.01, Z:72.12 [[ 9.47288570e-01 2.80476955e-01 1.54845224e-01 3.01021147e+02] [-2.78568294e-01 9.59802203e-01 -3.43429248e-02 1.55008696e+02] [-1.58253186e-01 -1.06023098e-02 9.87341643e-01 7.21191500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:301.08, Y:155.00, Z:72.10 [[ 9.48555981e-01 2.76158705e-01 1.54848054e-01 3.01077229e+02] [-2.74195135e-01 9.61061116e-01 -3.43301587e-02 1.54996834e+02] [-1.58299016e-01 -9.89450578e-03 9.87341643e-01 7.21034611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:301.13, Y:154.98, Z:72.09 [[ 9.49430044e-01 2.73133983e-01 1.54856123e-01 3.01132481e+02] [-2.71136485e-01 9.61929803e-01 -3.42937260e-02 1.54982954e+02] [-1.58327502e-01 -9.42765102e-03 9.87341644e-01 7.20904284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:154.97, Z:72.08 [[ 9.51310288e-01 2.66506003e-01 1.54865378e-01 3.01187223e+02] [-2.64428173e-01 9.63796944e-01 -3.42518776e-02 1.54968870e+02] [-1.58387110e-01 -8.36660552e-03 9.87341645e-01 7.20763157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters Centerline goodness : 0.998506 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:154.96, Z:72.07 [[ 9.51737675e-01 2.64970293e-01 1.54874597e-01 3.01244247e+02] [-2.62879085e-01 9.64222097e-01 -3.42101429e-02 1.54959740e+02] [-1.58398181e-01 -8.15421062e-03 9.87341646e-01 7.20712743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters Centerline goodness : 0.998615 with order 1 Centerline is valid? [True, True] Translation: X:301.30, Y:154.95, Z:72.07 [[ 9.52278240e-01 2.63019267e-01 1.54877429e-01 3.01301547e+02] [-2.60904559e-01 9.64758703e-01 -3.41973166e-02 1.54950219e+02] [-1.58413901e-01 -7.84286700e-03 9.87341646e-01 7.20654474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:301.36, Y:154.94, Z:72.06 [[ 9.53447694e-01 2.58742287e-01 1.54886810e-01 3.01356084e+02] [-2.56578477e-01 9.65919736e-01 -3.41547778e-02 1.54938073e+02] [-1.58445512e-01 -7.17582764e-03 9.87341647e-01 7.20566858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:301.41, Y:154.93, Z:72.06 [[ 9.54855127e-01 2.53495178e-01 1.54893130e-01 3.01414892e+02] [-2.51267459e-01 9.67315912e-01 -3.41260925e-02 1.54928939e+02] [-1.58481389e-01 -6.33412889e-03 9.87341647e-01 7.20553778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:301.47, Y:154.92, Z:72.05 [[ 9.54745849e-01 2.53901427e-01 1.54901353e-01 3.01470936e+02] [-2.51685062e-01 9.67208658e-01 -3.40887257e-02 1.54917544e+02] [-1.58477106e-01 -6.44028746e-03 9.87341648e-01 7.20456948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:301.53, Y:154.90, Z:72.04 [[ 9.55593777e-01 2.50689465e-01 1.54904245e-01 3.01526993e+02] [-2.48433332e-01 9.68049448e-01 -3.40755788e-02 1.54901481e+02] [-1.58497358e-01 -5.92096684e-03 9.87341648e-01 7.20377236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters Centerline goodness : 0.996698 with order 1 Centerline is valid? [True, True] Translation: X:301.58, Y:154.89, Z:72.02 [[ 9.56522568e-01 2.47116992e-01 1.54912134e-01 3.01582939e+02] [-2.44820140e-01 9.68970794e-01 -3.40396790e-02 1.54886639e+02] [-1.58517117e-01 -5.36588918e-03 9.87341649e-01 7.20241928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:154.87, Z:72.01 [[ 9.57901697e-01 2.41712732e-01 1.54917056e-01 3.01637724e+02] [-2.39349258e-01 9.70337446e-01 -3.40172627e-02 1.54873729e+02] [-1.58544226e-01 -4.49408882e-03 9.87341649e-01 7.20096253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:301.69, Y:154.86, Z:72.00 [[ 9.57583211e-01 2.42969153e-01 1.54920577e-01 3.01692500e+02] [-2.40624588e-01 9.70022538e-01 -3.40012196e-02 1.54860697e+02] [-1.58537699e-01 -4.71870309e-03 9.87341649e-01 7.20007751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:301.75, Y:154.85, Z:72.00 [[ 9.56152353e-01 2.48537808e-01 1.54924615e-01 3.01751516e+02] [-2.46268654e-01 9.68605657e-01 -3.39828126e-02 1.54851677e+02] [-1.58506872e-01 -5.66033020e-03 9.87341649e-01 7.19987870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:301.81, Y:154.84, Z:71.99 [[ 9.55550088e-01 2.50838457e-01 1.54932560e-01 3.01807847e+02] [-2.48605154e-01 9.68009870e-01 -3.39465534e-02 1.54841164e+02] [-1.58491348e-01 -6.07940074e-03 9.87341650e-01 7.19909525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:301.86, Y:154.83, Z:71.98 [[ 9.55292962e-01 2.51810111e-01 1.54942004e-01 3.01863478e+02] [-2.49596468e-01 9.67756252e-01 -3.39033950e-02 1.54828354e+02] [-1.58483310e-01 -6.28530214e-03 9.87341651e-01 7.19786374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:301.92, Y:154.81, Z:71.97 [[ 9.54386304e-01 2.55219217e-01 1.54951395e-01 3.01919958e+02] [-2.53057049e-01 9.66858626e-01 -3.38604183e-02 1.54814641e+02] [-1.58457922e-01 -6.89562330e-03 9.87341652e-01 7.19722442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:154.80, Z:71.96 [[ 9.51439946e-01 2.65987949e-01 1.54959481e-01 3.01976577e+02] [-2.63972877e-01 9.63936875e-01 -3.38233745e-02 1.54802218e+02] [-1.58367768e-01 -8.72419039e-03 9.87341652e-01 7.19642540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:302.03, Y:154.79, Z:71.95 [[ 9.49535774e-01 2.72702880e-01 1.54967586e-01 3.02032322e+02] [-2.70782186e-01 9.62047556e-01 -3.37862010e-02 1.54788690e+02] [-1.58299781e-01 -9.88125513e-03 9.87341653e-01 7.19548694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:302.09, Y:154.77, Z:71.95 [[ 9.50161840e-01 2.70511016e-01 1.54971832e-01 3.02088580e+02] [-2.68564622e-01 9.62669649e-01 -3.37667126e-02 1.54774976e+02] [-1.58320947e-01 -9.53610967e-03 9.87341653e-01 7.19453451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:302.14, Y:154.76, Z:71.93 [[ 9.50662355e-01 2.68742008e-01 1.54980063e-01 3.02142357e+02] [-2.66778480e-01 9.63167485e-01 -3.37288925e-02 1.54759235e+02] [-1.58336128e-01 -9.28055720e-03 9.87341654e-01 7.19274218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:302.20, Y:154.75, Z:71.92 [[ 9.52605243e-01 2.61769643e-01 1.54983566e-01 3.02198346e+02] [-2.59717160e-01 9.65096081e-01 -3.37127906e-02 1.54747995e+02] [-1.58399017e-01 -8.13691029e-03 9.87341654e-01 7.19177239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters Centerline goodness : 0.993927 with order 1 Centerline is valid? [True, True] Translation: X:302.26, Y:154.74, Z:71.92 [[ 9.56112025e-01 2.48648921e-01 1.54995195e-01 3.02256276e+02] [-2.46433581e-01 9.68575008e-01 -3.36592416e-02 1.54739855e+02] [-1.58493806e-01 -6.01401517e-03 9.87341656e-01 7.19188233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters Centerline goodness : 0.994269 with order 1 Centerline is valid? [True, True] Translation: X:302.31, Y:154.73, Z:71.91 [[ 9.58178547e-01 2.40555077e-01 1.55006859e-01 3.02311068e+02] [-2.38243123e-01 9.70623969e-01 -3.36054417e-02 1.54727685e+02] [-1.58537332e-01 -4.72930484e-03 9.87341657e-01 7.19062652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters Centerline goodness : 0.998105 with order 1 Centerline is valid? [True, True] Translation: X:302.37, Y:154.72, Z:71.90 [[ 9.58111993e-01 2.40816747e-01 1.55011945e-01 3.02367735e+02] [-2.38511987e-01 9.70558748e-01 -3.35819625e-02 1.54717884e+02] [-1.58535299e-01 -4.79692604e-03 9.87341657e-01 7.18978535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:302.43, Y:154.71, Z:71.90 [[ 9.58446700e-01 2.39478875e-01 1.55015455e-01 3.02427700e+02] [-2.37159359e-01 9.70890714e-01 -3.35657557e-02 1.54709690e+02] [-1.58541355e-01 -4.59237798e-03 9.87341658e-01 7.19008822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters Centerline goodness : 0.998223 with order 1 Centerline is valid? [True, True] Translation: X:302.48, Y:154.70, Z:71.89 [[ 9.57565693e-01 2.42972604e-01 1.55023407e-01 3.02482942e+02] [-2.40704431e-01 9.70019167e-01 -3.35289886e-02 1.54696303e+02] [-1.58522302e-01 -5.20861166e-03 9.87341658e-01 7.18889513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters Centerline goodness : 0.998148 with order 1 Centerline is valid? [True, True] Translation: X:302.54, Y:154.68, Z:71.88 [[ 9.57300509e-01 2.44013547e-01 1.55026202e-01 3.02539539e+02] [-2.41761006e-01 9.69756820e-01 -3.35160580e-02 1.54684333e+02] [-1.58516089e-01 -5.39435125e-03 9.87341658e-01 7.18815291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:302.59, Y:154.67, Z:71.86 [[ 9.57332267e-01 2.43883068e-01 1.55035417e-01 3.02591545e+02] [-2.41635732e-01 9.69789516e-01 -3.34733781e-02 1.54666242e+02] [-1.58515313e-01 -5.41695172e-03 9.87341659e-01 7.18598204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters Centerline goodness : 0.997955 with order 1 Centerline is valid? [True, True] Translation: X:302.65, Y:154.65, Z:71.85 [[ 9.57434673e-01 2.43478933e-01 1.55038244e-01 3.02647029e+02] [-2.41228457e-01 9.69891355e-01 -3.34602817e-02 1.54651395e+02] [-1.58517126e-01 -5.36360252e-03 9.87341659e-01 7.18506691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:154.64, Z:71.85 [[ 9.55621975e-01 2.50493416e-01 1.55047379e-01 3.02704542e+02] [-2.48341212e-01 9.68096011e-01 -3.34178966e-02 1.54642427e+02] [-1.58471713e-01 -6.56977787e-03 9.87341660e-01 7.18462978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:302.76, Y:154.63, Z:71.84 [[ 9.52641128e-01 2.61599549e-01 1.55050177e-01 3.02762060e+02] [-2.59594791e-01 9.65139708e-01 -3.34049099e-02 1.54633619e+02] [-1.58383792e-01 -8.42732736e-03 9.87341660e-01 7.18449037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:302.82, Y:154.62, Z:71.84 [[ 9.51473435e-01 2.65810001e-01 1.55059172e-01 3.02818350e+02] [-2.63867326e-01 9.63981814e-01 -3.33631060e-02 1.54618536e+02] [-1.58342469e-01 -9.17094012e-03 9.87341661e-01 7.18355381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:154.60, Z:71.83 [[ 9.50136742e-01 2.70544646e-01 1.55066972e-01 3.02874475e+02] [-2.68670180e-01 9.62655524e-01 -3.33268153e-02 1.54604039e+02] [-1.58292469e-01 -9.99683956e-03 9.87341662e-01 7.18278198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:154.59, Z:71.81 [[ 9.47932457e-01 2.78165187e-01 1.55074773e-01 3.02929343e+02] [-2.76397216e-01 9.60466722e-01 -3.32904771e-02 1.54587394e+02] [-1.58204411e-01 -1.13051117e-02 9.87341663e-01 7.18086696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:302.99, Y:154.58, Z:71.81 [[ 9.44461059e-01 2.89732501e-01 1.55075420e-01 3.02988912e+02] [-2.88118380e-01 9.57016062e-01 -3.32874626e-02 1.54577432e+02] [-1.58054128e-01 -1.32413667e-02 9.87341663e-01 7.18142566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters Centerline goodness : 0.995021 with order 1 Centerline is valid? [True, True] Translation: X:303.04, Y:154.56, Z:71.80 [[ 9.42442924e-01 2.96226373e-01 1.55084721e-01 3.03043411e+02] [-2.94705785e-01 9.55009598e-01 -3.32440736e-02 1.54559091e+02] [-1.57955168e-01 -1.43737224e-02 9.87341664e-01 7.17989990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:303.10, Y:154.54, Z:71.80 [[ 9.43182620e-01 2.93857454e-01 1.55094626e-01 3.03099534e+02] [-2.92312842e-01 9.55746362e-01 -3.31977983e-02 1.54539713e+02] [-1.57986545e-01 -1.40245646e-02 9.87341665e-01 7.17996334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:303.15, Y:154.52, Z:71.79 [[ 9.42099623e-01 2.97308434e-01 1.55099952e-01 3.03153943e+02] [-2.95813891e-01 9.54669420e-01 -3.31728988e-02 1.54522243e+02] [-1.57931764e-01 -1.46285448e-02 9.87341665e-01 7.17908467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:303.21, Y:154.50, Z:71.78 [[ 9.40556783e-01 3.02152411e-01 1.55102734e-01 3.03208278e+02] [-3.00724695e-01 9.53134345e-01 -3.31598851e-02 1.54502066e+02] [-1.57853082e-01 -1.54544676e-02 9.87341665e-01 7.17804220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:303.26, Y:154.48, Z:71.77 [[ 9.39127673e-01 3.06563979e-01 1.55105580e-01 3.03262130e+02] [-3.05197493e-01 9.51712034e-01 -3.31465676e-02 1.54480377e+02] [-1.57777391e-01 -1.62089753e-02 9.87341665e-01 7.17710714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:303.32, Y:154.46, Z:71.76 [[ 9.38930274e-01 3.07163460e-01 1.55114635e-01 3.03316911e+02] [-3.05811938e-01 9.51516250e-01 -3.31041411e-02 1.54462576e+02] [-1.57762478e-01 -1.63534268e-02 9.87341666e-01 7.17627009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:303.37, Y:154.44, Z:71.75 [[ 9.38149006e-01 3.09536867e-01 1.55123727e-01 3.03369978e+02] [-3.08224149e-01 9.50739088e-01 -3.30614820e-02 1.54444432e+02] [-1.57715938e-01 -1.67962822e-02 9.87341667e-01 7.17512407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters Centerline goodness : 0.993957 with order 1 Centerline is valid? [True, True] Translation: X:303.42, Y:154.43, Z:71.73 [[ 9.37552953e-01 3.11335632e-01 1.55127638e-01 3.03424063e+02] [-3.10050064e-01 9.50145836e-01 -3.30431214e-02 1.54427564e+02] [-1.57681380e-01 -1.71176580e-02 9.87341667e-01 7.17325039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters Centerline goodness : 0.997810 with order 1 Centerline is valid? [True, True] Translation: X:303.48, Y:154.42, Z:71.72 [[ 9.36523591e-01 3.14413752e-01 1.55137217e-01 3.03479607e+02] [-3.13176920e-01 9.49121353e-01 -3.29980886e-02 1.54415119e+02] [-1.57619098e-01 -1.76819073e-02 9.87341668e-01 7.17243497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters Centerline goodness : 0.993585 with order 1 Centerline is valid? [True, True] Translation: X:303.53, Y:154.40, Z:71.71 [[ 9.37484015e-01 3.11532932e-01 1.55148168e-01 3.03534459e+02] [-3.10265803e-01 9.50078764e-01 -3.29465181e-02 1.54402046e+02] [-1.57666905e-01 -1.72503370e-02 9.87341670e-01 7.17112079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:303.59, Y:154.39, Z:71.70 [[ 9.38048024e-01 3.09824914e-01 1.55159362e-01 3.03590649e+02] [-3.08543477e-01 9.50641324e-01 -3.28937178e-02 1.54387019e+02] [-1.57692195e-01 -1.70175220e-02 9.87341671e-01 7.17005611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:303.65, Y:154.37, Z:71.69 [[ 9.37816963e-01 3.10518612e-01 1.55169377e-01 3.03645494e+02] [-3.09254220e-01 9.50411985e-01 -3.28464063e-02 1.54370096e+02] [-1.57674256e-01 -1.71828678e-02 9.87341672e-01 7.16882794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters Centerline goodness : 0.995341 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:154.35, Z:71.66 [[ 9.39083491e-01 3.06662251e-01 1.55178803e-01 3.03698680e+02] [-3.05353398e-01 9.51673969e-01 -3.28018145e-02 1.54352050e+02] [-1.57738706e-01 -1.65807325e-02 9.87341673e-01 7.16556904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters Centerline goodness : 0.990770 with order 1 Centerline is valid? [True, True] Translation: X:303.75, Y:154.33, Z:71.64 [[ 9.42191208e-01 2.96976581e-01 1.55179372e-01 3.03752631e+02] [-2.95538597e-01 9.54767592e-01 -3.27991239e-02 1.54332675e+02] [-1.57900807e-01 -1.49584476e-02 9.87341673e-01 7.16381143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters Centerline goodness : 0.987162 with order 1 Centerline is valid? [True, True] Translation: X:303.81, Y:154.32, Z:71.64 [[ 9.46204588e-01 2.83925600e-01 1.55187406e-01 3.03809910e+02] [-2.82320126e-01 9.58760689e-01 -3.27610697e-02 1.54316441e+02] [-1.58089290e-01 -1.28138534e-02 9.87341674e-01 7.16405571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters Centerline goodness : 0.977493 with order 1 Centerline is valid? [True, True] Translation: X:303.86, Y:154.29, Z:71.64 [[ 9.46671755e-01 2.82362485e-01 1.55190253e-01 3.03864501e+02] [-2.80738473e-01 9.59225472e-01 -3.27475768e-02 1.54290722e+02] [-1.58109131e-01 -1.25666686e-02 9.87341674e-01 7.16359454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters Centerline goodness : 0.973181 with order 1 Centerline is valid? [True, True] Translation: X:303.92, Y:154.28, Z:71.63 [[ 9.49344193e-01 2.73241803e-01 1.55191883e-01 3.03921494e+02] [-2.71498348e-01 9.61881879e-01 -3.27398481e-02 1.54275710e+02] [-1.58222155e-01 -1.10529552e-02 9.87341674e-01 7.16288811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5927.64 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%| | 0/18862 [00:00